vfh_recognizer_db::VFHRecognizerDB< Distance > Class Template Reference

#include <vfh_recognition.h>

Inheritance diagram for vfh_recognizer_db::VFHRecognizerDB< Distance >:

Public Member Functions
bool	buildCachesFromDB (bf::path dpath, int iteration)
bool	buildTreeFromDB (int iteration)
int	buildTreeFromViews (std::vector< boost::shared_ptr< household_objects_database::DatabaseView > > &views)
bool	detect (const sensor_msgs::PointCloud2ConstPtr &msg, int nModels, std::vector< int > &model_ids, std::vector< geometry_msgs::Pose > &poses, std::vector< float > &confidences, bool use_fitness_score=true, std::vector< boost::shared_ptr< household_objects_database::DatabaseView > > views=NULL, std::vector< std::string > vfh_ids_vec=NULL)
	Given a cluster returns the n-most similar models in models_, their poses and the detection confidence.
bool	getVFHHistogramFromVFHId (pcl::PointCloud< pcl::VFHSignature308 > &vfh_descriptor, std::string vfh_id)
bool	initialize (bool useDB, bf::path dpath, int linear=0, int iteration=0, bool no_save=false)
	Initialize the data structures for recognition.
int	initializeFromViews (std::vector< boost::shared_ptr< household_objects_database::DatabaseView > > &views)
bool	isCacheEnabled ()
void	setCacheEnabled (bool e)
	VFHRecognizerDB (bool enable_cache=false)
Public Attributes
bool	cache_enabled_
std::map< int, std::vector < float > >	cluster_centroids_cache_
std::map< int, geometry_msgs::Pose >	pose_cache_
std::map< int, pcl::PointCloud < pcl::VFHSignature308 > , std::less< int > , Eigen::aligned_allocator < pcl::VFHSignature308 > >	roll_cache_
std::map< int, std::string >	scaled_model_id_cache_
std::map< int, pcl::PointCloud < pcl::VFHSignature308 > , std::less< int > , Eigen::aligned_allocator < pcl::VFHSignature308 > >	vfh_cache_
std::map< int, pcl::PointCloud < pcl::PointNormal > , std::less< int > , Eigen::aligned_allocator < pcl::PointNormal > >	view_cache_
Private Types
typedef vfh_recognition::VFHRecognizer < Distance >	base_t
typedef Distance< float >	DistT
Private Member Functions
std::string	getModelId (std::string id)
bool	getPointCloudFromId (pcl::PointCloud< pcl::PointNormal > &cloud, std::string id)
bool	getPoseFromId (std::string id, geometry_msgs::Pose &pose)
bool	getVFHCentroidFromVFHid (std::vector< float > &centroid, std::string id)
int	getVFHId (std::string id)
bool	getVFHRollOrientationFromId (pcl::PointCloud< pcl::VFHSignature308 > &vfh_orientation_signature, std::string id)
bool	getVFHRollOrientationFromIdThroughView (pcl::PointCloud< pcl::VFHSignature308 > &vfh_orientation_signature, std::string id)
bool	getViewCentroidFromVFHid (std::vector< float > &centroid, std::string id)
Private Attributes
household_objects_database::ObjectsDatabase *	database

Detailed Description

template<template< class > class Distance>
class vfh_recognizer_db::VFHRecognizerDB< Distance >

Definition at line 17 of file vfh_recognition.h.

Member Typedef Documentation

template<template< class > class Distance>

typedef vfh_recognition::VFHRecognizer<Distance> vfh_recognizer_db::VFHRecognizerDB< Distance >::base_t [private]

Definition at line 19 of file vfh_recognition.h.

template<template< class > class Distance>

typedef Distance<float> vfh_recognizer_db::VFHRecognizerDB< Distance >::DistT [private]

Reimplemented from vfh_recognition::VFHRecognizer< Distance >.

Definition at line 24 of file vfh_recognition.h.

Constructor & Destructor Documentation

template<template< class > class Distance>

vfh_recognizer_db::VFHRecognizerDB< Distance >::VFHRecognizerDB ( bool enable_cache = false ) [inline]

Definition at line 27 of file vfh_recognition.h.

Member Function Documentation

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::buildCachesFromDB	(	bf::path	dpath,
		int	iteration
	)			`[inline]`

Definition at line 500 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::buildTreeFromDB ( int iteration ) [inline]

Definition at line 446 of file vfh_recognition.cpp.

template<template< class > class Distance>

int vfh_recognizer_db::VFHRecognizerDB< Distance >::buildTreeFromViews ( std::vector< boost::shared_ptr< household_objects_database::DatabaseView > > & views ) [inline]

Definition at line 387 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::detect	(	const sensor_msgs::PointCloud2ConstPtr &	msg,
		int	nModels,
		std::vector< int > &	model_ids,
		std::vector< geometry_msgs::Pose > &	poses,
		std::vector< float > &	confidences,
		bool	use_fitness_score = `true`,
		std::vector< boost::shared_ptr< household_objects_database::DatabaseView > > *	views = `NULL`,
		std::vector< std::string > *	vfh_ids_vec = `NULL`
	)			`[inline]`

Given a cluster returns the n-most similar models in models_, their poses and the detection confidence.

