vfh_recognition::VFHRecognizer< Distance > Class Template Reference

#include <vfh_recognition.h>

Public Member Functions
int	computeAngleRollOrientationFrequency (cv::Mat &hist_fft, cv::Mat &hist_fft_input, int nr_bins_, Eigen::Vector4f centroid_view, Eigen::Vector4f centroid_input, const pcl::PointCloud< pcl::PointNormal > &view, const pcl::PointCloud< pcl::PointNormal > &input, int jj, pcl::PointCloud< pcl::VFHSignature308 > &hist_view, pcl::PointCloud< pcl::VFHSignature308 > &hist_input)
bool	computeNormals (pcl::PointCloud< pcl::PointXYZ >::Ptr input, pcl::PointCloud< pcl::PointNormal >::Ptr cloud_normals)
bool	computeVFH (pcl::PointCloud< pcl::PointXYZ >::Ptr input, pcl::PointCloud< pcl::PointNormal >::Ptr cloud_normals, std::vector< pcl::PointCloud< pcl::VFHSignature308 >, Eigen::aligned_allocator< pcl::PointCloud< pcl::VFHSignature308 > > > &vfh_signatures, std::vector< Eigen::Vector3f > &centroids_dominant_orientations)
void	computeVFHRollOrientation (pcl::PointCloud< pcl::PointNormal >::Ptr input, pcl::PointCloud< pcl::VFHSignature308 >::Ptr vfh_signature, Eigen::Vector3f &centroid, cv::Mat &frequency_domain)
bool	detect_ (const sensor_msgs::PointCloud2ConstPtr &msg, int nModels, std::vector< std::string > &model_ids, std::vector< geometry_msgs::Pose > &poses, std::vector< float > &confidences, std::vector< std::string > &vfh_ids, bool use_fitness_score=true)
void	getCentroids (std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > *centroids)
void	getCentroidsResults (std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > *centroids)
void	getICPTransformations (std::vector< Eigen::Matrix4f, Eigen::aligned_allocator< Eigen::Matrix4f > > *icp_transformations)
void	getRollRotationAngles (std::vector< int > *roll_angles)
virtual bool	getVFHHistogramFromVFHId (pcl::PointCloud< pcl::VFHSignature308 > &vfh_descriptor, std::string vfh_id)=0
void	setApplyICP (bool apply)
void	setApplyRadiusRemoval (bool apply)
void	setApplyVoxelGrid (bool apply)
void	setICPIterations (int iter)
void	setNormalizeVFHBins (bool normalize)
void	setUseClusterCentroids (bool use)
void	setUseOldVFH (bool use)
	VFHRecognizer ()
	~VFHRecognizer ()
Public Attributes
bool	fill_size_component_
std::vector< float >	fitness_scores_
EIGEN_MAKE_ALIGNED_OPERATOR_NEW pcl::PointCloud < pcl::PointNormal >	input_filtered
std::vector< float >	roll_histogram_errors_
std::vector< float >	roll_histogram_errors_flipped_
pcl::PointCloud < pcl::VFHSignature308 >	vfh_histogram_processed
int	view_id_being_processed_
Protected Member Functions
void	computeRollTransform (Eigen::Vector4f &centroidInput, Eigen::Vector4f &centroidResult, double roll_angle, Eigen::Affine3f &final_trans)
void	computeTransformToZAxes (Eigen::Vector4f &centroid, Eigen::Affine3f &transform)
void	filterNormalsWithHighCurvature (pcl::PointCloud< pcl::PointNormal > &cloud, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold)
virtual std::string	getModelId (std::string id)=0
virtual bool	getPointCloudFromId (pcl::PointCloud< pcl::PointNormal > &cloud, std::string id)=0
virtual bool	getPoseFromId (std::string id, geometry_msgs::Pose &pose)=0
virtual bool	getVFHCentroidFromVFHid (std::vector< float > &centroid, std::string id)=0
virtual int	getVFHId (std::string id)=0
virtual bool	getVFHRollOrientationFromId (pcl::PointCloud< pcl::VFHSignature308 > &vfh_orientation_signature, std::string id)=0
virtual bool	getVFHRollOrientationFromIdThroughView (pcl::PointCloud< pcl::VFHSignature308 > &vfh_orientation_signature, std::string id)=0
virtual bool	getViewCentroidFromVFHid (std::vector< float > &centroid, std::string id)=0
bool	loadFileList (std::vector< vfh_model_db > &models, const std::string &filename)
void	nearestKSearch (flann::Index< DistT > *index, const vfh_model_db &model, int k, flann::Matrix< int > &indices, flann::Matrix< float > &distances)
void	saveFileList (const std::vector< vfh_model_db > &models, const std::string &filename)
	Save the list of file models.
Protected Attributes
bool	apply_radius_removal_
bool	apply_voxel_grid_
std::vector< Eigen::Vector4f, Eigen::aligned_allocator < Eigen::Vector4f > >	centroid_inputs_
std::vector< Eigen::Vector4f, Eigen::aligned_allocator < Eigen::Vector4f > >	centroid_results_
flann::Matrix< float >	data_
int	icp_iterations_
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator < Eigen::Matrix4f > >	icp_transformations_
flann::Index< DistT > *	index_
int	knn_
std::vector< vfh_model_db >	models_
bool	normalize_vfh_bins_
bool	perform_icp_
std::vector< int >	roll_rotation_angles_
bool	use_cluster_centroids_
bool	use_old_vfh_
Private Types
typedef Distance< float >	DistT