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hypothesis.h
/*
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/*
* hypothesis.h
*
* Created on: Mar 12, 2013
* Author: papazov
*/
#pragma once
#include <pcl/recognition/ransac_based/model_library.h>
#include <pcl/recognition/ransac_based/auxiliary.h>
namespace pcl
{
namespace recognition
{
class HypothesisBase
{
public:
HypothesisBase (const ModelLibrary::Model* obj_model)
: obj_model_ (obj_model)
{}
HypothesisBase (const ModelLibrary::Model* obj_model, const float* rigid_transform)
: obj_model_ (obj_model)
{
std::copy(rigid_transform, rigid_transform + 12, rigid_transform_);
}
virtual ~HypothesisBase () = default;
void
setModel (const ModelLibrary::Model* model)
{
obj_model_ = model;
}
public:
float rigid_transform_[12]{};
const ModelLibrary::Model* obj_model_{nullptr};
};
class Hypothesis: public HypothesisBase
{
public:
Hypothesis (const ModelLibrary::Model* obj_model = nullptr)
: HypothesisBase (obj_model)
{
}
Hypothesis (const Hypothesis& src)
: HypothesisBase (src.obj_model_, src.rigid_transform_),
match_confidence_ (src.match_confidence_),
explained_pixels_ (src.explained_pixels_)
{
}
~Hypothesis () override = default;
const Hypothesis&
operator =(const Hypothesis& src)
{
std::copy(src.rigid_transform_, src.rigid_transform_ + 12, this->rigid_transform_);
this->obj_model_ = src.obj_model_;
this->match_confidence_ = src.match_confidence_;
this->explained_pixels_ = src.explained_pixels_;
return *this;
}
void
setLinearId (int id)
{
linear_id_ = id;
}
int
getLinearId () const
{
return (linear_id_);
}
void
computeBounds (float bounds[6]) const
{
const float *b = obj_model_->getBoundsOfOctreePoints ();
float p[3];
// Initialize 'bounds'
aux::transform (rigid_transform_, b[0], b[2], b[4], p);
bounds[0] = bounds[1] = p[0];
bounds[2] = bounds[3] = p[1];
bounds[4] = bounds[5] = p[2];
// Expand 'bounds' to contain the other 7 points of the octree bounding box
aux::transform (rigid_transform_, b[0], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
aux::transform (rigid_transform_, b[0], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
aux::transform (rigid_transform_, b[0], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
aux::transform (rigid_transform_, b[1], b[2], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
aux::transform (rigid_transform_, b[1], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
aux::transform (rigid_transform_, b[1], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
aux::transform (rigid_transform_, b[1], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
}
void
computeCenterOfMass (float center_of_mass[3]) const
{
aux::transform (rigid_transform_, obj_model_->getOctreeCenterOfMass (), center_of_mass);
}
public:
float match_confidence_{-1.0f};
std::set<int> explained_pixels_;
int linear_id_{-1};
};
} // namespace recognition
} // namespace pcl
pcl::recognition::HypothesisBase
Definition hypothesis.h:56
pcl::recognition::HypothesisBase::rigid_transform_
float rigid_transform_[12]
Definition hypothesis.h:77
pcl::recognition::HypothesisBase::HypothesisBase
HypothesisBase(const ModelLibrary::Model *obj_model)
Definition hypothesis.h:58
pcl::recognition::HypothesisBase::setModel
void setModel(const ModelLibrary::Model *model)
Definition hypothesis.h:71
pcl::recognition::HypothesisBase::~HypothesisBase
virtual ~HypothesisBase()=default
pcl::recognition::HypothesisBase::HypothesisBase
HypothesisBase(const ModelLibrary::Model *obj_model, const float *rigid_transform)
Definition hypothesis.h:62
pcl::recognition::HypothesisBase::obj_model_
const ModelLibrary::Model * obj_model_
Definition hypothesis.h:78
pcl::recognition::Hypothesis
Definition hypothesis.h:82
pcl::recognition::Hypothesis::match_confidence_
float match_confidence_
Definition hypothesis.h:150
pcl::recognition::Hypothesis::linear_id_
int linear_id_
Definition hypothesis.h:152
pcl::recognition::Hypothesis::~Hypothesis
~Hypothesis() override=default
pcl::recognition::Hypothesis::computeCenterOfMass
void computeCenterOfMass(float center_of_mass[3]) const
Definition hypothesis.h:144
pcl::recognition::Hypothesis::setLinearId
void setLinearId(int id)
Definition hypothesis.h:110
pcl::recognition::Hypothesis::explained_pixels_
std::set< int > explained_pixels_
Definition hypothesis.h:151
pcl::recognition::Hypothesis::Hypothesis
Hypothesis(const Hypothesis &src)
Definition hypothesis.h:89
pcl::recognition::Hypothesis::Hypothesis
Hypothesis(const ModelLibrary::Model *obj_model=nullptr)
Definition hypothesis.h:84
pcl::recognition::Hypothesis::operator=
const Hypothesis & operator=(const Hypothesis &src)
Definition hypothesis.h:99
pcl::recognition::Hypothesis::getLinearId
int getLinearId() const
Definition hypothesis.h:116
pcl::recognition::Hypothesis::computeBounds
void computeBounds(float bounds[6]) const
Definition hypothesis.h:122
pcl::recognition::ModelLibrary::Model
Stores some information about the model.
Definition model_library.h:65
pcl::recognition::ModelLibrary::Model::getBoundsOfOctreePoints
const float * getBoundsOfOctreePoints() const
Definition model_library.h:150
pcl::recognition::ModelLibrary::Model::getOctreeCenterOfMass
const float * getOctreeCenterOfMass() const
Definition model_library.h:144
pcl::recognition::aux::expandBoundingBoxToContainPoint
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
pcl::recognition::aux::transform
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
pcl
Definition convolution.h:46