This is a RANSAC-based 3D object recognition method. More...

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

Collaboration diagram for pcl::recognition::ObjRecRANSAC:

Classes
class	HypothesisCreator
class	OrientedPointPair
class	Output
	This is an output item of the ObjRecRANSAC::recognize() method. More...

Public Types
using	PointCloudIn = ModelLibrary::PointCloudIn
using	PointCloudN = ModelLibrary::PointCloudN
using	BVHH = BVH<Hypothesis *>
using	HypothesisOctree = SimpleOctree<Hypothesis, HypothesisCreator, float>

Public Member Functions
	ObjRecRANSAC (float pair_width, float voxel_size)
	Constructor with some important parameters which can not be changed once an instance of that class is created.
virtual	~ObjRecRANSAC ()
void	clear ()
	Removes all models from the model library and releases some memory dynamically allocated by this instance.
void	setMaxCoplanarityAngleDegrees (float max_coplanarity_angle_degrees)
	This is a threshold.
void	setSceneBoundsEnlargementFactor (float value)
void	ignoreCoplanarPointPairsOn ()
	Default is on.
void	ignoreCoplanarPointPairsOff ()
	Default is on.
void	icpHypothesesRefinementOn ()
void	icpHypothesesRefinementOff ()
bool	addModel (const PointCloudIn &points, const PointCloudN &normals, const std::string &object_name, void *user_data=nullptr)
	Add an object model to be recognized.
void	recognize (const PointCloudIn &scene, const PointCloudN &normals, std::list< ObjRecRANSAC::Output > &recognized_objects, double success_probability=0.99)
	This method performs the recognition of the models loaded to the model library with the method addModel().
void	enterTestModeSampleOPP ()
void	enterTestModeTestHypotheses ()
void	leaveTestMode ()
const std::list< ObjRecRANSAC::OrientedPointPair > &	getSampledOrientedPointPairs () const
	This function is useful for testing purposes.
const std::vector< Hypothesis > &	getAcceptedHypotheses () const
	This function is useful for testing purposes.
void	getAcceptedHypotheses (std::vector< Hypothesis > &out) const
	This function is useful for testing purposes.
const pcl::recognition::ModelLibrary::HashTable &	getHashTable () const
	Returns the hash table in the model library.
const ModelLibrary &	getModelLibrary () const
const ModelLibrary::Model *	getModel (const std::string &name) const
const ORROctree &	getSceneOctree () const
RigidTransformSpace &	getRigidTransformSpace ()
float	getPairWidth () const

Protected Types
enum	Recognition_Mode { SAMPLE_OPP , TEST_HYPOTHESES , FULL_RECOGNITION }

Protected Member Functions
int	computeNumberOfIterations (double success_probability) const
void	clearTestData ()
void	sampleOrientedPointPairs (int num_iterations, const std::vector< ORROctree::Node * > &full_scene_leaves, std::list< OrientedPointPair > &output) const
int	generateHypotheses (const std::list< OrientedPointPair > &pairs, std::list< HypothesisBase > &out) const
int	groupHypotheses (std::list< HypothesisBase > &hypotheses, int num_hypotheses, RigidTransformSpace &transform_space, HypothesisOctree &grouped_hypotheses) const
	Groups close hypotheses in 'hypotheses'.
void	testHypothesis (Hypothesis *hypothesis, int &match, int &penalty) const
void	testHypothesisNormalBased (Hypothesis *hypothesis, float &match) const
void	buildGraphOfCloseHypotheses (HypothesisOctree &hypotheses, ORRGraph< Hypothesis > &graph) const
void	filterGraphOfCloseHypotheses (ORRGraph< Hypothesis > &graph, std::vector< Hypothesis > &out) const
void	buildGraphOfConflictingHypotheses (const BVHH &bvh, ORRGraph< Hypothesis * > &graph) const
void	filterGraphOfConflictingHypotheses (ORRGraph< Hypothesis * > &graph, std::list< ObjRecRANSAC::Output > &recognized_objects) const
void	computeRigidTransform (const float a1, const float a1_n, const float b1, const float b1_n, const float a2, const float a2_n, const float b2, const float b2_n, float *rigid_transform) const
	Computes the rigid transform that maps the line (a1, b1) to (a2, b2).

