vfh_recognizer_fs::VFHRecognizerFS< Distance > Class Template Reference

#include <vfh_recognition.h>

Inheritance diagram for vfh_recognizer_fs::VFHRecognizerFS< Distance >:

Public Member Functions
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, bool use_fitness_score=true)
	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, std::string root_dir, int linear=0)
	Initialize the data structures for recognition.
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
std::string	root_dir

Detailed Description

template<template< class > class Distance>
class vfh_recognizer_fs::VFHRecognizerFS< Distance >

Definition at line 16 of file vfh_recognition.h.

Member Typedef Documentation

template<template< class > class Distance>

typedef vfh_recognition::VFHRecognizer<Distance> vfh_recognizer_fs::VFHRecognizerFS< Distance >::base_t [private]

Definition at line 19 of file vfh_recognition.h.

template<template< class > class Distance>

typedef Distance<float> vfh_recognizer_fs::VFHRecognizerFS< Distance >::DistT [private]

Reimplemented from vfh_recognition::VFHRecognizer< Distance >.

Definition at line 24 of file vfh_recognition.h.

Member Function Documentation

template<template< class > class Distance>

bool vfh_recognizer_fs::VFHRecognizerFS< Distance >::detect	(	const sensor_msgs::PointCloud2ConstPtr &	msg,
		int	nModels,
		std::vector< std::string > &	model_ids,
		std::vector< geometry_msgs::Pose > &	poses,
		std::vector< float > &	confidences,
		bool	use_fitness_score = `true`
	)			`[inline]`

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

Definition at line 234 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 143 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 11 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 110 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 79 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 46 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 151 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 58 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 70 of file vfh_recognition.cpp.

template<template< class > class Distance>

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

Implements vfh_recognition::VFHRecognizer< Distance >.

Definition at line 103 of file vfh_recognition.cpp.

template<template< class > class Distance>

bool vfh_recognizer_fs::VFHRecognizerFS< Distance >::initialize	(	bool	useDB,
		bf::path	dpath,
		std::string	root_dir,
		int	linear = `0`
	)			`[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 167 of file vfh_recognition.cpp.

Member Data Documentation

template<template< class > class Distance>

std::string vfh_recognizer_fs::VFHRecognizerFS< Distance >::root_dir [private]

Definition at line 28 of file vfh_recognition.h.

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

vfh_recognizer_fs::VFHRecognizerFS< Distance > Class Template Reference

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<template< class > class Distance> class vfh_recognizer_fs::VFHRecognizerFS< Distance >

Member Typedef Documentation

Member Function Documentation

Member Data Documentation

template<template< class > class Distance>
class vfh_recognizer_fs::VFHRecognizerFS< Distance >