Public Member Functions | Private Member Functions | Private Attributes | List of all members
descriptor_surface_based_recognition::PoseValidation Class Reference

#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::RenderSystemrender_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_widthThe width of the rendered image
image_heightThe 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
originalThe matrix which was found in the original image
renderedThe matrix which was found in the rendered image
poseValidationDistanceErrorThe 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
Trueif 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_resultThe object containing the information about the found pose
meshThe 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
objectThe object descriptor of the rendered object
recognition_resultThe information about the found pose
meshThe 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:


asr_descriptor_surface_based_recognition
Author(s): Allgeyer Tobias, Hutmacher Robin, Mei├čner Pascal
autogenerated on Mon Dec 16 2019 03:31:16