Static Protected Member Functions
static void	compute_oriented_point_pair_signature (const float p1, const float n1, const float p2, const float n2, float signature[3])
	Computes the signature of the oriented point pair ((p1, n1), (p2, n2)) consisting of the angles between.

Protected Attributes
float	pair_width_
float	voxel_size_
float	position_discretization_
float	rotation_discretization_
float	abs_zdist_thresh_
float	relative_obj_size_ {0.05f}
float	visibility_ {0.2f}
float	relative_num_of_illegal_pts_ {0.02f}
float	intersection_fraction_ {0.03f}
float	max_coplanarity_angle_
float	scene_bounds_enlargement_factor_ {0.25f}
bool	ignore_coplanar_opps_ {true}
float	frac_of_points_for_icp_refinement_ {0.3f}
bool	do_icp_hypotheses_refinement_ {true}
ModelLibrary	model_library_
ORROctree	scene_octree_
ORROctreeZProjection	scene_octree_proj_
RigidTransformSpace	transform_space_
TrimmedICP< pcl::PointXYZ, float >	trimmed_icp_
PointCloudIn::Ptr	scene_octree_points_
std::list< OrientedPointPair >	sampled_oriented_point_pairs_
std::vector< Hypothesis >	accepted_hypotheses_
Recognition_Mode	rec_mode_ {ObjRecRANSAC::FULL_RECOGNITION}

Friends
class	ModelLibrary

Detailed Description

This is a RANSAC-based 3D object recognition method.

Do the following to use it: (i) call addModel() k times with k different models representing the objects to be recognized and (ii) call recognize() with the 3D scene in which the objects should be recognized. Recognition means both object identification and pose (position + orientation) estimation. Check the method descriptions for more details.

Note: If you use this code in any academic work, please cite:

Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger and Darius Burschka. Rigid 3D geometry matching for grasping of known objects in cluttered scenes. The International Journal of Robotics Research 2012. DOI: 10.1177/0278364911436019
Chavdar Papazov and Darius Burschka. An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes. In Proceedings of the 10th Asian Conference on Computer Vision (ACCV'10), November 2010.

Author: Chavdar Papazov

Definition at line 83 of file obj_rec_ransac.h.

Member Typedef Documentation

◆ BVHH

using pcl::recognition::ObjRecRANSAC::BVHH = BVH<Hypothesis *>

Definition at line 89 of file obj_rec_ransac.h.

◆ HypothesisOctree

using pcl::recognition::ObjRecRANSAC::HypothesisOctree = SimpleOctree<Hypothesis, HypothesisCreator, float>

Definition at line 139 of file obj_rec_ransac.h.

◆ PointCloudIn

using pcl::recognition::ObjRecRANSAC::PointCloudIn = ModelLibrary::PointCloudIn

Definition at line 86 of file obj_rec_ransac.h.

◆ PointCloudN

using pcl::recognition::ObjRecRANSAC::PointCloudN = ModelLibrary::PointCloudN

Definition at line 87 of file obj_rec_ransac.h.

Member Enumeration Documentation

◆ Recognition_Mode

enum pcl::recognition::ObjRecRANSAC::Recognition_Mode

protected

Enumerator
SAMPLE_OPP
TEST_HYPOTHESES
FULL_RECOGNITION

Definition at line 323 of file obj_rec_ransac.h.

Constructor & Destructor Documentation

◆ ObjRecRANSAC()

pcl::recognition::ObjRecRANSAC::ObjRecRANSAC	(	float	pair_width,
		float	voxel_size )

Constructor with some important parameters which can not be changed once an instance of that class is created.

