descriptor_surface_based_recognition::PoseRecognition Class Reference

#include <pose_recognition.h>

Public Member Functions
void	findPoses ()
	Recognizes the present object instances in the scene. More...
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. More...
virtual	~PoseRecognition ()
	The destructor of this class. More...

Private Member Functions
void	adjustRotation (int result_index)
	Adjusts the rotation of the found object instance depending on its rotation-type. More...
bool	findModelInCloud (int result_index)
	Recognizes the object in the reduced 3D-scene. More...
void	findTexture ()
	Recognizes the object in the 2D-scene. More...
bool	reducePointCloud (int result_index)
	Prepares the 3D-recognition by reducing the point cloud depending on the 2D-recognition result. More...

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_

Detailed Description

This class is used for the recognition of an object

Definition at line 40 of file pose_recognition.h.

Constructor & Destructor Documentation

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.

Parameters

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.

descriptor_surface_based_recognition::PoseRecognition::~PoseRecognition ( )

virtual

The destructor of this class.

Definition at line 44 of file pose_recognition.cpp.

Member Function Documentation

void descriptor_surface_based_recognition::PoseRecognition::adjustRotation ( int  result_index )

private

Adjusts the rotation of the found object instance depending on its rotation-type.

Parameters

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.

Parameters

result_index

The index of the found instance in the list above

Definition at line 200 of file pose_recognition.cpp.

void descriptor_surface_based_recognition::PoseRecognition::findPoses

(

)

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.

Parameters

result_index

The index of the found instance in the list above

Definition at line 136 of file pose_recognition.cpp.

Member Data Documentation

bool descriptor_surface_based_recognition::PoseRecognition::eval_

private

Indicates whether evaluation information are put out

Definition at line 72 of file pose_recognition.h.

double descriptor_surface_based_recognition::PoseRecognition::keypoint_fraction_

private

Fraction of sampled scene points used as key points in the 3D-recognition

Definition at line 66 of file pose_recognition.h.

int descriptor_surface_based_recognition::PoseRecognition::max_instances_

private

The maximum number of instances which can be found

Definition at line 57 of file pose_recognition.h.

int descriptor_surface_based_recognition::PoseRecognition::median_points_offset_

private

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.

ObjectDescriptor* descriptor_surface_based_recognition::PoseRecognition::obj_desc_

private

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.

double descriptor_surface_based_recognition::PoseRecognition::sampling_distance_

private

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.

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

• pose_recognition.h
• pose_recognition.cpp