Saves 3D information about an object. More...

#include <object_model.h>

Classes
struct	ValidationPoints
Public Types
typedef PointCloud< PointType >	PointCloudType
typedef PointXYZ	PointType
Public Member Functions
void	addNoise (float max_noise)
void	addSimulatedView (const Eigen::Vector3f &direction, float angular_resolution=deg2rad(0.5f), float distance=-1.0, std::vector< RangeImage, Eigen::aligned_allocator< RangeImage > > *views=NULL)
void	addView (const Eigen::Affine3f &viewer_pose, float angular_resolution)
	Same as above, directly adding it to views_.
void	clear (bool keep_point_cloud=false)
	Erase all data stored in the model - if keep_point_cloud is true point_cloud_ will stay unchanged.
void	clearViews ()
	Erase all views and connected information.
void	createView (const Eigen::Affine3f &viewer_pose, float angular_resolution, RangeImage &view) const
	Get a range image of the object, seen from the given pose.
Eigen::Affine3f	doFastICP (const Eigen::Affine3f &initial_guess, const RangeImage &range_image, int search_radius=3, int no_of_surface_points_to_use=25, int no_of_border_points_to_use=10, int num_iterations=10, float max_distance_start=-1.0f, float max_distance_end=-1.0f) const
	Improve the transformation given by doing ICP using very few already cacluated points (using the validation points)
Eigen::Affine3f	doSlowICP (const Eigen::Affine3f &initial_guess, const RangeImage &range_image, int search_radius, int num_iterations, float max_distance_start, float max_distance_end) const
	Improve the transformation given by doing ICP on a view simulation.
void	extractInterestPoints (int view_ix, float support_size, NarfKeypoint &interest_point_detector, PointCloud< InterestPoint > &interest_points) const
	Get interest points for a certain view.
void	extractNARFsForCompleteSurface (unsigned int descriptor_size, float size_in_world, bool rotation_invariant, std::vector< std::vector< Narf * > * > &features) const
void	extractNARFsForInterestPoints (unsigned int descriptor_size, float size_in_world, bool rotation_invariant, NarfKeypoint &interest_point_detector, std::vector< std::vector< Narf * > * > &features) const
const Eigen::Vector3f &	getCenter () const
	Get the model's center point.
int	getClosestValidationPointViewIdx (const Eigen::Affine3f &pose) const
	Find the index of the view that has the most similar viewpoint to the given transformation.
int	getId () const
	Get the id of the object.
float	getMaxAngleSize (const Eigen::Affine3f &viewer_pose) const
	Get the size of the object as an angle, when seen from the given pose.
float	getMaximumPlaneSize (float initial_max_plane_error) const
	Calculates the maximum plane size in the model.
const std::string &	getName () const
	Get the name of the object.
const PointCloudType &	getPointCloud () const
	Get the point cloud of the object.
PointCloudType &	getPointCloud ()
	Get the point cloud of the object - non const.
float	getRadius () const
	Get the model's radius.
void	getTransformedPointCloud (const Eigen::Affine3f &transformation, PointCloudType &output) const
	Get the model point cloud transformed by the given transformation.
const std::vector < ValidationPoints > &	getValidationPoints () const
	Get the validation points for the different views.
const RangeImage &	getView (int index) const
	Get a certain view of the model.
Eigen::Affine3f	getViewerPose (const Eigen::Vector3f &viewpoint) const
	Get the pose, that looks at the model's center from the given position and oriented upright (i.e. along 0,-1,0)
const std::vector< RangeImage, Eigen::aligned_allocator < RangeImage > > &	getViews () const
	Get the list of views from the model.
bool	isSingleViewModel () const
	Check if the object is a single view object (if false point_cloud_ is considered to be complete)
	ObjectModel ()
void	sampleViews2D (int no_of_views=10, int first_layer=0, int last_layer=0, float angular_resolution=deg2rad(0.5f), float distance=-1.0f, std::vector< RangeImage, Eigen::aligned_allocator< RangeImage > > *views=NULL)
void	sampleViews3D (float sample_angular_resolution=deg2rad(40.0f), float angular_resolution=deg2rad(0.4f), float distance=-1.0f, std::vector< RangeImage, Eigen::aligned_allocator< RangeImage > > *views=NULL)
void	setId (int id)
	Set the id of the object.
void	setIsSingleViewModel (bool is_single_view_model)
	Set the information if the object is a single view object (if false point_cloud_ is considered to be complete)
void	setName (const std::string name)
	Set the name of the object.
void	updateCenterAndRadius ()
	Recalculate the models center and radius, meaning the sphere that includes the complete object.
void	updateValidationPoints (unsigned int no_of_surface_points=50, unsigned int no_of_border_points=25, float sample_resolution=deg2rad(20.0f), NarfKeypoint *interest_point_detector=NULL, float support_size=-1.0f)
virtual	~ObjectModel ()
Static Public Member Functions
template<typename FeatureType >
static void	freeFeatureListMemory (std::vector< std::vector< FeatureType * > * > &feature_list)
	Free memory allocated in feature list.
Static Protected Member Functions
static void	getUniformlyDistributedPoints (const std::vector< Eigen::Vector3f > &points, int no_of_points, std::vector< Eigen::Vector3f > &result)
Protected Attributes
Eigen::Vector3f	center_
int	id_
bool	is_single_view_model_
std::string	name_
PointCloudType	point_cloud_
float	radius_
std::vector< ValidationPoints >	validation_points_
std::vector< RangeImage, Eigen::aligned_allocator < RangeImage > >	views_
std::vector< RangeImage, Eigen::aligned_allocator < RangeImage > >	views_for_validation_points_