Parameters

[in]	pair_width	should be roughly half the extent of the visible object part. This means, for each object point p there should be (at least) one point q (from the same object) such that \|\|p - q\|\| <= pair_width. Tradeoff: smaller values allow for detection in more occluded scenes but lead to more imprecise alignment. Bigger values lead to better alignment but require large visible object parts (i.e., less occlusion).
[in]	voxel_size	is the size of the leafs of the octree, i.e., the "size" of the discretization. Tradeoff: High values lead to less computation time but ignore object details. Small values allow to better distinguish between objects, but will introduce more holes in the resulting "voxel-surface" (especially for a sparsely sampled scene).

◆ ~ObjRecRANSAC()

virtual pcl::recognition::ObjRecRANSAC::~ObjRecRANSAC ( )

inlinevirtual

Definition at line 152 of file obj_rec_ransac.h.

References clear(), and clearTestData().

Member Function Documentation

◆ addModel()

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

inline

Add an object model to be recognized.

Parameters

[in]	points	are the object points.
[in]	normals	at each point.
[in]	object_name	is an identifier for the object. If that object is detected in the scene 'object_name' is returned by the recognition method and you know which object has been detected. Note that 'object_name' has to be unique!
[in]	user_data	is a pointer to some data (can be NULL)

The method returns true if the model was successfully added to the model library and false otherwise (e.g., if 'object_name' is already in use).

Definition at line 227 of file obj_rec_ransac.h.

References frac_of_points_for_icp_refinement_, and model_library_.

◆ buildGraphOfCloseHypotheses()

void pcl::recognition::ObjRecRANSAC::buildGraphOfCloseHypotheses	(	HypothesisOctree &	hypotheses,
		ORRGraph< Hypothesis > &	graph ) const

protected

◆ buildGraphOfConflictingHypotheses()

void pcl::recognition::ObjRecRANSAC::buildGraphOfConflictingHypotheses	(	const BVHH &	bvh,
		ORRGraph< Hypothesis * > &	graph ) const

protected

◆ clear()

void pcl::recognition::ObjRecRANSAC::clear ( )

inline

Removes all models from the model library and releases some memory dynamically allocated by this instance.

Definition at line 160 of file obj_rec_ransac.h.

References model_library_, sampled_oriented_point_pairs_, scene_octree_, scene_octree_points_, scene_octree_proj_, and transform_space_.

Referenced by ~ObjRecRANSAC().

◆ clearTestData()

void pcl::recognition::ObjRecRANSAC::clearTestData ( )

inlineprotected

Definition at line 343 of file obj_rec_ransac.h.

References accepted_hypotheses_, sampled_oriented_point_pairs_, and transform_space_.

Referenced by ~ObjRecRANSAC().

◆ compute_oriented_point_pair_signature()

void pcl::recognition::ObjRecRANSAC::compute_oriented_point_pair_signature	(	const float *	p1,
		const float *	n1,
		const float *	p2,
		const float *	n2,
		float	signature[3] )

inlinestaticprotected

Computes the signature of the oriented point pair ((p1, n1), (p2, n2)) consisting of the angles between.

Parameters

	p1
	n1
	p2
	n2
[out]	signature	is an array of three doubles saving the three angles in the order shown above.

Definition at line 439 of file obj_rec_ransac.h.

References pcl::recognition::aux::clamp(), pcl::recognition::aux::dot3(), and pcl::recognition::aux::normalize3().

◆ computeNumberOfIterations()

int pcl::recognition::ObjRecRANSAC::computeNumberOfIterations ( double success_probability ) const

inlineprotected

Definition at line 328 of file obj_rec_ransac.h.

References relative_obj_size_.

◆ computeRigidTransform()

void pcl::recognition::ObjRecRANSAC::computeRigidTransform	(	const float *	a1,
		const float *	a1_n,
		const float *	b1,
		const float *	b1_n,
		const float *	a2,
		const float *	a2_n,
		const float *	b2,
		const float *	b2_n,
		float *	rigid_transform ) const

inlineprotected

Computes the rigid transform that maps the line (a1, b1) to (a2, b2).

