Description: More...

#include <cstdlib>
#include <cob_3d_mapping_common/label_defines.h>
#include <cob_3d_evaluation_features/label_results.h>
#include <boost/program_options.hpp>
#include <fstream>
#include <math.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/principal_curvatures.h>
#include <pcl/features/rsd.h>
#include <pcl/features/fpfh.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <opencv2/ml/ml.hpp>
#include <opencv2/highgui/highgui.hpp>

Include dependency graph for evaluation_features.cpp:

Go to the source code of this file.

Typedefs
typedef visualization::PointCloudColorHandlerRGBField < PointXYZRGB >	ColorHdlRGB
Functions
string	fl2label (const float &f, const size_t &precision=3)
int	main (int argc, char **argv)
void	processFPFH (const PointCloud< PointXYZRGB >::Ptr in, PointCloud< PointXYZRGB >::Ptr ref_out, PointCloud< PointXYZRGB >::Ptr fpfh_out)
	runs the whole processing pipeline for FPFH features
void	processPC (const PointCloud< PointXYZRGB >::Ptr in, PointCloud< PointXYZRGB >::Ptr ref_out, PointCloud< PointXYZRGB >::Ptr pc_out)
void	processRSD (const PointCloud< PointXYZRGB >::Ptr in, PointCloud< PointXYZRGB >::Ptr ref_out, PointCloud< PointXYZRGB >::Ptr rsd_out)
void	readOptions (int argc, char *argv[])
Variables
float	c_high
float	c_low
float	c_r1
float	c_r2
string	camera_pos_
string	file_in_
bool	fpfh_enable_
bool	fpfh_mls_enable_
float	fpfh_rf_
float	fpfh_rn_
string	fpfh_svm_model_
float	fpfh_vox_
bool	fpfh_vox_enable_
float	pass_depth_
bool	pc_enable_
bool	pc_mls_enable_
float	pc_rf_
float	pc_rn_
float	pc_vox_
bool	pc_vox_enable_
bool	quiet_
float	r_high
float	r_limit_
float	r_low
float	r_r1
float	r_r2
bool	rsd_enable_
bool	rsd_mls_enable_
float	rsd_rf_
float	rsd_rn_
float	rsd_vox_
bool	rsd_vox_enable_

Detailed Description

Description:

Note:: Copyright (c) 2012
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA); Project name: care-o-bot; ROS stack name: cob_environment_perception_intern; ROS package name: cob_3d_features

Author:: Author: Steffen Fuchs, email:georg.arbeiter@ipa.fhg.de; Supervised by: Georg Arbeiter, email:georg.arbeiter@ipa.fhg.de

Date:: Date of creation: 02/2012

ToDo:

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file evaluation_features.cpp.

Typedef Documentation

typedef visualization::PointCloudColorHandlerRGBField<PointXYZRGB> ColorHdlRGB

Definition at line 93 of file evaluation_features.cpp.

Function Documentation

string fl2label	(	const float &	f,
		const size_t &	precision = `3`
	)

Definition at line 135 of file evaluation_features.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 790 of file evaluation_features.cpp.

void processFPFH	(	const PointCloud< PointXYZRGB >::Ptr	in,
		PointCloud< PointXYZRGB >::Ptr	ref_out,
		PointCloud< PointXYZRGB >::Ptr	fpfh_out
	)

runs the whole processing pipeline for FPFH features

Note:: At the moment the evaluation results will be printed to console.

Parameters:

[in]	in	the labeled input point cloud
[out]	ref_out	the reference point cloud after the preprocessing steps
[out]	fpfh_out	the labeled point cloud after the classifing process

Definition at line 236 of file evaluation_features.cpp.