Finder Class Reference

Match3D DNC finder used to perform a search on a point cloud. More...

#include <cvb/dnc/finder.hpp>

Public Member Functions
void *	Handle () const noexcept
	Classic API node handle. More...
std::vector< SearchResult >	Find (const DensePointCloud &pointCloud, const SearchParameters &parameters)
	Search for objects on the given point cloud. More...
void	Save (const String &fileName)
	Saves the finder to the given file name. More...
std::tuple< TeachParameters, double, double >	GetTeachParameters ()
	Gets the TeachParameters with which this Finder was trained. More...

Static Public Member Functions
static std::unique_ptr< Finder >	Load (const String &fileName)
	Loads a finder from the given file name. More...
static std::unique_ptr< Finder >	FromHandle (HandleGuard< Finder > &&guard)
	Creates a finder from a classic API handle. More...

Detailed Description

Match3D DNC finder used to perform a search on a point cloud.

Member Function Documentation

Find()

std::vector< SearchResult > Find ( const DensePointCloud &  pointCloud, const SearchParameters &  parameters  )

inline

Search for objects on the given point cloud.

Detect objects in the given point cloud and return a list of results. Try to adjust the search parameters if there are too few results or the result list contains false positives.

The given pointCloud must either be orientated in sensor frame coordinates, or it must be extrinsically calibrated such that the direction of the Z-axis points to the sensor.

Parameters

[in]	pointCloud	PointCloud to search on.
[in]	parameters	Search parameters to use.

Returns

Found results.

Exceptions

Any	exception derived from std::exception including CvbException.

FromHandle()

static std::unique_ptr< Finder > FromHandle ( HandleGuard< Finder > &&  guard )

inlinestatic

Creates a finder from a classic API handle.

Parameters

[in]

guard

Life time guard for C-API handle.

Returns

The finder created from the classic API handle.

Exceptions

Any	exception derived from std::exception including CvbException.

The finder takes ownership of the handle, so you must share it before using this function.

GetTeachParameters()

std::tuple< TeachParameters, double, double > GetTeachParameters ( )

inline

Gets the TeachParameters with which this Finder was trained.

This function returns the parameters with which the classifier was trained. The values for resolution and fringe are not teach parameters in the strict sense - they rather concern the sample generation itself -, but they are returned for the sake of completeness.

Returns

A tuple containg the teach parameters, the resolution and the fringe.

Exceptions

Any	exception derived from std::exception including CvbException.

Handle()

void * Handle ( ) const

inlinenoexcept

Classic API node handle.

Returns

Classic API handle.

Exceptions

Does	not throw any exception.

It is normally not necessary to work with this handle.

Load()

static std::unique_ptr< Finder > Load ( const String &  fileName )

inlinestatic

Loads a finder from the given file name.

Parameters

[in]

fileName

File to load

Returns

Loaded finder.

Exceptions

Any	exception derived from std::exception including CvbException.

Examples

DNC/CppDncConsole.

Save()

void Save ( const String &  fileName )

inline

Saves the finder to the given file name.

Parameters

[in]

fileName

Path to save the finder to.

Exceptions

Any	exception derived from std::exception including CvbException.