The computation is based on the corresponding points 'a1' <-> 'a2' and 'b1' <-> 'b2' and the normals 'a1_n', 'b1_n', 'a2_n', and 'b2_n'. The result is saved in 'rigid_transform' which is an array of length 12. The first 9 elements are the rotational part (row major order) and the last 3 are the translation.

Definition at line 386 of file obj_rec_ransac.h.

References pcl::recognition::aux::cross3(), pcl::recognition::aux::diff3(), pcl::recognition::aux::mult3x3(), pcl::recognition::aux::normalize3(), pcl::recognition::aux::projectOnPlane3(), and pcl::recognition::aux::sum3().

◆ enterTestModeSampleOPP()

void pcl::recognition::ObjRecRANSAC::enterTestModeSampleOPP ( )

inline

Definition at line 244 of file obj_rec_ransac.h.

References rec_mode_, and SAMPLE_OPP.

◆ enterTestModeTestHypotheses()

void pcl::recognition::ObjRecRANSAC::enterTestModeTestHypotheses ( )

inline

Definition at line 250 of file obj_rec_ransac.h.

References rec_mode_, and TEST_HYPOTHESES.

◆ filterGraphOfCloseHypotheses()

void pcl::recognition::ObjRecRANSAC::filterGraphOfCloseHypotheses	(	ORRGraph< Hypothesis > &	graph,
		std::vector< Hypothesis > &	out ) const

protected

◆ filterGraphOfConflictingHypotheses()

void pcl::recognition::ObjRecRANSAC::filterGraphOfConflictingHypotheses	(	ORRGraph< Hypothesis * > &	graph,
		std::list< ObjRecRANSAC::Output > &	recognized_objects ) const

protected

◆ generateHypotheses()

int pcl::recognition::ObjRecRANSAC::generateHypotheses	(	const std::list< OrientedPointPair > &	pairs,
		std::list< HypothesisBase > &	out ) const

protected

◆ getAcceptedHypotheses() [1/2]

const std::vector< Hypothesis > & pcl::recognition::ObjRecRANSAC::getAcceptedHypotheses ( ) const

inline

This function is useful for testing purposes.

It returns the accepted hypotheses generated during the recognition process. Makes sense only if some of the testing modes are active.

Definition at line 272 of file obj_rec_ransac.h.

References accepted_hypotheses_.

◆ getAcceptedHypotheses() [2/2]

void pcl::recognition::ObjRecRANSAC::getAcceptedHypotheses ( std::vector< Hypothesis > & out ) const

inline

This function is useful for testing purposes.

It returns the accepted hypotheses generated during the recognition process. Makes sense only if some of the testing modes are active.

Definition at line 280 of file obj_rec_ransac.h.

References accepted_hypotheses_.

◆ getHashTable()

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

inline

Returns the hash table in the model library.

Definition at line 287 of file obj_rec_ransac.h.

References model_library_.

◆ getModel()

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

inline

Definition at line 299 of file obj_rec_ransac.h.

References model_library_.

◆ getModelLibrary()

const ModelLibrary & pcl::recognition::ObjRecRANSAC::getModelLibrary ( ) const

inline

Definition at line 293 of file obj_rec_ransac.h.

References model_library_.

◆ getPairWidth()

float pcl::recognition::ObjRecRANSAC::getPairWidth ( ) const

inline

Definition at line 317 of file obj_rec_ransac.h.

References pair_width_.

◆ getRigidTransformSpace()

RigidTransformSpace & pcl::recognition::ObjRecRANSAC::getRigidTransformSpace ( )

inline

Definition at line 311 of file obj_rec_ransac.h.

References transform_space_.

◆ getSampledOrientedPointPairs()

const std::list< ObjRecRANSAC::OrientedPointPair > & pcl::recognition::ObjRecRANSAC::getSampledOrientedPointPairs ( ) const

inline

This function is useful for testing purposes.

It returns the oriented point pairs which were sampled from the scene during the recognition process. Makes sense only if some of the testing modes are active.

Definition at line 264 of file obj_rec_ransac.h.

References sampled_oriented_point_pairs_.

