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pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT > Class Template Reference

#include <PHVObjectClassifier.h>

List of all members.

Public Types

typedef map< FeatureT, map
< string, PointCloud > > 		DatabaseType
typedef Feature< PointNormalT,
FeatureT >::Ptr 		FeatureEstimatorType
typedef map< string, vector
< PointNormalCloudPtr > > 		ModelMapType
typedef ModelMapType::value_type ModelMapValueType
typedef boost::shared_ptr
< MovingLeastSquares< PointT,
PointNormalT > > 		MovingLeastSquaresType
typedef pcl17::PointCloud< PointT > PointCloud
typedef pcl17::PointCloud
< PointT >::ConstPtr 		PointCloudConstPtr
typedef pcl17::PointCloud
< PointT >::Ptr 		PointCloudPtr
typedef pcl17::PointCloud
< PointNormalT > 		PointNormalCloud
typedef pcl17::PointCloud
< PointNormalT >::ConstPtr 		PointNormalCloudConstPtr
typedef pcl17::PointCloud
< PointNormalT >::Ptr 		PointNormalCloudPtr
typedef pcl17::search::KdTree
< PointNormalT > 		PointNormalTree
typedef pcl17::search::KdTree
< PointNormalT >::Ptr 		PointNormalTreePtr
typedef pcl17::search::KdTree
< PointT > 		PointTree
typedef pcl17::search::KdTree
< PointT >::Ptr 		PointTreePtr

Public Member Functions

virtual void addObjectFullModel (PointCloudConstPtr model, const std::string &class_name)
virtual void addObjectPartialView (PointCloudConstPtr view, const std::string &class_name)
void classify ()
virtual void computeClassifier ()
void computeExternalClassifier (const std::string &labels)
void eval_clustering (const std::string &classname, const float search_radius, double &tp, double &fn, double &fp)
void eval_clustering_external (const std::string &classname, const float search_radius, double &tp, double &fn, double &fp, const std::string &matrix)
furniture_classification::FittedModelsPtr fit_objects (furniture_classification::Hypothesis::ConstPtr hp)
furniture_classification::Hypothesis::Ptr generate_hypothesis (std::map< std::string, pcl17::PointCloud< pcl17::PointXYZ >::Ptr > &votes_map)
string getDatabaseDir ()
bool getDebug ()
string getDebugFolder ()
FeatureEstimatorType getFeatureEstimator ()
map< string, vector
< PointNormalCloudPtr > > 		getFoundObjects ()
float getLocalMaximaThreshold ()
int getNumberOfClusters ()
PointNormalCloudPtr getScene ()
virtual bool isClassifierComputed ()
void loadFromFile ()
 PHVObjectClassifier ()
void saveToFile ()
void setDatabaseDir (const string &database_dir)
void setDebug (bool debug)
void setDebugFolder (const string &debug_folder)
void setFeatureEstimator (FeatureEstimatorType feature_estimator)
void setLocalMaximaThreshold (float t)
void setNumberOfClusters (int num_clusters)
virtual void setScene (PointCloudConstPtr model, float cut_off_distance=2.5f)
void vote_external (const std::string &matrix)
virtual ~PHVObjectClassifier ()

