| OpenCV 3.4.8 Open Source Computer Vision

Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
cv::ppf_match_3d::PPF3DDetector Class Reference
Surface Matching

Class, allowing the load and matching 3D models. Typical Use: More...

`#include <opencv2/surface_matching/ppf_match_3d.hpp>`

## Public Member Functions
| PPF3DDetector ()
| Empty constructor. Sets default arguments. More...
| PPF3DDetector (const double relativeSamplingStep, const double relativeDistanceStep=0.05, const double numAngles=30)
virtual | ~PPF3DDetector ()
void | match (const Mat &scene, std::vector< Pose3DPtr > &results, const double relativeSceneSampleStep=1.0/5.0, const double relativeSceneDistance=0.03)
| Matches a trained model across a provided scene. More...
void | read (const FileNode &fn)
void | setSearchParams (const double positionThreshold=-1, const double rotationThreshold=-1, const bool useWeightedClustering=false)
void | trainModel (const Mat &Model)
| Trains a new model. More...
void | write (FileStorage &fs) const

## Protected Member Functions
void | clearTrainingModels ()

## Protected Attributes
double | angle_step
double | angle_step_radians
double | angle_step_relative
double | distance_step
double | distance_step_relative
THash * | hash_nodes
hashtable_int * | hash_table
int | num_ref_points
double | position_threshold
Mat | ppf
double | rotation_threshold
Mat | sampled_pc
double | sampling_step_relative
int | scene_sample_step
bool | use_weighted_avg

## Detailed Description

Class, allowing the load and matching 3D models. Typical Use:

// Train a model
ppf_match_3d::PPF3DDetector detector(0.05, 0.05);
detector.trainModel(pc);
// Search the model in a given scene
vector<Pose3DPtr> results;
detector.match(pcTest, results, 1.0/5.0,0.05);

## Constructor & Destructor Documentation

## § PPF3DDetector() [1/2]

cv::ppf_match_3d::PPF3DDetector::PPF3DDetector | ( |  | ) |

Empty constructor. Sets default arguments.

## § PPF3DDetector() [2/2]

cv::ppf_match_3d::PPF3DDetector::PPF3DDetector | ( | const double | relativeSamplingStep,
|  | const double | relativeDistanceStep = `0.05`,
|  | const double | numAngles = `30`
| ) |  |

Constructor with arguments

Parameters

  [in] | relativeSamplingStep | Sampling distance relative to the object's diameter. Models are first sampled uniformly in order to improve efficiency. Decreasing this value leads to a denser model, and a more accurate pose estimation but the larger the model, the slower the training. Increasing the value leads to a less accurate pose computation but a smaller model and faster model generation and matching. Beware of the memory consumption when using small values.
  [in] | relativeDistanceStep | The discretization distance of the point pair distance relative to the model's diameter. This value has a direct impact on the hashtable. Using small values would lead to too fine discretization, and thus ambiguity in the bins of hashtable. Too large values would lead to no discrimination over the feature vectors and different point pair features would be assigned to the same bin. This argument defaults to the value of RelativeSamplingStep. For noisy scenes, the value can be increased to improve the robustness of the matching against noisy points.
  [in] | numAngles | Set the discretization of the point pair orientation as the number of subdivisions of the angle. This value is the equivalent of RelativeDistanceStep for the orientations. Increasing the value increases the precision of the matching but decreases the robustness against incorrect normal directions. Decreasing the value decreases the precision of the matching but increases the robustness against incorrect normal directions. For very noisy scenes where the normal directions can not be computed accurately, the value can be set to 25 or 20.

## § ~PPF3DDetector()

virtual cv::ppf_match_3d::PPF3DDetector::~PPF3DDetector | ( |  | ) |
| virtual

## Member Function Documentation

## § clearTrainingModels()

void cv::ppf_match_3d::PPF3DDetector::clearTrainingModels | ( |  | ) |
| protected

## § match()

void cv::ppf_match_3d::PPF3DDetector::match | ( | const Mat & | scene,
|  | std::vector< Pose3DPtr > & | results,
|  | const double | relativeSceneSampleStep = `1.0/5.0`,
|  | const double | relativeSceneDistance = `0.03`
| ) |  |

Matches a trained model across a provided scene.