Detailed Description

Saves 3D information about an object.

Definition at line 62 of file object_model.h.

Member Typedef Documentation

typedef PointCloud<PointType> pcl::ObjectModel::PointCloudType

Definition at line 67 of file object_model.h.

typedef PointXYZ pcl::ObjectModel::PointType

Definition at line 66 of file object_model.h.

Constructor & Destructor Documentation

pcl::ObjectModel::ObjectModel ( )

Constructor

Definition at line 62 of file object_model.cpp.

pcl::ObjectModel::~ObjectModel ( ) [virtual]

Destructor

Definition at line 67 of file object_model.cpp.

Member Function Documentation

void pcl::ObjectModel::addNoise ( float max_noise )

Adds noise to the models point cloud. Warning: This calls clear, so everything has to be recalculated for the model afterwards!

Definition at line 501 of file object_model.cpp.

void pcl::ObjectModel::addSimulatedView	(	const Eigen::Vector3f &	direction,
		float	angular_resolution = `deg2rad(0.5f)`,
		float	distance = `-1.0`,
		std::vector< RangeImage, Eigen::aligned_allocator< RangeImage > > *	views = `NULL`
	)

Add a certain perspective of the object to the model

Parameters:

direction	from the center at which the object should be captured
angular_resolution	of the simulated range image
distance	the distance of the simulated viewpoint to the oject (default is 5 times the models radius)
views	list of vies. If not set, views_ is used

Definition at line 165 of file object_model.cpp.

void pcl::ObjectModel::addView	(	const Eigen::Affine3f &	viewer_pose,
		float	angular_resolution
	)

Same as above, directly adding it to views_.

Definition at line 195 of file object_model.cpp.

void pcl::ObjectModel::clear ( bool keep_point_cloud = false )

Erase all data stored in the model - if keep_point_cloud is true point_cloud_ will stay unchanged.

Definition at line 72 of file object_model.cpp.

void pcl::ObjectModel::clearViews ( )

Erase all views and connected information.

Definition at line 84 of file object_model.cpp.

void pcl::ObjectModel::createView	(	const Eigen::Affine3f &	viewer_pose,
		float	angular_resolution,
		RangeImage &	view
	)		const

Get a range image of the object, seen from the given pose.

Definition at line 202 of file object_model.cpp.

Eigen::Affine3f pcl::ObjectModel::doFastICP	(	const Eigen::Affine3f &	initial_guess,
		const RangeImage &	range_image,
		int	search_radius = `3`,
		int	no_of_surface_points_to_use = `25`,
		int	no_of_border_points_to_use = `10`,
		int	num_iterations = `10`,
		float	max_distance_start = `-1.0f`,
		float	max_distance_end = `-1.0f`
	)		const

Improve the transformation given by doing ICP using very few already cacluated points (using the validation points)

Definition at line 392 of file object_model.cpp.

