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:

• recognition_result.h
• recognition_result.cpp