Public Attributes

float cell_size_
PointCloud centroids_
ModelMapType class_name_to_full_models_map_
ModelMapType class_name_to_partial_views_map_
vector< std::string > classes_
DatabaseType database_
string database_dir_
pcl17::PointCloud< FeatureT >::Ptr database_features_cloud_
bool debug_
string debug_folder_
std::string external_classifier_
float fe_k_neighbours_
FeatureEstimatorType feature_estimator_
vector< FeatureT > features_
map< string, vector
< PointNormalCloudPtr > > 		found_objects_
float icp_max_correspondence_distance_
int icp_max_iterations_
double icp_treshold_
float local_maxima_threshold_
FeatureT max_
PointNormalT max_scene_bound_
FeatureT min_
int min_points_in_segment_
PointNormalT min_scene_bound_
MovingLeastSquaresType mls_
bool mls_polynomial_fit_
int mls_polynomial_order_
float mls_search_radius_
int num_angles_
int num_clusters_
int num_neighbours_
float ransac_distance_threshold_
int ransac_num_iter_
map< string, float > ransac_result_threshold_
float ransac_vis_score_weight_
float rg_residual_threshold_
float rg_smoothness_threshold_
PointNormalCloudPtr scene_
vector< boost::shared_ptr
< vector< int > > > 		segment_indices_
vector< PointNormalCloudPtr > segment_pointclouds_
float subsampling_resolution_
map< string, vector< int > > voted_segment_idx_
map< string, pcl17::PointCloud
< pcl17::PointXYZI > > 		votes_
float window_size_

Protected Member Functions

void appendFeaturesFromCloud (PointNormalCloudPtr &cloud, const string &class_name, const int i)
void clusterFeatures (vector< FeatureT > &cluster_centers, vector< int > &cluster_labels)
pcl17::PointCloud
< PointNormalT >::Ptr 		estimateNormalsAndSubsample (typename pcl17::PointCloud< PointT >::ConstPtr cloud_orig)
pcl17::PointCloud< PointT >::Ptr findLocalMaximaInGrid (Eigen::MatrixXf grid, float window_size)
vector< boost::shared_ptr
< std::vector< int > > > 		findVotedSegments (typename pcl17::PointCloud< PointT >::Ptr local_maxima_, const string &class_name, float window_size)
void fitModelsWithRansac (vector< boost::shared_ptr< std::vector< int > > > &voted_segments_, const string class_name, RandomSampleConsensusSimple< PointNormalT > &ransac, vector< PointNormalCloudPtr > &result_, vector< float > &scores_)
void generateVisibilityScore (vector< PointNormalCloudPtr > &result_, vector< float > &scores_)
Eigen::ArrayXXi getLocalMaximaGrid (Eigen::MatrixXf &grid, float window_size)
void getSegmentsFromCloud (PointNormalCloudPtr cloud_with_normals, vector< boost::shared_ptr< vector< int > > > &segment_indices, pcl17::PointCloud< pcl17::PointXYZRGBNormal >::Ptr &colored_segments)
bool intersectXY (const pcl17::PointCloud< PointNormalT > &cloud1, const pcl17::PointCloud< PointNormalT > &cloud2)
void normalizeFeatures (std::vector< FeatureT > &features)
void normalizeFeaturesWithCurrentMinMax (std::vector< FeatureT > &features)
Eigen::MatrixXf projectVotesToGrid (const pcl17::PointCloud< pcl17::PointXYZI > &model_centers, int &grid_center_x, int &grid_center_y)
vector< typename
pcl17::PointCloud
< PointNormalT >::Ptr > 		removeIntersecting (vector< typename pcl17::PointCloud< PointNormalT >::Ptr > &result_, vector< float > &scores_, vector< float > *selected_scores=NULL)
void vote ()

Friends

template<class PT , class PNT , class FT >
YAML::Emitter & operator<< (YAML::Emitter &out, const PHVObjectClassifier< PT, PNT, FT > &h)

Detailed Description

template<class PointT, class PointNormalT, class FeatureT>
class pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >

Definition at line 54 of file PHVObjectClassifier.h.

