Point Cloud Library (PCL) 1.12.1
hypothesis.h
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38
39/*
40 * hypothesis.h
41 *
42 * Created on: Mar 12, 2013
43 * Author: papazov
44 */
45
46#pragma once
47
48#include <pcl/recognition/ransac_based/model_library.h>
49#include <pcl/recognition/ransac_based/auxiliary.h>
50
51namespace pcl
52{
53 namespace recognition
54 {
56 {
57 public:
59 : obj_model_ (obj_model)
60 {}
61
62 HypothesisBase (const ModelLibrary::Model* obj_model, const float* rigid_transform)
63 : obj_model_ (obj_model)
64 {
65 memcpy (rigid_transform_, rigid_transform, 12*sizeof (float));
66 }
67
68 virtual ~HypothesisBase (){}
69
70 void
72 {
73 obj_model_ = model;
74 }
75
76 public:
79 };
80
82 {
83 public:
84 Hypothesis (const ModelLibrary::Model* obj_model = nullptr)
85 : HypothesisBase (obj_model),
86 match_confidence_ (-1.0f),
87 linear_id_ (-1)
88 {
89 }
90
95 {
96 }
97
99
100 const Hypothesis&
102 {
103 memcpy (this->rigid_transform_, src.rigid_transform_, 12*sizeof (float));
104 this->obj_model_ = src.obj_model_;
107
108 return *this;
109 }
110
111 void
112 setLinearId (int id)
113 {
114 linear_id_ = id;
115 }
116
117 int
118 getLinearId () const
119 {
120 return (linear_id_);
121 }
122
123 void
124 computeBounds (float bounds[6]) const
125 {
126 const float *b = obj_model_->getBoundsOfOctreePoints ();
127 float p[3];
128
129 // Initialize 'bounds'
130 aux::transform (rigid_transform_, b[0], b[2], b[4], p);
131 bounds[0] = bounds[1] = p[0];
132 bounds[2] = bounds[3] = p[1];
133 bounds[4] = bounds[5] = p[2];
134
135 // Expand 'bounds' to contain the other 7 points of the octree bounding box
136 aux::transform (rigid_transform_, b[0], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
137 aux::transform (rigid_transform_, b[0], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
138 aux::transform (rigid_transform_, b[0], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
139 aux::transform (rigid_transform_, b[1], b[2], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
140 aux::transform (rigid_transform_, b[1], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
141 aux::transform (rigid_transform_, b[1], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
142 aux::transform (rigid_transform_, b[1], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
143 }
144
145 void
146 computeCenterOfMass (float center_of_mass[3]) const
147 {
149 }
150
151 public:
153 std::set<int> explained_pixels_;
155 };
156 } // namespace recognition
157} // namespace pcl
HypothesisBase(const ModelLibrary::Model *obj_model)
Definition: hypothesis.h:58
void setModel(const ModelLibrary::Model *model)
Definition: hypothesis.h:71
HypothesisBase(const ModelLibrary::Model *obj_model, const float *rigid_transform)
Definition: hypothesis.h:62
const ModelLibrary::Model * obj_model_
Definition: hypothesis.h:78
void computeCenterOfMass(float center_of_mass[3]) const
Definition: hypothesis.h:146
std::set< int > explained_pixels_
Definition: hypothesis.h:153
Hypothesis(const Hypothesis &src)
Definition: hypothesis.h:91
Hypothesis(const ModelLibrary::Model *obj_model=nullptr)
Definition: hypothesis.h:84
const Hypothesis & operator=(const Hypothesis &src)
Definition: hypothesis.h:101
void computeBounds(float bounds[6]) const
Definition: hypothesis.h:124
Stores some information about the model.
Definition: model_library.h:65
const float * getBoundsOfOctreePoints() const
const float * getOctreeCenterOfMass() const
void expandBoundingBoxToContainPoint(T bbox[6], const T p[3])
Expands the bounding box 'bbox' such that it contains the point 'p'.
Definition: auxiliary.h:95
void transform(const T t[12], const T p[3], T out[3])
The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a transla...
Definition: auxiliary.h:304