openni_object_recognition.cpp File Reference

#include <iostream>
#include "object_recognition/object_recognition_helper.h"
#include <pcl/io/openni_grabber.h>
#include "pcl/console/parse.h"
#include "pcl/io/pcd_io.h"
#include "pcl/range_image/range_image.h"
#include "pcl/features/narf.h"
#include "pcl/common/point_correspondence.h"
#include "pcl/common/poses_from_matches.h"
#include "pcl/features/range_image_border_extractor.h"
#include "pcl/keypoints/narf_keypoint.h"
#include "pcl/range_image/range_image_planar.h"
#include "sensor_msgs/Image.h"
#include "pcl/common/file_io.h"
#include "pcl/common/common_headers.h"
#include "pcl/visualization/range_image_visualizer.h"
#include "pcl/visualization/pcl_visualizer.h"

Include dependency graph for openni_object_recognition.cpp:

Go to the source code of this file.

Classes
struct	EventHelper
Functions
int	main (int argc, char **argv)
void	printUsage (const char *progName)
Variables
float &	angular_resolution = orh_params.angular_resolution
RangeImage::CoordinateFrame &	coordinate_frame = orh_params.coordinate_frame
boost::mutex	depth_image_mutex
boost::shared_ptr < openni_wrapper::DepthImage >	depth_image_ptr
std::string	device_id = "#1"
bool	do_plane_extraction = false
FalsePositivesFilter &	false_positives_filter = object_recognition_helper.getFalsePositivesFilter ()
FalsePositivesFilter::Parameters &	fpf_params = false_positives_filter.getParameters ()
float &	max_descriptor_distance = orh_params.max_descriptor_distance
int &	max_no_of_threads = orh_params.max_no_of_threads
float	noise_level_factor = 0.05
ObjectRecognitionHelper	object_recognition_helper
ObjectRecognitionHelper::Parameters &	orh_params = object_recognition_helper.getParameters ()
bool	received_new_depth_data = false
bool &	set_unseen_to_max_range = orh_params.set_unseen_to_max_range
bool	show_found_objects = 1
bool	single_view_model = orh_params.single_view_model
float	support_size = -1.0f
float	support_size_factor = 0.5f
bool &	use_rotation_invariance = orh_params.use_rotation_invariance

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 96 of file openni_object_recognition.cpp.

void printUsage

(

const char *

progName

)

Definition at line 50 of file openni_object_recognition.cpp.

---

Variable Documentation

float& angular_resolution = orh_params.angular_resolution

Definition at line 35 of file openni_object_recognition.cpp.

RangeImage::CoordinateFrame& coordinate_frame = orh_params.coordinate_frame

Definition at line 36 of file openni_object_recognition.cpp.

boost::mutex depth_image_mutex

Definition at line 77 of file openni_object_recognition.cpp.

boost::shared_ptr<openni_wrapper::DepthImage> depth_image_ptr

Definition at line 78 of file openni_object_recognition.cpp.

std::string device_id = "#1"

Definition at line 48 of file openni_object_recognition.cpp.

bool do_plane_extraction = false

Definition at line 46 of file openni_object_recognition.cpp.

FalsePositivesFilter& false_positives_filter = object_recognition_helper.getFalsePositivesFilter ()

Definition at line 30 of file openni_object_recognition.cpp.

FalsePositivesFilter::Parameters& fpf_params = false_positives_filter.getParameters ()

Definition at line 31 of file openni_object_recognition.cpp.

float& max_descriptor_distance = orh_params.max_descriptor_distance

Definition at line 37 of file openni_object_recognition.cpp.

int& max_no_of_threads = orh_params.max_no_of_threads

Definition at line 33 of file openni_object_recognition.cpp.

float noise_level_factor = 0.05

Definition at line 41 of file openni_object_recognition.cpp.

ObjectRecognitionHelper object_recognition_helper

Definition at line 28 of file openni_object_recognition.cpp.

ObjectRecognitionHelper::Parameters& orh_params = object_recognition_helper.getParameters ()

Definition at line 29 of file openni_object_recognition.cpp.

bool received_new_depth_data = false

Definition at line 80 of file openni_object_recognition.cpp.

bool& set_unseen_to_max_range = orh_params.set_unseen_to_max_range

Definition at line 38 of file openni_object_recognition.cpp.

bool show_found_objects = 1

Definition at line 45 of file openni_object_recognition.cpp.

bool single_view_model = orh_params.single_view_model

Definition at line 39 of file openni_object_recognition.cpp.

float support_size = -1.0f

Definition at line 43 of file openni_object_recognition.cpp.

float support_size_factor = 0.5f

Definition at line 42 of file openni_object_recognition.cpp.

bool& use_rotation_invariance = orh_params.use_rotation_invariance

Definition at line 34 of file openni_object_recognition.cpp.