Member Typedef Documentation

template<class PointT, class PointNormalT, class FeatureT>
typedef map<FeatureT, map<string, PointCloud> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::DatabaseType

Definition at line 74 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef Feature<PointNormalT, FeatureT>::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::FeatureEstimatorType

Definition at line 71 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef map<string, vector<PointNormalCloudPtr> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::ModelMapType

Definition at line 75 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef ModelMapType::value_type pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::ModelMapValueType

Definition at line 76 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef boost::shared_ptr<MovingLeastSquares<PointT, PointNormalT> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::MovingLeastSquaresType

Definition at line 72 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::PointCloud<PointT> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointCloud

Definition at line 57 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::PointCloud<PointT>::ConstPtr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointCloudConstPtr

Definition at line 59 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::PointCloud<PointT>::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointCloudPtr

Definition at line 58 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::PointCloud<PointNormalT> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointNormalCloud

Definition at line 67 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::PointCloud<PointNormalT>::ConstPtr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointNormalCloudConstPtr

Definition at line 69 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::PointCloud<PointNormalT>::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointNormalCloudPtr

Definition at line 68 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::search::KdTree<PointNormalT> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointNormalTree

Definition at line 64 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::search::KdTree<PointNormalT>::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointNormalTreePtr

Definition at line 65 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::search::KdTree<PointT> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointTree

Definition at line 61 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
typedef pcl17::search::KdTree<PointT>::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PointTreePtr

Definition at line 62 of file PHVObjectClassifier.h.

Constructor & Destructor Documentation

template<class PointT, class PointNormalT, class FeatureT>
pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::PHVObjectClassifier ( ) [inline]

Definition at line 78 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
virtual pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::~PHVObjectClassifier ( ) [inline, virtual]

Definition at line 97 of file PHVObjectClassifier.h.

Member Function Documentation

template<class PointT, class PointNormalT, class FeatureT>
virtual void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::addObjectFullModel ( PointCloudConstPtr  model,
const std::string &  class_name 
) [inline, virtual]

Definition at line 107 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
virtual void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::addObjectPartialView ( PointCloudConstPtr  view,
const std::string &  class_name 
) [inline, virtual]

Definition at line 101 of file PHVObjectClassifier.h.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::appendFeaturesFromCloud ( PointNormalCloudPtr &  cloud,
const string &  class_name,
const int  i 
) [protected]

Definition at line 863 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::classify ( )

Definition at line 537 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::clusterFeatures ( vector< FeatureT > &  cluster_centers,
vector< int > &  cluster_labels 
) [protected]

Definition at line 43 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::computeClassifier ( ) [virtual]

Definition at line 96 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::computeExternalClassifier ( const std::string &  labels)

Definition at line 199 of file PHVObjectClassifier.hpp.

template<class PointT, class PointNormalT , class FeatureT >
pcl17::PointCloud< PointNormalT >::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::estimateNormalsAndSubsample ( typename pcl17::PointCloud< PointT >::ConstPtr  cloud_orig) [protected]

Definition at line 731 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::eval_clustering ( const std::string &  classname,
const float  search_radius,
double &  tp,
double &  fn,
double &  fp 
)

Definition at line 611 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::eval_clustering_external ( const std::string &  classname,
const float  search_radius,
double &  tp,
double &  fn,
double &  fp,
const std::string &  matrix 
)

Definition at line 668 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
pcl17::PointCloud< PointT >::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::findLocalMaximaInGrid ( Eigen::MatrixXf  grid,
float  window_size 
) [protected]

Definition at line 1254 of file PHVObjectClassifier.hpp.

template<class PointT, class PointNormalT , class FeatureT >
vector< boost::shared_ptr< std::vector< int > > > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::findVotedSegments ( typename pcl17::PointCloud< PointT >::Ptr  local_maxima_,
const string &  class_name,
float  window_size 
) [protected]

Definition at line 1360 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
furniture_classification::FittedModelsPtr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::fit_objects ( furniture_classification::Hypothesis::ConstPtr  hp)

Definition at line 438 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT, class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::fitModelsWithRansac ( vector< boost::shared_ptr< std::vector< int > > > &  voted_segments_,
const string  class_name,
RandomSampleConsensusSimple< PointNormalT > &  ransac,
vector< PointNormalCloudPtr > &  result_,
vector< float > &  scores_ 
) [protected]

