#include <pcl/recognition/ransac_based/model_library.h>

Collaboration diagram for pcl::recognition::ModelLibrary:

Classes
class	Model
	Stores some information about the model. More...

Public Types
using	PointCloudIn = pcl::PointCloud< pcl::PointXYZ >

using	PointCloudN = pcl::PointCloud< pcl::Normal >

using	node_data_pair_list = std::list< std::pair< const ORROctree::Node::Data , const ORROctree::Node::Data > >

using	HashTableCell = std::map< const Model *, node_data_pair_list >

using	HashTable = VoxelStructure< HashTableCell, float >

Public Member Functions
	ModelLibrary (float pair_width, float voxel_size, float max_coplanarity_angle=3.0f *AUX_DEG_TO_RADIANS)
	This class is used by 'ObjRecRANSAC' to maintain the object models to be recognized. More...

virtual	~ModelLibrary ()

void	removeAllModels ()
	Removes all models from the library and clears the hash table. More...

void	setMaxCoplanarityAngleDegrees (float max_coplanarity_angle_degrees)
	This is a threshold. More...

void	ignoreCoplanarPointPairsOn ()
	Call this method in order NOT to add co-planar point pairs to the hash table. More...

void	ignoreCoplanarPointPairsOff ()
	Call this method in order to add all point pairs (co-planar as well) to the hash table. More...

bool	addModel (const PointCloudIn &points, const PointCloudN &normals, const std::string &object_name, float frac_of_points_for_registration, void *user_data=nullptr)
	Adds a model to the hash table. More...

const HashTable &	getHashTable () const
	Returns the hash table built by this instance. More...

const Model *	getModel (const std::string &name) const

const std::map< std::string, Model * > &	getModels () const

Protected Member Functions
void	clear ()
	Removes all models from the library and destroys the hash table. More...

bool	addToHashTable (Model model, const ORROctree::Node::Data data1, const ORROctree::Node::Data *data2)
	Returns true if the oriented point pair was added to the hash table and false otherwise. More...

Protected Attributes
float	pair_width_

float	voxel_size_

float	max_coplanarity_angle_

bool	ignore_coplanar_opps_ {true}

std::map< std::string, Model * >	models_

HashTable	hash_table_

int	num_of_cells_ [3]

Detailed Description

Definition at line 57 of file model_library.h.

Member Typedef Documentation

◆ HashTable

using pcl::recognition::ModelLibrary::HashTable = VoxelStructure<HashTableCell, float>

Definition at line 172 of file model_library.h.

◆ HashTableCell

using pcl::recognition::ModelLibrary::HashTableCell = std::map<const Model*, node_data_pair_list>

Definition at line 171 of file model_library.h.

◆ node_data_pair_list

using pcl::recognition::ModelLibrary::node_data_pair_list = std::list<std::pair<const ORROctree::Node::Data*, const ORROctree::Node::Data*> >

Definition at line 170 of file model_library.h.

◆ PointCloudIn

using pcl::recognition::ModelLibrary::PointCloudIn = pcl::PointCloud<pcl::PointXYZ>

Definition at line 60 of file model_library.h.

◆ PointCloudN

using pcl::recognition::ModelLibrary::PointCloudN = pcl::PointCloud<pcl::Normal>

Definition at line 61 of file model_library.h.

Constructor & Destructor Documentation

◆ ModelLibrary()

pcl::recognition::ModelLibrary::ModelLibrary	(	float	pair_width,
		float	voxel_size,
		float	max_coplanarity_angle = `3.0f *AUX_DEG_TO_RADIANS`
	)

This class is used by 'ObjRecRANSAC' to maintain the object models to be recognized.

Normally, you do not need to use this class directly.

◆ ~ModelLibrary()

virtual pcl::recognition::ModelLibrary::~ModelLibrary ( )

inlinevirtual

Definition at line 178 of file model_library.h.

Member Function Documentation

◆ addModel()

bool pcl::recognition::ModelLibrary::addModel	(	const PointCloudIn &	points,
		const PointCloudN &	normals,
		const std::string &	object_name,
		float	frac_of_points_for_registration,
		void *	user_data = `nullptr`
	)

Adds a model to the hash table.

