OpenCV 4.5.3(日本語機械翻訳)
ppf_match_3d.hpp
[詳解]
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59 #ifndef __OPENCV_SURFACE_MATCHING_PPF_MATCH_3D_HPP__
60 #define __OPENCV_SURFACE_MATCHING_PPF_MATCH_3D_HPP__
61
62 #include <opencv2/core.hpp>
63
64 #include <vector>
65 #include "pose_3d.hpp"
66 #include "t_hash_int.hpp"
67
68 namespace cv
69{
70 namespace ppf_match_3d
71{
72
75
79 typedef struct THash
80{
81 int id;
82 int i, ppfInd;
83 } THash;
84
97 class CV_EXPORTS_W PPF3DDetector
98{
99 public:
100
104 CV_WRAP PPF3DDetector();
105
112 CV_WRAP PPF3DDetector(const double relativeSamplingStep, const double relativeDistanceStep=0.05, const double numAngles=30);
113
114 virtual ~PPF3DDetector();
115
122 void setSearchParams(const double positionThreshold=-1, const double rotationThreshold=-1, const bool useWeightedClustering=false);
123
131 CV_WRAP void trainModel(const Mat& Model);
132
141 CV_WRAP void match(const Mat& scene, CV_OUT std::vector<Pose3DPtr> &results, const double relativeSceneSampleStep=1.0/5.0, const double relativeSceneDistance=0.03);
142
143 void read(const FileNode& fn);
144 void write(FileStorage& fs) const;
145
146 protected:
147
148 double angle_step, angle_step_radians, distance_step;
149 double sampling_step_relative, angle_step_relative, distance_step_relative;
150 Mat sampled_pc, ppf;
151 int num_ref_points;
152 hashtable_int* hash_table;
153 THash* hash_nodes;
154
155 double position_threshold, rotation_threshold;
156 bool use_weighted_avg;
157
158 int scene_sample_step;
159
160 void clearTrainingModels();
161
162 private:
163 void computePPFFeatures(const Vec3d& p1, const Vec3d& n1,
164 const Vec3d& p2, const Vec3d& n2,
165 Vec4d& f);
166
167 bool matchPose(const Pose3D& sourcePose, const Pose3D& targetPose);
168
169 void clusterPoses(std::vector<Pose3DPtr>& poseList, int numPoses, std::vector<Pose3DPtr> &finalPoses);
170
171 bool trained;
172};
173
175
176} // namespace ppf_match_3d
177
178} // namespace cv
179 #endif
cv::FileNode
File Storage Node class.
Definition: persistence.hpp:482
cv::FileStorage
XML/YAML/JSON file storage class that encapsulates all the information necessary for writing or readi...
Definition: persistence.hpp:304
cv::Mat
n-dimensional dense array class
Definition: mat.hpp:802
cv::Vec
Template class for short numerical vectors, a partial case of Matx
Definition: matx.hpp:342
cv::ppf_match_3d::PPF3DDetector
Class, allowing the load and matching 3D models. Typical Use:
Definition: ppf_match_3d.hpp:98
cv::ppf_match_3d::PPF3DDetector::setSearchParams
void setSearchParams(const double positionThreshold=-1, const double rotationThreshold=-1, const bool useWeightedClustering=false)
cv::ppf_match_3d::Pose3D
Class, allowing the storage of a pose. The data structure stores both the quaternions and the matrix ...
Definition: pose_3d.hpp:71
cv::ppf_match_3d::THash
struct cv::ppf_match_3d::THash THash
Struct, holding a node in the hashtable
cv
"black box" representation of the file storage associated with a file on disk.
Definition: aruco.hpp:75
pose_3d.hpp
cv::ppf_match_3d::HSHTBL_i
Definition: t_hash_int.hpp:68
cv::ppf_match_3d::THash
Struct, holding a node in the hashtable
Definition: ppf_match_3d.hpp:80
t_hash_int.hpp
構築: doxygen 1.9.2