vfh_recognizer_fs: vfh_recognizer_fs: vfh

00001 #include <vfh_recognition/vfh_recognition.h>
00002 
00003 /*#include "household_objects_database/database_view.h"
00004 #include "household_objects_database/database_vfh.h"
00005 #include "household_objects_database/objects_database.h"
00006 #include "household_objects_database/database_helper_classes.h"*/
00007 
00008 #include <vfh_recognizer_fs/common_io.h>
00009 
00010 //Class that implements the functionality of vfh_recognition::VFHRecognizer
00011 //for the file system structures containing VFHS, views and so on...
00012 
00013 namespace vfh_recognizer_fs
00014 {
00015   template<template<class > class Distance>
00016   class VFHRecognizerFS : public vfh_recognition::VFHRecognizer<Distance>
00017   {
00018 
00019     typedef vfh_recognition::VFHRecognizer<Distance> base_t;
00020     using base_t::models_;
00021     using base_t::data_;
00022     using base_t::index_;
00023 
00024     typedef Distance<float> DistT;
00025 
00026     private:
00027 
00028       std::string root_dir;
00029 
00030       bool
00031       getPointCloudFromId (pcl::PointCloud<pcl::PointNormal> & cloud, std::string id);
00032 
00033       bool
00034       getVFHRollOrientationFromId (pcl::PointCloud<pcl::VFHSignature308> & vfh_orientation_signature, std::string id);
00035 
00036       bool
00037       getPoseFromId(std::string id, geometry_msgs::Pose & pose);
00038 
00039       std::string
00040       getModelId (std::string id);
00041 
00042       int
00043       getVFHId (std::string id);
00044 
00045       bool
00046       getVFHRollOrientationFromIdThroughView (pcl::PointCloud<pcl::VFHSignature308> & vfh_orientation_signature, std::string id);
00047 
00048       bool
00049       getVFHCentroidFromVFHid (std::vector<float> & centroid, std::string id);
00050 
00051       bool
00052       getViewCentroidFromVFHid (std::vector<float> & centroid, std::string id);
00053 
00054     public:
00055 
00056       bool
00057       getVFHHistogramFromVFHId (pcl::PointCloud<pcl::VFHSignature308> & vfh_descriptor, std::string vfh_id);
00058 
00060 
00065       bool
00066       initialize (bool useDB, bf::path dpath, std::string root_dir, int linear = 0);
00067 
00069 
00073       bool
00074       detect (const sensor_msgs::PointCloud2ConstPtr& msg, int nModels, std::vector<std::string>& model_ids, std::vector<
00075           geometry_msgs::Pose> & poses, std::vector<float>& confidences, bool use_fitness_score = true);
00076   };
00077 
00078 }