Public Member Functions | Protected Member Functions | Private Attributes
ICCVTutorial< FeatureType > Class Template Reference

List of all members.

Public Member Functions

 ICCVTutorial (boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > > keypoint_detector, typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr feature_extractor, boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > > surface_reconstructor, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr source, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr target)
 ICCVTutorial (boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > > keypoint_detector, typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr feature_extractor, boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > > surface_reconstructor, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr source, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr target)
void run ()
 starts the event loop for the visualizer
void run ()
 starts the event loop for the visualizer

Protected Member Functions

void detectKeypoints (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints) const
 Detects key points in the input point cloud.
void detectKeypoints (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints) const
 Detects key points in the input point cloud.
void determineFinalTransformation ()
 calculate the final rigid transformation using ICP over all points
void determineFinalTransformation ()
 calculate the final rigid transformation using ICP over all points
void determineInitialTransformation ()
 calculate the initial rigid transformation from filtered corresponding keypoints
void determineInitialTransformation ()
 calculate the initial rigid transformation from filtered corresponding keypoints
void extractDescriptors (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints, typename pcl::PointCloud< FeatureType >::Ptr features)
 extract descriptors for given key points
void extractDescriptors (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints, typename pcl::PointCloud< FeatureType >::Ptr features)
 extract descriptors for given key points
void filterCorrespondences ()
 remove non-consistent correspondences
void filterCorrespondences ()
 remove non-consistent correspondences
void findCorrespondences (typename pcl::PointCloud< FeatureType >::Ptr source, typename pcl::PointCloud< FeatureType >::Ptr target, std::vector< int > &correspondences) const
 find corresponding features based on some metric
void findCorrespondences (typename pcl::PointCloud< FeatureType >::Ptr source, typename pcl::PointCloud< FeatureType >::Ptr target, std::vector< int > &correspondences) const
 find corresponding features based on some metric
void keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie)
 callback to handle keyboard events
void keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie)
 callback to handle keyboard events
void reconstructSurface ()
 reconstructs the surface from merged point clouds
void reconstructSurface ()
 reconstructs the surface from merged point clouds
void segmentation (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented) const
 remove plane and select largest cluster as input object
void segmentation (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented) const
 remove plane and select largest cluster as input object

Private Attributes

pcl::CorrespondencesPtr correspondences_
pcl::Feature< pcl::PointXYZRGB,
FeatureType >::Ptr 
feature_extractor_
Eigen::Matrix4f initial_transformation_matrix_
boost::shared_ptr
< pcl::Keypoint
< pcl::PointXYZRGB,
pcl::PointXYZI > > 
keypoint_detector_
bool show_correspondences
bool show_source2target_
bool show_target2source_
std::vector< int > source2target_
pcl::PointCloud
< pcl::PointXYZRGB >::ConstPtr 
source_
pcl::PointCloud< FeatureType >::Ptr source_features_
pcl::PointCloud
< pcl::PointXYZI >::Ptr 
source_keypoints_
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
source_registered_
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
source_segmented_
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
source_transformed_
pcl::PolygonMesh surface_
boost::shared_ptr
< pcl::PCLSurfaceBase
< pcl::PointXYZRGBNormal > > 
surface_reconstructor_
std::vector< int > target2source_
pcl::PointCloud
< pcl::PointXYZRGB >::ConstPtr 
target_
pcl::PointCloud< FeatureType >::Ptr target_features_
pcl::PointCloud
< pcl::PointXYZI >::Ptr 
target_keypoints_
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
target_segmented_
Eigen::Matrix4f transformation_matrix_
pcl::visualization::PCLVisualizer visualizer_

Detailed Description

template<typename FeatureType>
class ICCVTutorial< FeatureType >

Definition at line 31 of file feature_matching.cpp.


Constructor & Destructor Documentation

template<typename FeatureType >
ICCVTutorial< FeatureType >::ICCVTutorial ( boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > >  keypoint_detector,
typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr  feature_extractor,
boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > >  surface_reconstructor,
typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  source,
typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  target 
)

Definition at line 129 of file feature_matching.cpp.

template<typename FeatureType>
ICCVTutorial< FeatureType >::ICCVTutorial ( boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > >  keypoint_detector,
typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr  feature_extractor,
boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > >  surface_reconstructor,
typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  source,
typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  target 
)

Member Function Documentation

template<typename FeatureType >
void ICCVTutorial< FeatureType >::detectKeypoints ( typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  input,
pcl::PointCloud< pcl::PointXYZI >::Ptr  keypoints 
) const [protected]

Detects key points in the input point cloud.

