The main API for 2D object recognition and projection to 3D pointclouds. More...

#include <matcher.h>

Public Member Functions
bool	FrameToCloud (const cv::Mat &rgb, const cv::Mat &depth, const Frame &f, pcl::PointCloud< pcl::PointXYZRGB >::Ptr object_cloud)
	Given a single pre-computed matched Frame, projects it into a pcl pointcloud. Currently only supports depth image type of CV_32FC1.
bool	Match (const cv::Mat &scene, std::vector< Frame > *lst)
	Performs matching and outputs each matched object as a Frame.
bool	Match (const cv::Mat &rgb, const cv::Mat &depth, std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *object_clouds)
	Performs matching and outputs each matched object as a pcl pointcloud. Currently only supports depth image type of CV_32FC1.
	Matcher ()
	The default constructors.
void	set_cam_model (const sensor_msgs::CameraInfoConstPtr &camera_info)
	Sets the camera model.
void	set_template (const cv::Mat &templ)
	Sets the template image (the object to be recognized)
Public Attributes
int	count_times
	#times of scaling in each direction
float	match_limit
	The threshold for ALL acceptable matching frames, with value ranging from 0.0 to 1.0(perfect match).
Private Member Functions
bool	around_frame (int x, int y, std::vector< Frame > lst, Frame *p_ptr_ptr)
bool	around_point (int x, int y, cv::Point &p)
void	check_rgbd (const cv::Mat &rgb, const cv::Mat &depth)
void	exact_match (const cv::Mat &scene, const cv::Mat &scaled_templ, std::vector< Frame > *lst)
Private Attributes
image_geometry::PinholeCameraModel	cam_model_
int	match_method_
cv::Mat	templ_
int	x_dist_
int	y_dist_

Detailed Description

The main API for 2D object recognition and projection to 3D pointclouds.

It finds all the matched objects (each represented as a 'frame' by custom_landmark_2d::Frame) in the given rgb image. Given an additional registered depth image, it can also project the matched objects into 3D pointclouds.

API Usage Example:

   custom_landmark_2d::Matcher matcher;

   matcher.set_template(templ);
   matcher.set_cam_model(camera_info);

   // this is the threshold for ALL acceptable matching frames,
   // with value ranging from 0.0 to 1.0(perfect match). The default value is 0.68. 
   // this value is likely needed to be adjusted for optimal results on different objects.
   matcher.match_limit = 0.6;


   // we want to find out how many matched objects are in the rgb image:
   std::vector<custom_landmark_2d::Frame> lst;
   if (matcher.Match(rgb_image, &lst)) {
     // we get >=1 matched frames/objects
   }


   // we now want the pointcloud containing only the second matched object:
   custom_landmark_2d::Frame object_frame = lst[1];
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr object_cloud;
   matcher.FrameToCloud(rgb_image, depth_image, object_frame, object_cloud);


   // we don't care about 2D points;
   // just directly give us all matched objects, each in a pointcloud:
   std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> object_clouds;
   if (matcher.Match(rgb_image, depth_image, &object_cloud)) {
     // we get >=1 matched objects
   }

Definition at line 63 of file matcher.h.

Constructor & Destructor Documentation

custom_landmark_2d::Matcher::Matcher ( )

The default constructors.

Sets all public variables to their default values.

Definition at line 23 of file matcher.cpp.

Member Function Documentation

bool custom_landmark_2d::Matcher::around_frame	(	int	x,
		int	y,
		std::vector< Frame > *	lst,
		Frame **	p_ptr_ptr
	)		`[private]`

Definition at line 192 of file matcher.cpp.

bool custom_landmark_2d::Matcher::around_point	(	int	x,
		int	y,
		cv::Point &	p
	)		`[private]`

Definition at line 207 of file matcher.cpp.

void custom_landmark_2d::Matcher::check_rgbd	(	const cv::Mat &	rgb,
		const cv::Mat &	depth
	)		`[private]`

Definition at line 106 of file matcher.cpp.

void custom_landmark_2d::Matcher::exact_match	(	const cv::Mat &	scene,
		const cv::Mat &	scaled_templ,
		std::vector< Frame > *	lst
	)		`[private]`

Definition at line 153 of file matcher.cpp.

bool custom_landmark_2d::Matcher::FrameToCloud	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const Frame &	f,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	object_cloud
	)

Given a single pre-computed matched Frame, projects it into a pcl pointcloud. Currently only supports depth image type of CV_32FC1.

Returns true if object_cloud is not empty. This method asserts that the rgb and depth image have the same dimension and the depth image is of type CV_32FC1.

Parameters:

[in]	rgb	The 2D rgb scene within which we found the input matched Frame f
[in]	depth	The 2D registered depth image corresponds to the rgb scene (must have the same dimension as the rgb image)
[in]	f	A single pre-computed matched Frame in the input rgb scene
[out]	object_cloud	The pcl pointcloud of the matched object represented by the input Frame f

Definition at line 62 of file matcher.cpp.

bool custom_landmark_2d::Matcher::Match	(	const cv::Mat &	scene,
		std::vector< Frame > *	lst
	)

Performs matching and outputs each matched object as a Frame.

Returns true if there is at least one matched object, and false otherwise.

Parameters:

[in]	scene	The 2D rgb scene within which to find matched objects
[out]	lst	The vector that contains all frames of matched objects in the scene

bool custom_landmark_2d::Matcher::Match	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > *	object_clouds
	)

Performs matching and outputs each matched object as a pcl pointcloud. Currently only supports depth image type of CV_32FC1.

Returns true if there is at least one matched object, and false otherwise. This method asserts that the rgb and depth image have the same dimension and the depth image is of type CV_32FC1.

Parameters:

[in]	rgb	The 2D rgb scene within which to find matched objects
[in]	depth	The 2D registered depth image corresponds to the rgb scene (must have the same dimension as the rgb image)
[out]	lst	The vector of matched objects in the rgb scene, each as a pcl pointcloud