A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A. More...

Inheritance diagram for pcl::GlobalHypothesesVerification< ModelT, SceneT >:

Collaboration diagram for pcl::GlobalHypothesesVerification< ModelT, SceneT >:

Public Member Functions
	GlobalHypothesesVerification ()

void	verify () override

void	setResolutionOccupancyGrid (float r)

void	setRadiusNormals (float r)

void	setMaxIterations (int i)

void	setInitialTemp (float t)

void	setRegularizer (float r)

void	setRadiusClutter (float r)

void	setClutterRegularizer (float cr)

void	setDetectClutter (bool d)

Public Member Functions inherited from pcl::HypothesisVerification< ModelT, SceneT >
	HypothesisVerification ()

virtual	~HypothesisVerification ()=default

bool	getRequiresNormals ()

void	setResolution (float r)

void	setOcclusionThreshold (float t)

void	setInlierThreshold (float r)

void	getMask (std::vector< bool > &mask)

void	addCompleteModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &complete_models)

void	addNormalsClouds (std::vector< pcl::PointCloud< pcl::Normal >::ConstPtr > &complete_models)

void	addModels (std::vector< typename pcl::PointCloud< ModelT >::ConstPtr > &models, bool occlusion_reasoning=false)

void	setSceneCloud (const typename pcl::PointCloud< SceneT >::Ptr &scene_cloud)

void	setOcclusionCloud (const typename pcl::PointCloud< SceneT >::Ptr &occ_cloud)

Additional Inherited Members
Protected Attributes inherited from pcl::HypothesisVerification< ModelT, SceneT >
std::vector< bool >	mask_

pcl::PointCloud< SceneT >::ConstPtr	scene_cloud_

pcl::PointCloud< SceneT >::ConstPtr	occlusion_cloud_

bool	occlusion_cloud_set_

pcl::PointCloud< SceneT >::Ptr	scene_cloud_downsampled_

pcl::search::KdTree< SceneT >::Ptr	scene_downsampled_tree_

std::vector< typename pcl::PointCloud< ModelT >::ConstPtr >	visible_models_

std::vector< typename pcl::PointCloud< pcl::Normal >::ConstPtr >	visible_normal_models_

std::vector< typename pcl::PointCloud< ModelT >::ConstPtr >	complete_models_

std::vector< typename pcl::PointCloud< pcl::Normal >::ConstPtr >	complete_normal_models_

int	zbuffer_scene_resolution_

int	zbuffer_self_occlusion_resolution_

float	resolution_

float	inliers_threshold_

float	occlusion_thres_

bool	requires_normals_

bool	normals_set_

Detailed Description

A hypothesis verification method proposed in "A Global Hypotheses Verification Method for 3D Object Recognition", A.

Aldoma and F. Tombari and L. Di Stefano and Markus Vincze, ECCV 2012

Definition at line 36 of file hv_go.h.