Saves a list of 3D object models. More...
#include <object_model_list.h>
Classes | |
struct | FeatureSource |
Public Member Functions | |
void | extractNARFsForCompleteSurface (unsigned int descriptor_size, float size_in_world, bool rotation_invariant, std::vector< std::vector< std::vector< Narf * > * > * > &features) const |
Calls the same function (same name) for every ObjectModel in the list. | |
void | extractNARFsForInterestPoints (unsigned int descriptor_size, float size_in_world, bool rotation_invariant, NarfKeypoint &interest_point_detector, std::vector< std::vector< std::vector< Narf * > * > * > &features) const |
Calls the same function (same name) for every ObjectModel in the list. | |
float | getAverageModelRadius () const |
Calculates the average model radius. | |
template<typename FeatureType > | |
void | getFeatureMatches (const std::vector< FeatureType * > &scene_features, const std::vector< FeatureType * > &model_database_features, const std::vector< ObjectModelList::FeatureSource > &model_database_feature_sources, float max_descriptor_distance, float min_distance_to_same_scene_feature, std::vector< std::vector< PointCorrespondences6DVector > > &feature_matches, const KdTree< FeatureType * > *kdtree=NULL, float max_descriptor_distance_kdtree=-1) const |
Caclulate feature matches. If a kdtree is given, it is used instead of brute force search. | |
float | getMaximumPlaneSize (float initial_max_plane_error) const |
Calculates the maximum plane size in the model list. | |
ObjectModelList () | |
Constructor. | |
~ObjectModelList () | |
Destructor. | |
Static Public Member Functions | |
template<typename FeatureType > | |
static void | buildKdTree (const std::vector< FeatureType * > &merged_feature_list, KdTree< FeatureType * > &kdtree) |
template<typename FeatureType > | |
static void | freeFeatureListMemory (std::vector< std::vector< std::vector< FeatureType * > * > * > &feature_list) |
template<typename FeatureType > | |
static void | getMergedFeatureList (const std::vector< std::vector< std::vector< FeatureType * > * > * > &feature_list, std::vector< FeatureType * > &merged_feature_list, std::vector< FeatureSource > &feature_sources) |
Public Attributes | |
std::vector< ObjectModel * > | BaseClass |
Static Protected Member Functions | |
template<typename FeatureType > | |
static void | integrateIntoMatchList (int scene_feature_idx, int database_feature_idx, float score, const std::vector< FeatureType * > &scene_features, const std::vector< FeatureType * > &model_database_features, const std::vector< ObjectModelList::FeatureSource > &model_database_feature_sources, float min_distance_to_same_scene_feature_squared, std::vector< std::vector< PointCorrespondences6DVector > > &feature_matches) |
Saves a list of 3D object models.
Definition at line 54 of file object_model_list.h.
Constructor.
Definition at line 48 of file object_model_list.cpp.
Destructor.
Definition at line 52 of file object_model_list.cpp.
void pcl::ObjectModelList::buildKdTree | ( | const std::vector< FeatureType * > & | merged_feature_list, |
KdTree< FeatureType * > & | kdtree | ||
) | [static] |
Definition at line 72 of file object_model_list.hpp.
void pcl::ObjectModelList::extractNARFsForCompleteSurface | ( | unsigned int | descriptor_size, |
float | size_in_world, | ||
bool | rotation_invariant, | ||
std::vector< std::vector< std::vector< Narf * > * > * > & | features | ||
) | const |
Calls the same function (same name) for every ObjectModel in the list.
Definition at line 61 of file object_model_list.cpp.
void pcl::ObjectModelList::extractNARFsForInterestPoints | ( | unsigned int | descriptor_size, |
float | size_in_world, | ||
bool | rotation_invariant, | ||
NarfKeypoint & | interest_point_detector, | ||
std::vector< std::vector< std::vector< Narf * > * > * > & | features | ||
) | const |
Calls the same function (same name) for every ObjectModel in the list.
Definition at line 78 of file object_model_list.cpp.
void pcl::ObjectModelList::freeFeatureListMemory | ( | std::vector< std::vector< std::vector< FeatureType * > * > * > & | feature_list | ) | [inline, static] |
Definition at line 41 of file object_model_list.hpp.
Calculates the average model radius.
Definition at line 100 of file object_model_list.cpp.
void pcl::ObjectModelList::getFeatureMatches | ( | const std::vector< FeatureType * > & | scene_features, |
const std::vector< FeatureType * > & | model_database_features, | ||
const std::vector< ObjectModelList::FeatureSource > & | model_database_feature_sources, | ||
float | max_descriptor_distance, | ||
float | min_distance_to_same_scene_feature, | ||
std::vector< std::vector< PointCorrespondences6DVector > > & | feature_matches, | ||
const KdTree< FeatureType * > * | kdtree = NULL , |
||
float | max_descriptor_distance_kdtree = -1 |
||
) | const |
Caclulate feature matches. If a kdtree is given, it is used instead of brute force search.
Definition at line 88 of file object_model_list.hpp.
float pcl::ObjectModelList::getMaximumPlaneSize | ( | float | initial_max_plane_error | ) | const |
Calculates the maximum plane size in the model list.
Definition at line 112 of file object_model_list.cpp.
void pcl::ObjectModelList::getMergedFeatureList | ( | const std::vector< std::vector< std::vector< FeatureType * > * > * > & | feature_list, |
std::vector< FeatureType * > & | merged_feature_list, | ||
std::vector< FeatureSource > & | feature_sources | ||
) | [inline, static] |
Definition at line 52 of file object_model_list.hpp.
void pcl::ObjectModelList::integrateIntoMatchList | ( | int | scene_feature_idx, |
int | database_feature_idx, | ||
float | score, | ||
const std::vector< FeatureType * > & | scene_features, | ||
const std::vector< FeatureType * > & | model_database_features, | ||
const std::vector< ObjectModelList::FeatureSource > & | model_database_feature_sources, | ||
float | min_distance_to_same_scene_feature_squared, | ||
std::vector< std::vector< PointCorrespondences6DVector > > & | feature_matches | ||
) | [inline, static, protected] |
Definition at line 158 of file object_model_list.hpp.
Definition at line 58 of file object_model_list.h.