Definition at line 1434 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
furniture_classification::Hypothesis::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::generate_hypothesis ( std::map< std::string, pcl17::PointCloud< pcl17::PointXYZ >::Ptr > &  votes_map)

Definition at line 389 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::generateVisibilityScore ( vector< PointNormalCloudPtr > &  result_,
vector< float > &  scores_ 
) [protected]

Definition at line 1473 of file PHVObjectClassifier.hpp.

template<class PointT, class PointNormalT, class FeatureT>
string pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getDatabaseDir ( ) [inline]

Definition at line 199 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
bool pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getDebug ( ) [inline]

Definition at line 128 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
string pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getDebugFolder ( ) [inline]

Definition at line 144 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
FeatureEstimatorType pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getFeatureEstimator ( ) [inline]

Definition at line 160 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
map<string, vector<PointNormalCloudPtr> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getFoundObjects ( ) [inline]

Definition at line 203 of file PHVObjectClassifier.h.

template<class PointT , class PointNormalT , class FeatureT >
Eigen::ArrayXXi pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getLocalMaximaGrid ( Eigen::MatrixXf &  grid,
float  window_size 
) [protected]

Definition at line 1311 of file PHVObjectClassifier.hpp.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getLocalMaximaThreshold ( ) [inline]

Definition at line 168 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getNumberOfClusters ( ) [inline]

Definition at line 152 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
PointNormalCloudPtr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getScene ( ) [inline]

Definition at line 189 of file PHVObjectClassifier.h.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::getSegmentsFromCloud ( PointNormalCloudPtr  cloud_with_normals,
vector< boost::shared_ptr< vector< int > > > &  segment_indices,
pcl17::PointCloud< pcl17::PointXYZRGBNormal >::Ptr &  colored_segments 
) [protected]

Definition at line 785 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT, class FeatureT >
bool pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::intersectXY ( const pcl17::PointCloud< PointNormalT > &  cloud1,
const pcl17::PointCloud< PointNormalT > &  cloud2 
) [protected]

Definition at line 1531 of file PHVObjectClassifier.hpp.

template<class PointT, class PointNormalT, class FeatureT>
virtual bool pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::isClassifierComputed ( ) [inline, virtual]

Definition at line 116 of file PHVObjectClassifier.h.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::loadFromFile ( )

Definition at line 84 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::normalizeFeatures ( std::vector< FeatureT > &  features) [protected]

Definition at line 937 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::normalizeFeaturesWithCurrentMinMax ( std::vector< FeatureT > &  features) [protected]

Definition at line 972 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
Eigen::MatrixXf pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::projectVotesToGrid ( const pcl17::PointCloud< pcl17::PointXYZI > &  model_centers,
int &  grid_center_x,
int &  grid_center_y 
) [protected]

Definition at line 1223 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT, class FeatureT >
vector< typename pcl17::PointCloud< PointNormalT >::Ptr > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::removeIntersecting ( vector< typename pcl17::PointCloud< PointNormalT >::Ptr > &  result_,
vector< float > &  scores_,
vector< float > *  selected_scores = NULL 
) [protected]

Definition at line 1562 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::saveToFile ( )

Definition at line 60 of file PHVObjectClassifier.hpp.

template<class PointT, class PointNormalT, class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setDatabaseDir ( const string &  database_dir) [inline]

Definition at line 195 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setDebug ( bool  debug) [inline]

Definition at line 124 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setDebugFolder ( const string &  debug_folder) [inline]

Definition at line 132 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setFeatureEstimator ( FeatureEstimatorType  feature_estimator) [inline]

Definition at line 156 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setLocalMaximaThreshold ( float  t) [inline]

Definition at line 164 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setNumberOfClusters ( int  num_clusters) [inline]

Definition at line 148 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
virtual void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::setScene ( PointCloudConstPtr  model,
float  cut_off_distance = 2.5f 
) [inline, virtual]

Definition at line 172 of file PHVObjectClassifier.h.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::vote ( ) [protected]

Definition at line 1002 of file PHVObjectClassifier.hpp.

template<class PointT , class PointNormalT , class FeatureT >
void pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::vote_external ( const std::string &  matrix)

Definition at line 1067 of file PHVObjectClassifier.hpp.