Parameters:
inputthe input point cloud
keypointsthe resulting key points. Note that they are not necessarily a subset of the input cloud

Definition at line 234 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::detectKeypoints ( typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  input,
pcl::PointCloud< pcl::PointXYZI >::Ptr  keypoints 
) const [protected]

Detects key points in the input point cloud.

Parameters:
inputthe input point cloud
keypointsthe resulting key points. Note that they are not necessarily a subset of the input cloud
template<typename FeatureType >
void ICCVTutorial< FeatureType >::determineFinalTransformation ( ) [protected]

calculate the final rigid transformation using ICP over all points

Definition at line 333 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::determineFinalTransformation ( ) [protected]

calculate the final rigid transformation using ICP over all points

template<typename FeatureType>
void ICCVTutorial< FeatureType >::determineInitialTransformation ( ) [protected]

calculate the initial rigid transformation from filtered corresponding keypoints

template<typename FeatureType >
void ICCVTutorial< FeatureType >::determineInitialTransformation ( ) [protected]

calculate the initial rigid transformation from filtered corresponding keypoints

Definition at line 321 of file feature_matching.cpp.

template<typename FeatureType >
void ICCVTutorial< FeatureType >::extractDescriptors ( typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  input,
typename pcl::PointCloud< pcl::PointXYZI >::Ptr  keypoints,
typename pcl::PointCloud< FeatureType >::Ptr  features 
) [protected]

extract descriptors for given key points

Parameters:
inputpoint cloud to be used for descriptor extraction
keypointslocations where descriptors are to be extracted
featuresresulting descriptors

Definition at line 243 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::extractDescriptors ( typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  input,
typename pcl::PointCloud< pcl::PointXYZI >::Ptr  keypoints,
typename pcl::PointCloud< FeatureType >::Ptr  features 
) [protected]

extract descriptors for given key points

Parameters:
inputpoint cloud to be used for descriptor extraction
keypointslocations where descriptors are to be extracted
featuresresulting descriptors
template<typename FeatureType>
void ICCVTutorial< FeatureType >::filterCorrespondences ( ) [protected]

remove non-consistent correspondences

template<typename FeatureType >
void ICCVTutorial< FeatureType >::filterCorrespondences ( ) [protected]

remove non-consistent correspondences

Definition at line 297 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::findCorrespondences ( typename pcl::PointCloud< FeatureType >::Ptr  source,
typename pcl::PointCloud< FeatureType >::Ptr  target,
std::vector< int > &  correspondences 
) const [protected]

find corresponding features based on some metric

Parameters:
sourcesource feature descriptors
targettarget feature descriptors
correspondencesindices out of the target descriptors that correspond (nearest neighbor) to the source descriptors
template<typename FeatureType >
void ICCVTutorial< FeatureType >::findCorrespondences ( typename pcl::PointCloud< FeatureType >::Ptr  source,
typename pcl::PointCloud< FeatureType >::Ptr  target,
std::vector< int > &  correspondences 
) const [protected]

find corresponding features based on some metric

Parameters:
sourcesource feature descriptors
targettarget feature descriptors
correspondencesindices out of the target descriptors that correspond (nearest neighbor) to the source descriptors

Definition at line 275 of file feature_matching.cpp.

template<typename FeatureType >
void ICCVTutorial< FeatureType >::keyboard_callback ( const pcl::visualization::KeyboardEvent event,
void *  cookie 
) [protected]

callback to handle keyboard events

Parameters:
eventobject containing information about the event. e.g. type (press, release) etc.
cookieuser defined data passed during registration of the callback

Definition at line 390 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::keyboard_callback ( const pcl::visualization::KeyboardEvent event,
void *  cookie 
) [protected]

callback to handle keyboard events

Parameters:
eventobject containing information about the event. e.g. type (press, release) etc.
cookieuser defined data passed during registration of the callback
template<typename FeatureType>
void ICCVTutorial< FeatureType >::reconstructSurface ( ) [protected]

reconstructs the surface from merged point clouds

template<typename FeatureType >
void ICCVTutorial< FeatureType >::reconstructSurface ( ) [protected]

reconstructs the surface from merged point clouds

Definition at line 350 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::run ( )

starts the event loop for the visualizer

template<typename FeatureType >
void ICCVTutorial< FeatureType >::run ( )

starts the event loop for the visualizer

Definition at line 384 of file feature_matching.cpp.