Parameters

  [in] | scene | Point cloud for the scene
  [out] | results | List of output poses
  [in] | relativeSceneSampleStep | The ratio of scene points to be used for the matching after sampling with relativeSceneDistance. For example, if this value is set to 1.0/5.0, every 5th point from the scene is used for pose estimation. This parameter allows an easy trade-off between speed and accuracy of the matching. Increasing the value leads to less points being used and in turn to a faster but less accurate pose computation. Decreasing the value has the inverse effect.
  [in] | relativeSceneDistance | Set the distance threshold relative to the diameter of the model. This parameter is equivalent to relativeSamplingStep in the training stage. This parameter acts like a prior sampling with the relativeSceneSampleStep parameter.

## § read()

void cv::ppf_match_3d::PPF3DDetector::read | ( | const FileNode & | fn | ) |

## § setSearchParams()

void cv::ppf_match_3d::PPF3DDetector::setSearchParams | ( | const double | positionThreshold = `-1`,
|  | const double | rotationThreshold = `-1`,
|  | const bool | useWeightedClustering = `false`
| ) |  |

Set the parameters for the search

Parameters

  [in] | positionThreshold | Position threshold controlling the similarity of translations. Depends on the units of calibration/model.
  [in] | rotationThreshold | Position threshold controlling the similarity of rotations. This parameter can be perceived as a threshold over the difference of angles
  [in] | useWeightedClustering | The algorithm by default clusters the poses without weighting. A non-zero value would indicate that the pose clustering should take into account the number of votes as the weights and perform a weighted averaging instead of a simple one.

## § trainModel()

void cv::ppf_match_3d::PPF3DDetector::trainModel | ( | const Mat & | Model | ) |

Trains a new model.

Parameters

  [in] | Model | The input point cloud with normals (Nx6)

Uses the parameters set in the constructor to downsample and learn a new model. When the model is learnt, the instance gets ready for calling "match".

## § write()

void cv::ppf_match_3d::PPF3DDetector::write | ( | FileStorage & | fs | ) | const

## Member Data Documentation

## § angle_step

double cv::ppf_match_3d::PPF3DDetector::angle_step
| protected

## § angle_step_radians

double cv::ppf_match_3d::PPF3DDetector::angle_step_radians
| protected

## § angle_step_relative

double cv::ppf_match_3d::PPF3DDetector::angle_step_relative
| protected

## § distance_step

double cv::ppf_match_3d::PPF3DDetector::distance_step
| protected

## § distance_step_relative

double cv::ppf_match_3d::PPF3DDetector::distance_step_relative
| protected

## § hash_nodes

THash* cv::ppf_match_3d::PPF3DDetector::hash_nodes
| protected

## § hash_table

hashtable_int* cv::ppf_match_3d::PPF3DDetector::hash_table
| protected

## § num_ref_points

int cv::ppf_match_3d::PPF3DDetector::num_ref_points
| protected

## § position_threshold

double cv::ppf_match_3d::PPF3DDetector::position_threshold
| protected

## § ppf

Mat cv::ppf_match_3d::PPF3DDetector::ppf
| protected

## § rotation_threshold

double cv::ppf_match_3d::PPF3DDetector::rotation_threshold
| protected

## § sampled_pc

Mat cv::ppf_match_3d::PPF3DDetector::sampled_pc
| protected

## § sampling_step_relative

double cv::ppf_match_3d::PPF3DDetector::sampling_step_relative
| protected

## § scene_sample_step

int cv::ppf_match_3d::PPF3DDetector::scene_sample_step
| protected

## § use_weighted_avg

bool cv::ppf_match_3d::PPF3DDetector::use_weighted_avg
| protected

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

- opencv2/surface_matching/ppf_match_3d.hpp