◆ getSceneOctree()

const ORROctree & pcl::recognition::ObjRecRANSAC::getSceneOctree ( ) const

inline

Definition at line 305 of file obj_rec_ransac.h.

References scene_octree_.

◆ groupHypotheses()

int pcl::recognition::ObjRecRANSAC::groupHypotheses	(	std::list< HypothesisBase > &	hypotheses,
		int	num_hypotheses,
		RigidTransformSpace &	transform_space,
		HypothesisOctree &	grouped_hypotheses ) const

protected

Groups close hypotheses in 'hypotheses'.

Saves a representative for each group in 'out'. Returns the number of hypotheses after grouping.

◆ icpHypothesesRefinementOff()

void pcl::recognition::ObjRecRANSAC::icpHypothesesRefinementOff ( )

inline

Definition at line 210 of file obj_rec_ransac.h.

References do_icp_hypotheses_refinement_.

◆ icpHypothesesRefinementOn()

void pcl::recognition::ObjRecRANSAC::icpHypothesesRefinementOn ( )

inline

Definition at line 204 of file obj_rec_ransac.h.

References do_icp_hypotheses_refinement_.

◆ ignoreCoplanarPointPairsOff()

void pcl::recognition::ObjRecRANSAC::ignoreCoplanarPointPairsOff ( )

inline

Default is on.

This method calls the corresponding method of the model library.

Definition at line 197 of file obj_rec_ransac.h.

References ignore_coplanar_opps_, and model_library_.

◆ ignoreCoplanarPointPairsOn()

void pcl::recognition::ObjRecRANSAC::ignoreCoplanarPointPairsOn ( )

inline

Default is on.

This method calls the corresponding method of the model library.

Definition at line 189 of file obj_rec_ransac.h.

References ignore_coplanar_opps_, and model_library_.

◆ leaveTestMode()

void pcl::recognition::ObjRecRANSAC::leaveTestMode ( )

inline

Definition at line 256 of file obj_rec_ransac.h.

References FULL_RECOGNITION, and rec_mode_.

◆ recognize()

void pcl::recognition::ObjRecRANSAC::recognize	(	const PointCloudIn &	scene,
		const PointCloudN &	normals,
		std::list< ObjRecRANSAC::Output > &	recognized_objects,
		double	success_probability = 0.99 )

This method performs the recognition of the models loaded to the model library with the method addModel().

Parameters

[in]	scene	is the 3d scene in which the object should be recognized.
[in]	normals	are the scene normals.
[out]	recognized_objects	is the list of output items each one containing the recognized model instance, its name, the aligning rigid transform and the match confidence (see ObjRecRANSAC::Output for further explanations).
[in]	success_probability	is the user-defined probability of detecting all objects in the scene.

◆ sampleOrientedPointPairs()

void pcl::recognition::ObjRecRANSAC::sampleOrientedPointPairs	(	int	num_iterations,
		const std::vector< ORROctree::Node * > &	full_scene_leaves,
		std::list< OrientedPointPair > &	output ) const

protected

◆ setMaxCoplanarityAngleDegrees()

void pcl::recognition::ObjRecRANSAC::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. This method calls the corresponding method of the model library.

Definition at line 175 of file obj_rec_ransac.h.

References max_coplanarity_angle_, and model_library_.

◆ setSceneBoundsEnlargementFactor()

void pcl::recognition::ObjRecRANSAC::setSceneBoundsEnlargementFactor ( float value )

inline

Definition at line 182 of file obj_rec_ransac.h.

References scene_bounds_enlargement_factor_.

◆ testHypothesis()

void pcl::recognition::ObjRecRANSAC::testHypothesis	(	Hypothesis *	hypothesis,
		int &	match,
		int &	penalty ) const

inlineprotected

◆ testHypothesisNormalBased()

void pcl::recognition::ObjRecRANSAC::testHypothesisNormalBased	(	Hypothesis *	hypothesis,
		float &	match ) const

inlineprotected

◆ ModelLibrary

friend class ModelLibrary

friend

Definition at line 325 of file obj_rec_ransac.h.

