#include <pose_recognition.h>
Public Member Functions | |
| void | findPoses () |
| Recognizes the present object instances in the scene. | |
| HalconCpp::HRegion | getInputImageDomain () const |
| ObjectDescriptor * | getObjectDescriptor () const |
| std::vector< RecognitionResult * > | getResults () const |
| PoseRecognition (HalconCpp::HImage &scene_image, HalconCpp::HImage &scene_image_mono, pcl::PointCloud< pcl::PointXYZ >::Ptr &point_cloud_with_guppy, ObjectDescriptor *obj_desc, int median_points_offset, double samplingDistance, double keypointFraction, bool eval, int max_instances=1) | |
| The constructor of this class. | |
| virtual | ~PoseRecognition () |
| The destructor of this class. | |
Private Member Functions | |
| void | adjustRotation (int result_index) |
| Adjusts the rotation of the found object instance depending on its rotation-type. | |
| bool | findModelInCloud (int result_index) |
| Recognizes the object in the reduced 3D-scene. | |
| void | findTexture () |
| Recognizes the object in the 2D-scene. | |
| bool | reducePointCloud (int result_index) |
| Prepares the 3D-recognition by reducing the point cloud depending on the 2D-recognition result. | |
Private Attributes | |
| bool | eval_ |
| double | keypoint_fraction_ |
| int | max_instances_ |
| int | median_points_offset_ |
| ObjectDescriptor * | obj_desc_ |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr | point_cloud_with_guppy_ |
| std::vector< RecognitionResult * > | results_ |
| double | sampling_distance_ |
| HalconCpp::HImage | scene_image_ |
| HalconCpp::HImage | scene_image_mono_ |
This class is used for the recognition of an object
Definition at line 40 of file pose_recognition.h.
| descriptor_surface_based_recognition::PoseRecognition::PoseRecognition | ( | HalconCpp::HImage & | scene_image, |
| HalconCpp::HImage & | scene_image_mono, | ||
| pcl::PointCloud< pcl::PointXYZ >::Ptr & | point_cloud_with_guppy, | ||
| ObjectDescriptor * | obj_desc, | ||
| int | median_points_offset, | ||
| double | samplingDistance, | ||
| double | keypointFraction, | ||
| bool | eval, | ||
| int | max_instances = 1 |
||
| ) |
The constructor of this class.
| scene_image | -- |
| scene_image_mono | | |
| point_cloud_with_guppy | | |
| obj_desc | |-- see above |
| median_points_offset | | |
| samplingDistance | | |
| keypointFraction | | |
| max_instances | -- |
Definition at line 38 of file pose_recognition.cpp.
The destructor of this class.
Definition at line 44 of file pose_recognition.cpp.
| void descriptor_surface_based_recognition::PoseRecognition::adjustRotation | ( | int | result_index | ) | [private] |
Adjusts the rotation of the found object instance depending on its rotation-type.
| result_index | The index of the found instance in the list above |
Definition at line 246 of file pose_recognition.cpp.
| bool descriptor_surface_based_recognition::PoseRecognition::findModelInCloud | ( | int | result_index | ) | [private] |
Recognizes the object in the reduced 3D-scene.
| result_index | The index of the found instance in the list above |
Definition at line 200 of file pose_recognition.cpp.
Recognizes the present object instances in the scene.
Definition at line 51 of file pose_recognition.cpp.
| void descriptor_surface_based_recognition::PoseRecognition::findTexture | ( | ) | [private] |
Recognizes the object in the 2D-scene.
Definition at line 105 of file pose_recognition.cpp.
| HalconCpp::HRegion descriptor_surface_based_recognition::PoseRecognition::getInputImageDomain | ( | ) | const |
Definition at line 332 of file pose_recognition.cpp.
| ObjectDescriptor * descriptor_surface_based_recognition::PoseRecognition::getObjectDescriptor | ( | ) | const |
Definition at line 330 of file pose_recognition.cpp.
| std::vector< RecognitionResult * > descriptor_surface_based_recognition::PoseRecognition::getResults | ( | ) | const |
Getters for the class members
Definition at line 328 of file pose_recognition.cpp.
| bool descriptor_surface_based_recognition::PoseRecognition::reducePointCloud | ( | int | result_index | ) | [private] |
Prepares the 3D-recognition by reducing the point cloud depending on the 2D-recognition result.
| result_index | The index of the found instance in the list above |
Definition at line 136 of file pose_recognition.cpp.
bool descriptor_surface_based_recognition::PoseRecognition::eval_ [private] |
Indicates whether evaluation information are put out
Definition at line 72 of file pose_recognition.h.
Fraction of sampled scene points used as key points in the 3D-recognition
Definition at line 66 of file pose_recognition.h.
The maximum number of instances which can be found
Definition at line 57 of file pose_recognition.h.
The pixel distance used to choose points for the lookup of the 3D point which is used for the reduction of the point cloud
Definition at line 60 of file pose_recognition.h.
The descriptor of the object this class can recognize
Definition at line 54 of file pose_recognition.h.
pcl::PointCloud<pcl::PointXYZ>::Ptr descriptor_surface_based_recognition::PoseRecognition::point_cloud_with_guppy_ [private] |
The point cloud of the scene used for the 3D-recognition
Definition at line 51 of file pose_recognition.h.
std::vector<RecognitionResult*> descriptor_surface_based_recognition::PoseRecognition::results_ [private] |
The found object instances
Definition at line 69 of file pose_recognition.h.
Scene sampling distance used for preparation of the scene the object will be recognized with (3D-recognition)
Definition at line 63 of file pose_recognition.h.
HalconCpp::HImage descriptor_surface_based_recognition::PoseRecognition::scene_image_ [private] |
The colored image of the scene used for the 2D-recognition
Definition at line 45 of file pose_recognition.h.
HalconCpp::HImage descriptor_surface_based_recognition::PoseRecognition::scene_image_mono_ [private] |
The greyscale image of the scene used for the 2D-recognition
Definition at line 48 of file pose_recognition.h.