Parameters

[in]	points	represents the model to be added.
[in]	normals	are the normals at the model points.
[in]	object_name	is the unique name of the object to be added.
[in]	frac_of_points_for_registration	is the number of points used for fast ICP registration prior to hypothesis testing
[in]	user_data	is a pointer to some data (can be NULL)

Returns true if model successfully added and false otherwise (e.g., if object_name is not unique).

◆ addToHashTable()

bool pcl::recognition::ModelLibrary::addToHashTable	(	Model *	model,
		const ORROctree::Node::Data *	data1,
		const ORROctree::Node::Data *	data2
	)

protected

Returns true if the oriented point pair was added to the hash table and false otherwise.

◆ clear()

void pcl::recognition::ModelLibrary::clear ( )

protected

Removes all models from the library and destroys the hash table.

This method should be called upon destroying this object.

◆ getHashTable()

const HashTable& pcl::recognition::ModelLibrary::getHashTable ( ) const

inline

Returns the hash table built by this instance.

Definition at line 227 of file model_library.h.

◆ getModel()

const Model* pcl::recognition::ModelLibrary::getModel ( const std::string & name ) const

inline

Definition at line 233 of file model_library.h.

◆ getModels()

const std::map<std::string,Model*>& pcl::recognition::ModelLibrary::getModels ( ) const

inline

Definition at line 243 of file model_library.h.

◆ ignoreCoplanarPointPairsOff()

void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOff ( )

inline

Call this method in order to add all point pairs (co-planar as well) to the hash table.

The default behavior is ignoring co-planar points on.

Definition at line 207 of file model_library.h.

◆ ignoreCoplanarPointPairsOn()

void pcl::recognition::ModelLibrary::ignoreCoplanarPointPairsOn ( )

inline

Call this method in order NOT to add co-planar point pairs to the hash table.

The default behavior is ignoring co-planar points on.

Definition at line 199 of file model_library.h.

◆ removeAllModels()

void pcl::recognition::ModelLibrary::removeAllModels ( )

Removes all models from the library and clears the hash table.

◆ setMaxCoplanarityAngleDegrees()

void pcl::recognition::ModelLibrary::setMaxCoplanarityAngleDegrees ( float max_coplanarity_angle_degrees )

inline

This is a threshold.

The larger the value the more point pairs will be considered as co-planar and will be ignored in the off-line model pre-processing and in the online recognition phases. This makes sense only if "ignore co-planar points" is on. Call this method before calling addModel.

Definition at line 191 of file model_library.h.

Member Data Documentation

◆ hash_table_

HashTable pcl::recognition::ModelLibrary::hash_table_

protected

Definition at line 264 of file model_library.h.

◆ ignore_coplanar_opps_

bool pcl::recognition::ModelLibrary::ignore_coplanar_opps_ {true}

protected

Definition at line 261 of file model_library.h.

◆ max_coplanarity_angle_

float pcl::recognition::ModelLibrary::max_coplanarity_angle_

protected

Definition at line 260 of file model_library.h.

◆ models_

std::map<std::string,Model*> pcl::recognition::ModelLibrary::models_

protected

Definition at line 263 of file model_library.h.

◆ num_of_cells_

int pcl::recognition::ModelLibrary::num_of_cells_[3]

protected

Definition at line 265 of file model_library.h.

◆ pair_width_

float pcl::recognition::ModelLibrary::pair_width_

protected

Definition at line 258 of file model_library.h.

◆ voxel_size_

float pcl::recognition::ModelLibrary::voxel_size_

protected

Definition at line 259 of file model_library.h.

The documentation for this class was generated from the following file:

pcl/recognition/ransac_based/model_library.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ HashTable

◆ HashTableCell

◆ node_data_pair_list

◆ PointCloudIn

◆ PointCloudN

Constructor & Destructor Documentation

◆ ModelLibrary()

◆ ~ModelLibrary()

Member Function Documentation

◆ addModel()

◆ addToHashTable()

◆ clear()

◆ getHashTable()

◆ getModel()

◆ getModels()

◆ ignoreCoplanarPointPairsOff()

◆ ignoreCoplanarPointPairsOn()

◆ removeAllModels()

◆ setMaxCoplanarityAngleDegrees()

Member Data Documentation

◆ hash_table_

◆ ignore_coplanar_opps_

◆ max_coplanarity_angle_

◆ models_

◆ num_of_cells_

◆ pair_width_

◆ voxel_size_