Friends And Related Function Documentation

template<class PointT, class PointNormalT, class FeatureT>
template<class PT , class PNT , class FT >
YAML::Emitter& operator<< ( YAML::Emitter &  out,
const PHVObjectClassifier< PT, PNT, FT > &  h 
) [friend]

Definition at line 332 of file PHVObjectClassifier.h.

Member Data Documentation

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::cell_size_

Definition at line 274 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
PointCloud pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::centroids_

Definition at line 301 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
ModelMapType pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::class_name_to_full_models_map_

Definition at line 298 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
ModelMapType pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::class_name_to_partial_views_map_

Definition at line 297 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
vector<std::string> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::classes_

Definition at line 302 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
DatabaseType pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::database_

Definition at line 294 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
string pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::database_dir_

Definition at line 289 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
pcl17::PointCloud<FeatureT>::Ptr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::database_features_cloud_

Definition at line 295 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
bool pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::debug_

Definition at line 287 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
string pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::debug_folder_

Definition at line 288 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
std::string pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::external_classifier_

Definition at line 315 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::fe_k_neighbours_

Definition at line 271 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
FeatureEstimatorType pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::feature_estimator_

Definition at line 291 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
vector<FeatureT> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::features_

Definition at line 300 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
map<string, vector<PointNormalCloudPtr> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::found_objects_

Definition at line 313 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::icp_max_correspondence_distance_

Definition at line 285 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::icp_max_iterations_

Definition at line 284 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
double pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::icp_treshold_

Definition at line 281 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::local_maxima_threshold_

Definition at line 275 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
FeatureT pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::max_

Definition at line 318 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
PointNormalT pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::max_scene_bound_

Definition at line 307 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
FeatureT pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::min_

Definition at line 317 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::min_points_in_segment_

Definition at line 268 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
PointNormalT pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::min_scene_bound_

Definition at line 307 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
MovingLeastSquaresType pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::mls_

Definition at line 292 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
bool pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::mls_polynomial_fit_

Definition at line 265 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::mls_polynomial_order_

Definition at line 266 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::mls_search_radius_

Definition at line 267 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::num_angles_

Definition at line 282 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::num_clusters_

Definition at line 272 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::num_neighbours_

Definition at line 273 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::ransac_distance_threshold_

Definition at line 278 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
int pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::ransac_num_iter_

Definition at line 280 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
map<string, float> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::ransac_result_threshold_

Definition at line 311 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::ransac_vis_score_weight_

Definition at line 279 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::rg_residual_threshold_

Definition at line 269 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::rg_smoothness_threshold_

Definition at line 270 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
PointNormalCloudPtr pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::scene_

Definition at line 306 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
vector<boost::shared_ptr<vector<int> > > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::segment_indices_

Definition at line 304 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
vector<PointNormalCloudPtr> pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::segment_pointclouds_

Definition at line 303 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::subsampling_resolution_

Definition at line 264 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
map<string, vector<int> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::voted_segment_idx_

Definition at line 309 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
map<string, pcl17::PointCloud<pcl17::PointXYZI> > pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::votes_

Definition at line 308 of file PHVObjectClassifier.h.

template<class PointT, class PointNormalT, class FeatureT>
float pcl17::PHVObjectClassifier< PointT, PointNormalT, FeatureT >::window_size_

Definition at line 276 of file PHVObjectClassifier.h.

The documentation for this class was generated from the following files:
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furniture_classification
Author(s): Vladyslav Usenko
autogenerated on Thu May 23 2013 18:32:30