References ModelLibrary.

Referenced by ModelLibrary.

Member Data Documentation

◆ abs_zdist_thresh_

float pcl::recognition::ObjRecRANSAC::abs_zdist_thresh_

protected

Definition at line 456 of file obj_rec_ransac.h.

◆ accepted_hypotheses_

std::vector<Hypothesis> pcl::recognition::ObjRecRANSAC::accepted_hypotheses_

protected

Definition at line 475 of file obj_rec_ransac.h.

Referenced by clearTestData(), getAcceptedHypotheses(), and getAcceptedHypotheses().

◆ do_icp_hypotheses_refinement_

bool pcl::recognition::ObjRecRANSAC::do_icp_hypotheses_refinement_ {true}

protected

Definition at line 465 of file obj_rec_ransac.h.

Referenced by icpHypothesesRefinementOff(), and icpHypothesesRefinementOn().

◆ frac_of_points_for_icp_refinement_

float pcl::recognition::ObjRecRANSAC::frac_of_points_for_icp_refinement_ {0.3f}

protected

Definition at line 464 of file obj_rec_ransac.h.

Referenced by addModel().

◆ ignore_coplanar_opps_

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

protected

Definition at line 463 of file obj_rec_ransac.h.

Referenced by ignoreCoplanarPointPairsOff(), and ignoreCoplanarPointPairsOn().

◆ intersection_fraction_

float pcl::recognition::ObjRecRANSAC::intersection_fraction_ {0.03f}

protected

Definition at line 460 of file obj_rec_ransac.h.

◆ max_coplanarity_angle_

float pcl::recognition::ObjRecRANSAC::max_coplanarity_angle_

protected

Definition at line 461 of file obj_rec_ransac.h.

Referenced by setMaxCoplanarityAngleDegrees().

◆ model_library_

ModelLibrary pcl::recognition::ObjRecRANSAC::model_library_

protected

Definition at line 467 of file obj_rec_ransac.h.

Referenced by addModel(), clear(), getHashTable(), getModel(), getModelLibrary(), ignoreCoplanarPointPairsOff(), ignoreCoplanarPointPairsOn(), and setMaxCoplanarityAngleDegrees().

◆ pair_width_

float pcl::recognition::ObjRecRANSAC::pair_width_

protected

Definition at line 452 of file obj_rec_ransac.h.

Referenced by getPairWidth().

◆ position_discretization_

float pcl::recognition::ObjRecRANSAC::position_discretization_

protected

Definition at line 454 of file obj_rec_ransac.h.

◆ rec_mode_

Recognition_Mode pcl::recognition::ObjRecRANSAC::rec_mode_ {ObjRecRANSAC::FULL_RECOGNITION}

protected

Definition at line 476 of file obj_rec_ransac.h.

Referenced by enterTestModeSampleOPP(), enterTestModeTestHypotheses(), and leaveTestMode().

◆ relative_num_of_illegal_pts_

float pcl::recognition::ObjRecRANSAC::relative_num_of_illegal_pts_ {0.02f}

protected

Definition at line 459 of file obj_rec_ransac.h.

◆ relative_obj_size_

float pcl::recognition::ObjRecRANSAC::relative_obj_size_ {0.05f}

protected

Definition at line 457 of file obj_rec_ransac.h.

Referenced by computeNumberOfIterations().

◆ rotation_discretization_

float pcl::recognition::ObjRecRANSAC::rotation_discretization_

protected

Definition at line 455 of file obj_rec_ransac.h.

◆ sampled_oriented_point_pairs_

std::list<OrientedPointPair> pcl::recognition::ObjRecRANSAC::sampled_oriented_point_pairs_

protected

Definition at line 474 of file obj_rec_ransac.h.

Referenced by clear(), clearTestData(), and getSampledOrientedPointPairs().

◆ scene_bounds_enlargement_factor_

float pcl::recognition::ObjRecRANSAC::scene_bounds_enlargement_factor_ {0.25f}

protected

Definition at line 462 of file obj_rec_ransac.h.

