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

#include <recognition_result.h>

Public Member Functions

bool checkModelFound ()
 Checks whether the model was correctly found. More...
 
HalconCpp::HQuaternion getAdjustedRotation () const
 
HalconCpp::HTuple getPose () const
 
bool getPoseValid () const
 
double getScore2D () const
 
double getScore3D () const
 
pcl::PointCloud< pcl::PointXYZ >::Ptr getSearchCloud () const
 
int getSearchRadius () const
 
Eigen::Vector2i getTexPoint () const
 
Eigen::Vector3d getTexPoint3D () const
 
HalconCpp::HHomMat2D getTransMatrix2D () const
 
int getViewIndex () const
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RecognitionResult (int view_index, double score_2D, HalconCpp::HHomMat2D &trans_matrix_2D, const Eigen::Vector2i &tex_point)
 The constructor of this class. More...
 
void setAdjustedRotation (HalconCpp::HQuaternion quaternion)
 
void setModelFound (bool model_found=true)
 
void setPose (HalconCpp::HTuple pose)
 
void setPoseValid (bool pose_valid)
 
void setScore3D (double score_3D)
 
void setSearchCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr &search_cloud)
 
void setSearchRadius (int radius)
 
void setTexPoint3D (pcl::PointXYZ tex_point_3D)
 

Private Attributes

HalconCpp::HQuaternion adjusted_rotation_
 
bool model_found_
 
HalconCpp::HTuple pose_
 
bool pose_valid_
 
double score_2D_
 
double score_3D_
 
pcl::PointCloud< pcl::PointXYZ >::Ptr search_cloud_
 
int search_radius_
 
Eigen::Vector2i tex_point_
 
Eigen::Vector3d tex_point_3D_
 
HalconCpp::HHomMat2D trans_matrix_2D_
 
int view_index
 

Detailed Description

This class represents a recognized instance of an object

Definition at line 34 of file recognition_result.h.

Constructor & Destructor Documentation

descriptor_surface_based_recognition::RecognitionResult::RecognitionResult ( int  view_index,
double  score_2D,
HalconCpp::HHomMat2D &  trans_matrix_2D,
const Eigen::Vector2i &  tex_point 
)

The constructor of this class.

Macro needed to allow a dynamic construction of this class

Parameters
view_index
score2D|– see above
trans_matrix_2D|
texPoint

Definition at line 25 of file recognition_result.cpp.

Member Function Documentation

bool descriptor_surface_based_recognition::RecognitionResult::checkModelFound ( )

Checks whether the model was correctly found.

Returns
True if the model was correctly found in 3D and 2D, false if it was found only in 2D

Definition at line 30 of file recognition_result.cpp.

HalconCpp::HQuaternion descriptor_surface_based_recognition::RecognitionResult::getAdjustedRotation ( ) const

Definition at line 65 of file recognition_result.cpp.

HalconCpp::HTuple descriptor_surface_based_recognition::RecognitionResult::getPose ( ) const

Getters for the class members

Definition at line 49 of file recognition_result.cpp.

bool descriptor_surface_based_recognition::RecognitionResult::getPoseValid ( ) const

Definition at line 69 of file recognition_result.cpp.

double descriptor_surface_based_recognition::RecognitionResult::getScore2D ( ) const

Definition at line 51 of file recognition_result.cpp.

double descriptor_surface_based_recognition::RecognitionResult::getScore3D ( ) const

Definition at line 53 of file recognition_result.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr descriptor_surface_based_recognition::RecognitionResult::getSearchCloud ( ) const

Definition at line 63 of file recognition_result.cpp.

int descriptor_surface_based_recognition::RecognitionResult::getSearchRadius ( ) const

Definition at line 67 of file recognition_result.cpp.

Eigen::Vector2i descriptor_surface_based_recognition::RecognitionResult::getTexPoint ( ) const

Definition at line 59 of file recognition_result.cpp.

Eigen::Vector3d descriptor_surface_based_recognition::RecognitionResult::getTexPoint3D ( ) const

Definition at line 61 of file recognition_result.cpp.

HalconCpp::HHomMat2D descriptor_surface_based_recognition::RecognitionResult::getTransMatrix2D ( ) const

Definition at line 57 of file recognition_result.cpp.

int descriptor_surface_based_recognition::RecognitionResult::getViewIndex ( ) const

Definition at line 55 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setAdjustedRotation ( HalconCpp::HQuaternion  quaternion)

Definition at line 40 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setModelFound ( bool  model_found = true)

Definition at line 36 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setPose ( HalconCpp::HTuple  pose)

Definition at line 34 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setPoseValid ( bool  pose_valid)

Definition at line 46 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setScore3D ( double  score_3D)

Definition at line 42 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setSearchCloud ( pcl::PointCloud< pcl::PointXYZ >::Ptr &  search_cloud)

Setters for the class members

Definition at line 32 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setSearchRadius ( int  radius)

Definition at line 44 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setTexPoint3D ( pcl::PointXYZ  tex_point_3D)

Definition at line 38 of file recognition_result.cpp.

Member Data Documentation

HalconCpp::HQuaternion descriptor_surface_based_recognition::RecognitionResult::adjusted_rotation_
private

The quaternion used to adjust the rotation of the pose above to get the correct pose

Definition at line 53 of file recognition_result.h.

bool descriptor_surface_based_recognition::RecognitionResult::model_found_
private

If true the pose of the model was correctly found (3D and 2D), false if the object was found only in 2D

Definition at line 38 of file recognition_result.h.

HalconCpp::HTuple descriptor_surface_based_recognition::RecognitionResult::pose_
private

The found pose

Definition at line 71 of file recognition_result.h.

bool descriptor_surface_based_recognition::RecognitionResult::pose_valid_
private

Indicates whether the found pose is valid

Definition at line 59 of file recognition_result.h.

double descriptor_surface_based_recognition::RecognitionResult::score_2D_
private

The found 2D-recognition score

Definition at line 44 of file recognition_result.h.

double descriptor_surface_based_recognition::RecognitionResult::score_3D_
private

The found 3D-recognition score

Definition at line 62 of file recognition_result.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr descriptor_surface_based_recognition::RecognitionResult::search_cloud_
private

The reduced point cloud used to recognize the object

Definition at line 68 of file recognition_result.h.

int descriptor_surface_based_recognition::RecognitionResult::search_radius_
private

The length of the square, reduced search domain used for the 2D-recognition

Definition at line 56 of file recognition_result.h.

Eigen::Vector2i descriptor_surface_based_recognition::RecognitionResult::tex_point_
private

The transformed (with the matrix above) center of the found view's feature points

Definition at line 50 of file recognition_result.h.

Eigen::Vector3d descriptor_surface_based_recognition::RecognitionResult::tex_point_3D_
private

The 3D-point in the point cloud corrensponding to the texPoint above

Definition at line 65 of file recognition_result.h.

HalconCpp::HHomMat2D descriptor_surface_based_recognition::RecognitionResult::trans_matrix_2D_
private

The transformation matrix of the view found in the 2D-recognition

Definition at line 47 of file recognition_result.h.

int descriptor_surface_based_recognition::RecognitionResult::view_index
private

The index of the object view found in the 2D-recognition

Definition at line 41 of file recognition_result.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