Eigen::Affine3f pcl::ObjectModel::doSlowICP	(	const Eigen::Affine3f &	initial_guess,
		const RangeImage &	range_image,
		int	search_radius,
		int	num_iterations,
		float	max_distance_start,
		float	max_distance_end
	)		const

Improve the transformation given by doing ICP on a view simulation.

Definition at line 477 of file object_model.cpp.

void pcl::ObjectModel::extractInterestPoints	(	int	view_ix,
		float	support_size,
		NarfKeypoint &	interest_point_detector,
		PointCloud< InterestPoint > &	interest_points
	)		const

Get interest points for a certain view.

Definition at line 243 of file object_model.cpp.

void pcl::ObjectModel::extractNARFsForCompleteSurface	(	unsigned int	descriptor_size,
		float	size_in_world,
		bool	rotation_invariant,
		std::vector< std::vector< Narf * > * > &	features
	)		const

Extract NARF features from every pixel in the views of the model

Parameters:

descriptor	determines the descriptor length
size_in_world	support size of the feature
features	returned list of lists of features

Definition at line 220 of file object_model.cpp.

void pcl::ObjectModel::extractNARFsForInterestPoints	(	unsigned int	descriptor_size,
		float	size_in_world,
		bool	rotation_invariant,
		NarfKeypoint &	interest_point_detector,
		std::vector< std::vector< Narf * > * > &	features
	)		const

Extract NARF features from border interest point (see range_image_interest_point_detector.h)

Parameters:

descriptor	determines the descriptor length
size_in_world	support size of the feature
features	returned list of lists of features

Definition at line 255 of file object_model.cpp.

template<typename FeatureType >

void pcl::ObjectModel::freeFeatureListMemory ( std::vector< std::vector< FeatureType * > * > & feature_list ) [inline, static]

Free memory allocated in feature list.

Definition at line 41 of file object_model.hpp.

const Eigen::Vector3f& pcl::ObjectModel::getCenter ( ) const [inline]

Get the model's center point.

Definition at line 213 of file object_model.h.

int pcl::ObjectModel::getClosestValidationPointViewIdx ( const Eigen::Affine3f & pose ) const [inline]

Find the index of the view that has the most similar viewpoint to the given transformation.

Definition at line 55 of file object_model.hpp.

int pcl::ObjectModel::getId ( ) const [inline]

Get the id of the object.

Definition at line 199 of file object_model.h.

float pcl::ObjectModel::getMaxAngleSize ( const Eigen::Affine3f & viewer_pose ) const

Get the size of the object as an angle, when seen from the given pose.

Definition at line 190 of file object_model.cpp.

float pcl::ObjectModel::getMaximumPlaneSize ( float initial_max_plane_error ) const

Calculates the maximum plane size in the model.

Definition at line 516 of file object_model.cpp.

const std::string& pcl::ObjectModel::getName ( ) const [inline]

Get the name of the object.

Definition at line 201 of file object_model.h.

const PointCloudType& pcl::ObjectModel::getPointCloud ( ) const [inline]

Get the point cloud of the object.

Definition at line 203 of file object_model.h.

PointCloudType& pcl::ObjectModel::getPointCloud ( ) [inline]

Get the point cloud of the object - non const.

Definition at line 205 of file object_model.h.

float pcl::ObjectModel::getRadius ( ) const [inline]

Get the model's radius.

Definition at line 211 of file object_model.h.

void pcl::ObjectModel::getTransformedPointCloud	(	const Eigen::Affine3f &	transformation,
		PointCloudType &	output
	)		const

Get the model point cloud transformed by the given transformation.

Definition at line 279 of file object_model.cpp.

void pcl::ObjectModel::getUniformlyDistributedPoints	(	const std::vector< Eigen::Vector3f > &	points,
		int	no_of_points,
		std::vector< Eigen::Vector3f > &	result
	)		`[static, protected]`

Distributes no_of_points of the given points over the surface. result[0] will be point_indices[0] and result[1] will be the point from point_indices, that is farthest away from result[0] and so on. Thereby the points 0...i in the result vector have maximal distances to each other

Definition at line 361 of file object_model.cpp.

const std::vector<ValidationPoints>& pcl::ObjectModel::getValidationPoints ( ) const [inline]

Get the validation points for the different views.

