#include <pose_validation.h>

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. More...

bool	isInitialized () const
	Returns whether this object has been initialized. More...

	PoseValidation ()
	The empty constructor of this class. More...

	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. More...

HalconCpp::HTuple	validateObject (ObjectDescriptor object, RecognitionResult recognition_result, Ogre::MeshPtr mesh)
	Searches the rendered image for the given object. More...

Private Member Functions
HalconCpp::HImage	renderObjectImage (RecognitionResult *recognition_result, Ogre::MeshPtr mesh)
	Renders the given mesh. More...

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.

Member Function Documentation

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

Returns: The rendered image

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
	)

Searches the rendered image for the given object.

Parameters

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

Returns: The found projection matrix as a HalconCpp::HTuple (empty if no object was found)

Definition at line 154 of file pose_validation.cpp.

Member Data Documentation

Ogre::Camera* descriptor_surface_based_recognition::PoseValidation::camera_

private

Definition at line 59 of file pose_validation.h.

Ogre::SceneNode* descriptor_surface_based_recognition::PoseValidation::camera_node_

private

Definition at line 60 of file pose_validation.h.

double descriptor_surface_based_recognition::PoseValidation::image_height_

private

The height of the rendered image

Definition at line 49 of file pose_validation.h.

double descriptor_surface_based_recognition::PoseValidation::image_width_

private

The width of the rendered image

Definition at line 46 of file pose_validation.h.

bool descriptor_surface_based_recognition::PoseValidation::is_initialized_

private

Indicates whether this object is initialized

Definition at line 52 of file pose_validation.h.

rviz::RenderSystem* descriptor_surface_based_recognition::PoseValidation::render_sys_

private

Definition at line 58 of file pose_validation.h.

Ogre::RenderTexture* descriptor_surface_based_recognition::PoseValidation::render_texture_

private

Definition at line 62 of file pose_validation.h.

Ogre::Root* descriptor_surface_based_recognition::PoseValidation::root_

private

Ogre variables used for the rendering of the image

Definition at line 56 of file pose_validation.h.

Ogre::TexturePtr descriptor_surface_based_recognition::PoseValidation::rtt_texture_

private

Definition at line 61 of file pose_validation.h.

Ogre::SceneManager* descriptor_surface_based_recognition::PoseValidation::scene_manager_

private

Definition at line 57 of file pose_validation.h.

Ogre::RenderWindow* descriptor_surface_based_recognition::PoseValidation::window_

private

Definition at line 63 of file pose_validation.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation