65 float conflict_threshold_size_;
66 float penalty_threshold_;
67 float support_threshold_;
69 class RecognitionModel
72 std::vector<int> explained_;
79 using RecognitionModelPtr = std::shared_ptr<RecognitionModel>;
81 std::vector<int> explained_by_RM_;
82 std::vector<RecognitionModelPtr> recognition_models_;
83 std::vector<std::vector<RecognitionModelPtr>> points_explained_by_rm_;
84 std::map<int, RecognitionModelPtr> graph_id_model_map_;
86 using Graph = boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, RecognitionModelPtr>;
87 Graph conflict_graph_;
90 void buildConflictGraph();
92 void nonMaximaSuppresion();
98 support_threshold_ = 0.1f;
99 penalty_threshold_ = 0.1f;
100 conflict_threshold_size_ = 0.02f;
104 conflict_threshold_size_ = t;
108 support_threshold_ = t;
112 penalty_threshold_ = t;
117 void verify()
override;