recognitionmodel.cpp File Reference

3D point cloud recognition model More...

#include "recognitionmodel.h"
#include <fstream>
#include <cstdio>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <pcl/io/pcd_io.h>
#include <boost/version.hpp>
#include <boost/filesystem.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/lexical_cast.hpp>
#include <tinyxml.h>
#include <opencv2/nonfree/features2d.hpp>
#include <pcl/registration/registration.h>
#include <pcl/registration/transformation_estimation_svd.h>

Include dependency graph for recognitionmodel.cpp:

Go to the source code of this file.

Namespaces
namespace	Utils3D
Functions
const char *	boost_path_to_cstr (const boost::filesystem::path &path)
	Helper function to convert boost path to c strings.
double	Utils3D::distPoints (const cv::Point3f &p1, const cv::Point3f &p2)
	calculate the euclidean distance between 2 3D points
bool	loadMetaFile (const std::string &file_name, std::string &model_name, std::string &model_type, int &face_count)
	load a re_vision style meta file
int	read_binary_PCL (const std::string &filename, PointCloud::Ptr cloud)

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Detailed Description

3D point cloud recognition model

This file is part of the RoboEarth ROS re_kinect_object_detector package.

It file was originally created for RoboEarth. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement no248942 RoboEarth.

Copyright (C) 2011 by Andreas Koch, University of Stuttgart

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Author:

Andreas Koch

Version:

1.0

Date:

2011

Definition in file recognitionmodel.cpp.

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Function Documentation

const char* boost_path_to_cstr

(

const boost::filesystem::path &

path

)

Helper function to convert boost path to c strings.

Definition at line 456 of file recognitionmodel.cpp.

bool loadMetaFile	(	const std::string &	file_name,
		std::string &	model_name,
		std::string &	model_type,
		int &	face_count
	)

load a re_vision style meta file

Definition at line 426 of file recognitionmodel.cpp.

int read_binary_PCL	(	const std::string &	filename,
		PointCloud::Ptr	cloud
	)

Load a pointcloud from a pcd file. Checks whether the .pcd has padding after the header, and removes it it if needed. (binary PCD files in versions < 1.0 required padding, PCL >= version 1.0 does not)

Parameters:

filename	pcd file to load
cloud	pointer to which the loaded cloud is written

Returns:

0 for success, != 0 otherwise

Definition at line 336 of file recognitionmodel.cpp.