Definition at line 215 of file object_model.h.

const RangeImage& pcl::ObjectModel::getView ( int index ) const [inline]

Get a certain view of the model.

Definition at line 209 of file object_model.h.

Affine3f pcl::ObjectModel::getViewerPose ( const Eigen::Vector3f & viewpoint ) const

Get the pose, that looks at the model's center from the given position and oriented upright (i.e. along 0,-1,0)

Definition at line 210 of file object_model.cpp.

const std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> >& pcl::ObjectModel::getViews ( ) const [inline]

Get the list of views from the model.

Definition at line 207 of file object_model.h.

bool pcl::ObjectModel::isSingleViewModel ( ) const [inline]

Check if the object is a single view object (if false point_cloud_ is considered to be complete)

Definition at line 217 of file object_model.h.

void pcl::ObjectModel::sampleViews2D	(	int	no_of_views = `10`,
		int	first_layer = `0`,
		int	last_layer = `0`,
		float	angular_resolution = `deg2rad(0.5f)`,
		float	distance = `-1.0f`,
		std::vector< RangeImage, Eigen::aligned_allocator< RangeImage > > *	views = `NULL`
	)

Use the point_cloud_ member to create a number of sample views of the object from a points surrounding the object at a fixed height. This is useful for object that typically only appear upright, like a chair for example. ! Please call updateCenterAndRadius() before using this !

Parameters:

no_of_views	the number of sampled views, that will be added to views_
first_layer	first layer to be computed. 0 is on the middle height of the object, every other is either one half object height above (for positive values) or below (negative values). All layers from first_layer to last_layer will be computed.
last_layer	last layer to be computed. See above for more details.
angular_resolution	of the simulated range images
distance	the distance of the simulated viewpoint to the oject (default is 5 times the models radius)

Definition at line 112 of file object_model.cpp.

void pcl::ObjectModel::sampleViews3D	(	float	sample_angular_resolution = `deg2rad(40.0f)`,
		float	angular_resolution = `deg2rad(0.4f)`,
		float	distance = `-1.0f`,
		std::vector< RangeImage, Eigen::aligned_allocator< RangeImage > > *	views = `NULL`
	)

Use the point_cloud_ member to create a number of sample views around the object. ! Please call updateCenterAndRadius() before using this !

Parameters:

sample_angular_resolution	theangular distance between the sampled positions. Should be in (0.0, deg2rad(90.0)]
angular_resolution	of the simulated range images
distance	the distance of the simulated viewpoint to the oject (default is 5 times the models radius)

Definition at line 134 of file object_model.cpp.

void pcl::ObjectModel::setId ( int id ) [inline]

Set the id of the object.

Definition at line 223 of file object_model.h.

void pcl::ObjectModel::setIsSingleViewModel ( bool is_single_view_model ) [inline]

Set the information if the object is a single view object (if false point_cloud_ is considered to be complete)

Definition at line 227 of file object_model.h.

void pcl::ObjectModel::setName ( const std::string name ) [inline]

Set the name of the object.

Definition at line 225 of file object_model.h.

void pcl::ObjectModel::updateCenterAndRadius ( )

Recalculate the models center and radius, meaning the sphere that includes the complete object.

Definition at line 91 of file object_model.cpp.

void pcl::ObjectModel::updateValidationPoints	(	unsigned int	no_of_surface_points = `50`,
		unsigned int	no_of_border_points = `25`,
		float	sample_resolution = `deg2rad(20.0f)`,
		NarfKeypoint *	interest_point_detector = `NULL`,
		float	support_size = `-1.0f`
	)

Recalculates the validation points for the object.

Parameters:

no_of_surface_points	maximum size of the set of surface points
no_of_border_points_to_use	maximum size of the set of border points
sample_resolution	angular distance between the sampled views used to calculate the validation points
interest_point_detector	if !=NULL, the surface points will be selected from the interest points
support_size	used for the interest point extraction