Referenced by setSceneBoundsEnlargementFactor().

◆ scene_octree_

ORROctree pcl::recognition::ObjRecRANSAC::scene_octree_

protected

Definition at line 468 of file obj_rec_ransac.h.

Referenced by clear(), and getSceneOctree().

◆ scene_octree_points_

PointCloudIn::Ptr pcl::recognition::ObjRecRANSAC::scene_octree_points_

protected

Definition at line 472 of file obj_rec_ransac.h.

Referenced by clear().

◆ scene_octree_proj_

ORROctreeZProjection pcl::recognition::ObjRecRANSAC::scene_octree_proj_

protected

Definition at line 469 of file obj_rec_ransac.h.

Referenced by clear().

◆ transform_space_

RigidTransformSpace pcl::recognition::ObjRecRANSAC::transform_space_

protected

Definition at line 470 of file obj_rec_ransac.h.

Referenced by clear(), clearTestData(), and getRigidTransformSpace().

◆ trimmed_icp_

TrimmedICP<pcl::PointXYZ, float> pcl::recognition::ObjRecRANSAC::trimmed_icp_

protected

Definition at line 471 of file obj_rec_ransac.h.

◆ visibility_

float pcl::recognition::ObjRecRANSAC::visibility_ {0.2f}

protected

Definition at line 458 of file obj_rec_ransac.h.

◆ voxel_size_

float pcl::recognition::ObjRecRANSAC::voxel_size_

protected

Definition at line 453 of file obj_rec_ransac.h.

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

pcl/recognition/ransac_based/obj_rec_ransac.h

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ BVHH

◆ HypothesisOctree

◆ PointCloudIn

◆ PointCloudN

Member Enumeration Documentation

◆ Recognition_Mode

Constructor & Destructor Documentation

◆ ObjRecRANSAC()

◆ ~ObjRecRANSAC()

Member Function Documentation

◆ addModel()

◆ buildGraphOfCloseHypotheses()

◆ buildGraphOfConflictingHypotheses()

◆ clear()

◆ clearTestData()

◆ compute_oriented_point_pair_signature()

◆ computeNumberOfIterations()

◆ computeRigidTransform()

◆ enterTestModeSampleOPP()

◆ enterTestModeTestHypotheses()

◆ filterGraphOfCloseHypotheses()

◆ filterGraphOfConflictingHypotheses()

◆ generateHypotheses()

◆ getAcceptedHypotheses() [1/2]

◆ getAcceptedHypotheses() [2/2]

◆ getHashTable()

◆ getModel()

◆ getModelLibrary()

◆ getPairWidth()

◆ getRigidTransformSpace()

◆ getSampledOrientedPointPairs()

◆ getSceneOctree()

◆ groupHypotheses()

◆ icpHypothesesRefinementOff()

◆ icpHypothesesRefinementOn()

◆ ignoreCoplanarPointPairsOff()

◆ ignoreCoplanarPointPairsOn()

◆ leaveTestMode()

◆ recognize()

◆ sampleOrientedPointPairs()

◆ setMaxCoplanarityAngleDegrees()

◆ setSceneBoundsEnlargementFactor()

◆ testHypothesis()

◆ testHypothesisNormalBased()

Friends And Related Symbol Documentation

◆ ModelLibrary

Member Data Documentation

◆ abs_zdist_thresh_

◆ accepted_hypotheses_

◆ do_icp_hypotheses_refinement_

◆ frac_of_points_for_icp_refinement_

◆ ignore_coplanar_opps_

◆ intersection_fraction_

◆ max_coplanarity_angle_

◆ model_library_

◆ pair_width_

◆ position_discretization_

◆ rec_mode_

◆ relative_num_of_illegal_pts_

◆ relative_obj_size_

◆ rotation_discretization_

◆ sampled_oriented_point_pairs_

◆ scene_bounds_enlargement_factor_

◆ scene_octree_

◆ scene_octree_points_

◆ scene_octree_proj_

◆ transform_space_

◆ trimmed_icp_

◆ visibility_

◆ voxel_size_