Definition at line 350 of file vfh_recognition.cpp.

template<template< class > class Distance>

std::string vfh_recognizer_db::VFHRecognizerDB< Distance >::getModelId ( std::string id ) [inline, private, virtual]

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 201 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getPointCloudFromId	(	pcl::PointCloud< pcl::PointNormal > &	cloud,
		std::string	id
	)			`[inline, private, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 9 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getPoseFromId	(	std::string	id,
		geometry_msgs::Pose &	pose
	)			`[inline, private, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 180 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getVFHCentroidFromVFHid	(	std::vector< float > &	centroid,
		std::string	id
	)			`[inline, private, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 73 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getVFHHistogramFromVFHId	(	pcl::PointCloud< pcl::VFHSignature308 > &	vfh_descriptor,
		std::string	vfh_id
	)			`[inline, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 37 of file vfh_recognition.cpp.

template<template< class > class Distance>

int vfh_recognizer_db::VFHRecognizerDB< Distance >::getVFHId ( std::string id ) [inline, private, virtual]

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 172 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getVFHRollOrientationFromId	(	pcl::PointCloud< pcl::VFHSignature308 > &	vfh_orientation_signature,
		std::string	id
	)			`[inline, private, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 112 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getVFHRollOrientationFromIdThroughView	(	pcl::PointCloud< pcl::VFHSignature308 > &	vfh_orientation_signature,
		std::string	id
	)			`[inline, private, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 142 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::getViewCentroidFromVFHid	(	std::vector< float > &	centroid,
		std::string	id
	)			`[inline, private, virtual]`

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 99 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::initialize	(	bool	useDB,
		bf::path	dpath,
		int	linear = `0`,
		int	iteration = `0`,
		bool	no_save = `false`
	)			`[inline]`

Initialize the data structures for recognition.

Parameters:

useDB

- if true creates the structures from the database

if false, uses the cached kdtree if found, otherwise builds from DB

Definition at line 233 of file vfh_recognition.cpp.

template<template< class > class Distance>

int vfh_recognizer_db::VFHRecognizerDB< Distance >::initializeFromViews ( std::vector< boost::shared_ptr< household_objects_database::DatabaseView > > & views ) [inline]

Definition at line 222 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::isCacheEnabled ( ) [inline]

Definition at line 28 of file vfh_recognition.h.

template<template< class > class Distance>

void vfh_recognizer_db::VFHRecognizerDB< Distance >::setCacheEnabled ( bool e ) [inline]

Definition at line 29 of file vfh_recognition.h.

Member Data Documentation

template<template< class > class Distance>

bool vfh_recognizer_db::VFHRecognizerDB< Distance >::cache_enabled_

Definition at line 91 of file vfh_recognition.h.

template<template< class > class Distance>

std::map<int, std::vector<float> > vfh_recognizer_db::VFHRecognizerDB< Distance >::cluster_centroids_cache_

Definition at line 95 of file vfh_recognition.h.

template<template< class > class Distance>

household_objects_database::ObjectsDatabase* vfh_recognizer_db::VFHRecognizerDB< Distance >::database [private]

Definition at line 33 of file vfh_recognition.h.

template<template< class > class Distance>

std::map<int, geometry_msgs::Pose > vfh_recognizer_db::VFHRecognizerDB< Distance >::pose_cache_

Definition at line 96 of file vfh_recognition.h.

template<template< class > class Distance>

std::map<int, pcl::PointCloud<pcl::VFHSignature308>, std::less<int>, Eigen::aligned_allocator<pcl::VFHSignature308> > vfh_recognizer_db::VFHRecognizerDB< Distance >::roll_cache_

Definition at line 92 of file vfh_recognition.h.

template<template< class > class Distance>

std::map<int, std::string > vfh_recognizer_db::VFHRecognizerDB< Distance >::scaled_model_id_cache_

Definition at line 97 of file vfh_recognition.h.

template<template< class > class Distance>

std::map<int, pcl::PointCloud<pcl::VFHSignature308>, std::less<int>, Eigen::aligned_allocator<pcl::VFHSignature308> > vfh_recognizer_db::VFHRecognizerDB< Distance >::vfh_cache_

Definition at line 93 of file vfh_recognition.h.

template<template< class > class Distance>

std::map<int, pcl::PointCloud<pcl::PointNormal>, std::less<int>, Eigen::aligned_allocator<pcl::PointNormal> > vfh_recognizer_db::VFHRecognizerDB< Distance >::view_cache_

Definition at line 94 of file vfh_recognition.h.

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

vfh_recognizer_db::VFHRecognizerDB< Distance > Class Template Reference

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<template< class > class Distance> class vfh_recognizer_db::VFHRecognizerDB< Distance >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<template< class > class Distance>
class vfh_recognizer_db::VFHRecognizerDB< Distance >