test_recognition_cg.cpp File Reference

#include <gtest/gtest.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/common/transforms.h>
#include <pcl/correspondence.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/features/shot_omp.h>
#include <pcl/features/board.h>
#include <pcl/keypoints/uniform_sampling.h>
#include <pcl/recognition/cg/hough_3d.h>
#include <pcl/recognition/cg/geometric_consistency.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/kdtree/impl/kdtree_flann.hpp>
#include <pcl/common/eigen.h>

Include dependency graph for test_recognition_cg.cpp:

Go to the source code of this file.

Typedefs
typedef SHOT352	DescriptorType
typedef Normal	NormalType
typedef PointXYZ	PointType
typedef ReferenceFrame	RFType
Functions
double	computeRmsE (const PointCloud< PointType >::ConstPtr &model, const PointCloud< PointType >::ConstPtr &scene, const Eigen::Matrix4f &rototranslation)
int	main (int argc, char **argv)
CorrespondencesPtr	model_scene_corrs_ (new Correspondences())
	TEST (PCL, Hough3DGrouping)
	TEST (PCL, GeometricConsistencyGrouping)
Variables
PointCloud< PointType >::Ptr	model_ (new PointCloud< PointType >())
PointCloud< DescriptorType >::Ptr	model_descriptors_ (new PointCloud< DescriptorType >())
PointCloud< PointType >::Ptr	model_downsampled_ (new PointCloud< PointType >())
PointCloud< NormalType >::Ptr	model_normals_ (new PointCloud< NormalType >())
PointCloud< PointType >::Ptr	scene_ (new PointCloud< PointType >())
PointCloud< DescriptorType >::Ptr	scene_descriptors_ (new PointCloud< DescriptorType >())
PointCloud< PointType >::Ptr	scene_downsampled_ (new PointCloud< PointType >())
PointCloud< NormalType >::Ptr	scene_normals_ (new PointCloud< NormalType >())

---

Typedef Documentation

typedef SHOT352 DescriptorType

Definition at line 61 of file test_recognition_cg.cpp.

typedef Normal NormalType

Definition at line 59 of file test_recognition_cg.cpp.

typedef PointXYZ PointType

Definition at line 58 of file test_recognition_cg.cpp.

typedef ReferenceFrame RFType

Definition at line 60 of file test_recognition_cg.cpp.

---

Function Documentation

double computeRmsE	(	const PointCloud< PointType >::ConstPtr &	model,
		const PointCloud< PointType >::ConstPtr &	scene,
		const Eigen::Matrix4f &	rototranslation
	)

Definition at line 74 of file test_recognition_cg.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 162 of file test_recognition_cg.cpp.

CorrespondencesPtr model_scene_corrs_

(

new

Correspondences()

)

TEST	(	PCL	,
		Hough3DGrouping
	)

Definition at line 105 of file test_recognition_cg.cpp.

TEST	(	PCL	,
		GeometricConsistencyGrouping
	)

Definition at line 142 of file test_recognition_cg.cpp.

---

Variable Documentation

PointCloud<PointType>::Ptr model_(new PointCloud< PointType >())

PointCloud<DescriptorType>::Ptr model_descriptors_(new PointCloud< DescriptorType >())

PointCloud<PointType>::Ptr model_downsampled_(new PointCloud< PointType >())

PointCloud<NormalType>::Ptr model_normals_(new PointCloud< NormalType >())

PointCloud<PointType>::Ptr scene_(new PointCloud< PointType >())

PointCloud<DescriptorType>::Ptr scene_descriptors_(new PointCloud< DescriptorType >())

PointCloud<PointType>::Ptr scene_downsampled_(new PointCloud< PointType >())

PointCloud<NormalType>::Ptr scene_normals_(new PointCloud< NormalType >())