Public Member Functions
bool	check_template ()
std::vector< cv::Point2d > *	correspondances ()
bool	estimate_od (ros::ServiceClient client, cv::Mat src_img, std::vector< cv::KeyPoint > sourceimg_keypoints, image_geometry::PinholeCameraModel pcam, double err_thr, cv::Mat &stack_img, cv::flann::Index ft, posedetection_msgs::Object6DPose o6p)
std::string	get_window_name ()
double	log_fac (int n)
	Matching_Template ()
	Matching_Template (cv::Mat img, std::string matching_frame, int original_width_size, int original_height_size, double template_width, double template_height, tf::Transform relativepose, cv::Mat affine_matrix, double reprojection_threshold, double distanceratio_threshold, std::string window_name, bool autosize)
int	min_inlier (int n, int m, double p_badsupp, double p_badxform)
int	set_template (ros::ServiceClient client)
virtual	~Matching_Template ()
Public Attributes
cv::Mat	_affine_matrix
std::vector< cv::Point2d >	_correspondances
double	_distanceratio_threshold
std::string	_matching_frame
int	_original_height_size
int	_original_width_size
cv::Mat	_previous_stack_img
tf::Transform	_relativepose
double	_reprojection_threshold
cv::Mat	_template_descriptors
double	_template_height
cv::Mat	_template_img
std::vector< cv::KeyPoint >	_template_keypoints
double	_template_width
std::string	_window_name

Detailed Description

Definition at line 88 of file point_pose_extractor.cpp.

Constructor & Destructor Documentation

Matching_Template::Matching_Template ( ) [inline]

Definition at line 109 of file point_pose_extractor.cpp.

Matching_Template::Matching_Template	(	cv::Mat	img,
		std::string	matching_frame,
		int	original_width_size,
		int	original_height_size,
		double	template_width,
		double	template_height,
		tf::Transform	relativepose,
		cv::Mat	affine_matrix,
		double	reprojection_threshold,
		double	distanceratio_threshold,
		std::string	window_name,
		bool	autosize
	)		`[inline]`

Definition at line 111 of file point_pose_extractor.cpp.

virtual Matching_Template::~Matching_Template ( ) [inline, virtual]

Definition at line 141 of file point_pose_extractor.cpp.

bool Matching_Template::check_template ( ) [inline]

Definition at line 154 of file point_pose_extractor.cpp.

std::vector<cv::Point2d>* Matching_Template::correspondances ( ) [inline]

Definition at line 150 of file point_pose_extractor.cpp.

bool Matching_Template::estimate_od	(	ros::ServiceClient	client,
		cv::Mat	src_img,
		std::vector< cv::KeyPoint >	sourceimg_keypoints,
		image_geometry::PinholeCameraModel	pcam,
		double	err_thr,
		cv::Mat &	stack_img,
		cv::flann::Index *	ft,
		posedetection_msgs::Object6DPose *	o6p
	)		`[inline]`