Public Member Functions | Static Public Attributes | Private Member Functions
rail::pick_and_place::PointCloudRecognizer Class Reference

The main recognition object for segmented point clouds. More...

#include <PointCloudRecognizer.h>

List of all members.

Public Member Functions

 PointCloudRecognizer ()
bool recognizeObject (rail_manipulation_msgs::SegmentedObject &object, const std::vector< PCLGraspModel > &candidates) const
 The main recognition function.

Static Public Attributes

static const double ALPHA = 0.5
static const double OVERLAP_THRESHOLD = 0.6
static const double SCORE_CONFIDENCE_THRESHOLD = 1.1

Private Member Functions

void computeGraspList (const tf2::Transform &tf_icp, const geometry_msgs::Point &centroid, const std::vector< graspdb::Grasp > &candidate_grasps, std::vector< graspdb::Grasp > &grasps) const
 Compute the grasps for the recognized object.
double scoreRegistration (pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr candidate, pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr object, tf2::Transform &tf_icp) const
 Score the point cloud registration for the two point clouds.

Detailed Description

The main recognition object for segmented point clouds.

The point cloud recognizer takes a segmented object and a list of grasp model candidates and attempts to recognize the object.

Definition at line 42 of file PointCloudRecognizer.h.


Constructor & Destructor Documentation

Creates a new PointCloudRecognizer.

Definition at line 24 of file PointCloudRecognizer.cpp.


Member Function Documentation

void PointCloudRecognizer::computeGraspList ( const tf2::Transform tf_icp,
const geometry_msgs::Point centroid,
const std::vector< graspdb::Grasp > &  candidate_grasps,
std::vector< graspdb::Grasp > &  grasps 
) const [private]

Compute the grasps for the recognized object.

Compute the grasps to the recognized object based on the grasps from the model.

Parameters:
tf_icpThe transform between the candidate model and the segmented object.
centroidThe centroid of the object point cloud.
candidate_graspsThe candidate grasps from the model.
graspsThe transformed grasps with respect to the recognized object.

Definition at line 172 of file PointCloudRecognizer.cpp.

bool PointCloudRecognizer::recognizeObject ( rail_manipulation_msgs::SegmentedObject &  object,
const std::vector< PCLGraspModel > &  candidates 
) const

The main recognition function.

Attempt to recognize the given object against the list of candidates. The object is compared to each candidate and registration metrics are calculated. The weighted score is checked and the model with the lowest error score is picked as the object. If this score meets the threshold, the segmented object is updated with the correct grasps and object information.

Parameters:
objectThe segmented object to recognize and update if recognition is successful.
candidatesThe list of candidate models for this object.
Returns:
True if the segmented object was recognized and updated accordingly.

Definition at line 28 of file PointCloudRecognizer.cpp.

double PointCloudRecognizer::scoreRegistration ( pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  candidate,
pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  object,
tf2::Transform tf_icp 
) const [private]

Score the point cloud registration for the two point clouds.

Perform registration from the object to the candidate and return the resulting weighted registration score (a measure of error). The tf_icp transform is filled with the transform used to shift the object to the candidate. A score of infinity (meaning a very poor match) is possible.

Parameters:
candidateThe candidate point cloud.
objectThe point cloud of the object in question.
tf_icpThe transform from object to candidate used after ICP.
Returns:
The score representing the weighted success of the registration (a measure of error).

Definition at line 149 of file PointCloudRecognizer.cpp.


Member Data Documentation

The weighting constant for the match score metric.

Definition at line 46 of file PointCloudRecognizer.h.

The threshold for the overlap metric to be considered a valid match.

Definition at line 50 of file PointCloudRecognizer.h.

The confidence threshold for a recognition score.

Definition at line 48 of file PointCloudRecognizer.h.


The documentation for this class was generated from the following files:


rail_recognition
Author(s): David Kent , Russell Toris , bhetherman
autogenerated on Thu Jun 6 2019 19:44:08