Point Cloud Library (PCL)
1.11.1-dev
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48 #include <pcl/recognition/ransac_based/model_library.h>
49 #include <pcl/recognition/ransac_based/auxiliary.h>
131 bounds[0] = bounds[1] = p[0];
132 bounds[2] = bounds[3] = p[1];
133 bounds[4] = bounds[5] = p[2];
void computeBounds(float bounds[6]) const
HypothesisBase(const ModelLibrary::Model *obj_model, const float *rigid_transform)
const ModelLibrary::Model * obj_model_
void expandBoundingBoxToContainPoint(T bbox[6], const T p[3])
Expands the bounding box 'bbox' such that it contains the point 'p'.
void computeCenterOfMass(float center_of_mass[3]) const
const Hypothesis & operator=(const Hypothesis &src)
HypothesisBase(const ModelLibrary::Model *obj_model)
std::set< int > explained_pixels_
const float * getOctreeCenterOfMass() const
Stores some information about the model.
void setModel(const ModelLibrary::Model *model)
virtual ~HypothesisBase()
Hypothesis(const Hypothesis &src)
const float * getBoundsOfOctreePoints() const
Hypothesis(const ModelLibrary::Model *obj_model=nullptr)
float rigid_transform_[12]
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...