Capsualtes functionalities to perform object recognition using NARFs. More...

#include <object_recognition_helper.h>

Classes
struct	IntermediateElements
struct	Parameters
struct	Timings
Public Member Functions
bool	addObjectModelsFromPcdFiles (std::vector< std::string > &file_names)
	Read model point clouds from disc and create model database.
bool	createRangeImageFromPcdFile (const std::string &file_name)
	Read scene point cloud from disc and create the range image.
bool	createRangeImageFromPointCloud (const PointCloud< PointXYZ > &point_cloud, const PointCloud< PointWithViewpoint > *far_ranges=NULL)
	Use an existing point cloud to create the scene range image.
bool	extractModelFeatures ()
	Extract features for the object models.
void	extractPoseEstimates ()
	Extract pose estimates from feature matches.
bool	extractSceneFeatures ()
	Extract NARFs from the scene range image.
std::vector < PosesFromMatches::PoseEstimatesVector > &	filterFalsePositives ()
	Filter the pose estimates to remove false positives.
FalsePositivesFilter &	getFalsePositivesFilter ()
	Get a reference to the false positives filter member.
IntermediateElements &	getIntermediateElements ()
	Get a reference to the intermediate elements struct.
Parameters &	getParameters ()
	Get a reference to the parameters struct.
Timings &	getTimings ()
	Get a reference to the timings struct.
	ObjectRecognitionHelper ()
void	printTimings () const
	Print the timings from the last recongition to cout.
	~ObjectRecognitionHelper ()
Protected Member Functions
void	clearModelFeatures ()
	Free the memory of the current object model features.
void	clearObjectModels ()
	Free the memory of the current object model list.
void	clearSceneFeatures ()
	Free the memory of the current scene feature list.
Protected Attributes
FalsePositivesFilter	false_positives_filter_
IntermediateElements	intermediate_elements_
Parameters	parameters_
Timings	timings_

Detailed Description

Capsualtes functionalities to perform object recognition using NARFs.

Definition at line 23 of file object_recognition_helper.h.

Constructor & Destructor Documentation

pcl::ObjectRecognitionHelper::ObjectRecognitionHelper ( )

Constructor

Definition at line 5 of file object_recognition_helper.cpp.

pcl::ObjectRecognitionHelper::~ObjectRecognitionHelper ( )

Destructor

Definition at line 9 of file object_recognition_helper.cpp.

Member Function Documentation

bool pcl::ObjectRecognitionHelper::addObjectModelsFromPcdFiles ( std::vector< std::string > & file_names )

Read model point clouds from disc and create model database.

Definition at line 48 of file object_recognition_helper.cpp.

void pcl::ObjectRecognitionHelper::clearModelFeatures ( ) [protected]

Free the memory of the current object model features.

Definition at line 37 of file object_recognition_helper.cpp.

void pcl::ObjectRecognitionHelper::clearObjectModels ( ) [protected]

Free the memory of the current object model list.

Definition at line 27 of file object_recognition_helper.cpp.

void pcl::ObjectRecognitionHelper::clearSceneFeatures ( ) [protected]

Free the memory of the current scene feature list.

Definition at line 17 of file object_recognition_helper.cpp.

bool pcl::ObjectRecognitionHelper::createRangeImageFromPcdFile ( const std::string & file_name )

Read scene point cloud from disc and create the range image.

Definition at line 104 of file object_recognition_helper.cpp.

bool pcl::ObjectRecognitionHelper::createRangeImageFromPointCloud	(	const PointCloud< PointXYZ > &	point_cloud,
		const PointCloud< PointWithViewpoint > *	far_ranges = `NULL`
	)