template<typename FeatureType >
void ICCVTutorial< FeatureType >::segmentation ( typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  input,
typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr  segmented 
) const [protected]

remove plane and select largest cluster as input object

Parameters:
inputthe input point cloud
segmentedthe resulting segmented point cloud containing only points of the largest cluster

Definition at line 175 of file feature_matching.cpp.

template<typename FeatureType>
void ICCVTutorial< FeatureType >::segmentation ( typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr  input,
typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr  segmented 
) const [protected]

remove plane and select largest cluster as input object

Parameters:
inputthe input point cloud
segmentedthe resulting segmented point cloud containing only points of the largest cluster

Member Data Documentation

template<typename FeatureType>
pcl::CorrespondencesPtr ICCVTutorial< FeatureType >::correspondences_ [private]

Definition at line 120 of file feature_matching.cpp.

template<typename FeatureType>
pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr ICCVTutorial< FeatureType >::feature_extractor_ [private]

Definition at line 107 of file feature_matching.cpp.

template<typename FeatureType>
Eigen::Matrix4f ICCVTutorial< FeatureType >::initial_transformation_matrix_ [private]

Definition at line 121 of file feature_matching.cpp.

template<typename FeatureType>
boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > > ICCVTutorial< FeatureType >::keypoint_detector_ [private]

Definition at line 106 of file feature_matching.cpp.

template<typename FeatureType>
bool ICCVTutorial< FeatureType >::show_correspondences [private]

Definition at line 125 of file feature_matching.cpp.

template<typename FeatureType>
bool ICCVTutorial< FeatureType >::show_source2target_ [private]

Definition at line 123 of file feature_matching.cpp.

template<typename FeatureType>
bool ICCVTutorial< FeatureType >::show_target2source_ [private]

Definition at line 124 of file feature_matching.cpp.

template<typename FeatureType>
std::vector< int > ICCVTutorial< FeatureType >::source2target_ [private]

Definition at line 118 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr ICCVTutorial< FeatureType >::source_ [private]

Definition at line 109 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< FeatureType >::Ptr ICCVTutorial< FeatureType >::source_features_ [private]

Definition at line 116 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZI >::Ptr ICCVTutorial< FeatureType >::source_keypoints_ [private]

Definition at line 104 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZRGB >::Ptr ICCVTutorial< FeatureType >::source_registered_ [private]

Definition at line 114 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZRGB >::Ptr ICCVTutorial< FeatureType >::source_segmented_ [private]

Definition at line 111 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZRGB >::Ptr ICCVTutorial< FeatureType >::source_transformed_ [private]

Definition at line 113 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PolygonMesh ICCVTutorial< FeatureType >::surface_ [private]

Definition at line 115 of file feature_matching.cpp.

template<typename FeatureType>
boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > > ICCVTutorial< FeatureType >::surface_reconstructor_ [private]

Definition at line 108 of file feature_matching.cpp.

template<typename FeatureType>
std::vector< int > ICCVTutorial< FeatureType >::target2source_ [private]

Definition at line 119 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr ICCVTutorial< FeatureType >::target_ [private]

Definition at line 110 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< FeatureType >::Ptr ICCVTutorial< FeatureType >::target_features_ [private]

Definition at line 117 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZI >::Ptr ICCVTutorial< FeatureType >::target_keypoints_ [private]

Definition at line 105 of file feature_matching.cpp.

template<typename FeatureType>
pcl::PointCloud< pcl::PointXYZRGB >::Ptr ICCVTutorial< FeatureType >::target_segmented_ [private]

Definition at line 112 of file feature_matching.cpp.

template<typename FeatureType>
Eigen::Matrix4f ICCVTutorial< FeatureType >::transformation_matrix_ [private]

Definition at line 122 of file feature_matching.cpp.

template<typename FeatureType>
pcl::visualization::PCLVisualizer ICCVTutorial< FeatureType >::visualizer_ [private]

Definition at line 103 of file feature_matching.cpp.


The documentation for this class was generated from the following files:


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:19:14