Public Member Functions
bool	compareHomographyMatrices (HalconCpp::HHomMat2D original, HalconCpp::HHomMat2D rendered, int pose_validation_dist_err)
	Compares the given matrices and returns whether they describe the same projection.
bool	isInitialized () const
	Returns whether this object has been initialized.
	PoseValidation ()
	The empty constructor of this class.
	PoseValidation (double image_width, double image_height, double far_plane, double near_plane, double cx, double cy, double fx, double fy, int render_width, int render_height)
	The constructor of this class.
HalconCpp::HTuple	validateObject (ObjectDescriptor object, RecognitionResult recognition_result, Ogre::MeshPtr mesh)
	Searches the rendered image for the given object.
Private Member Functions
HalconCpp::HImage	renderObjectImage (RecognitionResult *recognition_result, Ogre::MeshPtr mesh)
	Renders the given mesh.
Private Attributes
Ogre::Camera *	camera_
Ogre::SceneNode *	camera_node_
double	image_height_
double	image_width_
bool	is_initialized_
rviz::RenderSystem *	render_sys_
Ogre::RenderTexture *	render_texture_
Ogre::Root *	root_
Ogre::TexturePtr	rtt_texture_
Ogre::SceneManager *	scene_manager_
Ogre::RenderWindow *	window_

Detailed Description

This class is used for the validation of found poses

Definition at line 42 of file pose_validation.h.

Constructor & Destructor Documentation

descriptor_surface_based_recognition::PoseValidation::PoseValidation ( )

The empty constructor of this class.

Definition at line 34 of file pose_validation.cpp.

descriptor_surface_based_recognition::PoseValidation::PoseValidation	(	double	image_width,
		double	image_height,
		double	far_plane,
		double	near_plane,
		double	cx,
		double	cy,
		double	fx,
		double	fy,
		int	render_width,
		int	render_height
	)

The constructor of this class.

Parameters:

image_width	The width of the rendered image
image_height	The height of the rendered image

Definition at line 39 of file pose_validation.cpp.

bool descriptor_surface_based_recognition::PoseValidation::compareHomographyMatrices	(	HalconCpp::HHomMat2D	original,
		HalconCpp::HHomMat2D	rendered,
		int	pose_validation_dist_err
	)

Compares the given matrices and returns whether they describe the same projection.

Parameters:

original	The matrix which was found in the original image
rendered	The matrix which was found in the rendered image
poseValidationDistanceError	The maximum distance two points transformed with the given matrices may have

Returns:: True if the matrices describe the same projection, false otherwise

Definition at line 173 of file pose_validation.cpp.

bool descriptor_surface_based_recognition::PoseValidation::isInitialized ( ) const

Returns whether this object has been initialized.

Parameters:

True	if initialized, false otherwise

Definition at line 111 of file pose_validation.cpp.

HalconCpp::HImage descriptor_surface_based_recognition::PoseValidation::renderObjectImage	(	RecognitionResult *	recognition_result,
		Ogre::MeshPtr	mesh
	)		`[private]`

Renders the given mesh.

Parameters:

recognition_result	The object containing the information about the found pose
mesh	The mesh which will be rendered

Definition at line 116 of file pose_validation.cpp.

HalconCpp::HTuple descriptor_surface_based_recognition::PoseValidation::validateObject	(	ObjectDescriptor *	object,
		RecognitionResult *	recognition_result,
		Ogre::MeshPtr	mesh
	)