descriptor_surface_based_recognition::RecognitionResult Class Reference

#include <recognition_result.h>

List of all members.

Public Member Functions
bool	checkModelFound ()
	Checks whether the model was correctly found.
HalconCpp::HQuaternion	getAdjustedRotation () const
HalconCpp::HTuple	getPose () const
bool	getPoseValid () const
double	getScore2D () const
double	getScore3D () const
pcl::PointCloud< pcl::PointXYZ > ::Ptr	getSearchCloud () const
int	getSearchRadius () const
Eigen::Vector2i	getTexPoint () const
Eigen::Vector3d	getTexPoint3D () const
HalconCpp::HHomMat2D	getTransMatrix2D () const
int	getViewIndex () const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RecognitionResult (int view_index, double score_2D, HalconCpp::HHomMat2D &trans_matrix_2D, const Eigen::Vector2i &tex_point)
	The constructor of this class.
void	setAdjustedRotation (HalconCpp::HQuaternion quaternion)
void	setModelFound (bool model_found=true)
void	setPose (HalconCpp::HTuple pose)
void	setPoseValid (bool pose_valid)
void	setScore3D (double score_3D)
void	setSearchCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr &search_cloud)
void	setSearchRadius (int radius)
void	setTexPoint3D (pcl::PointXYZ tex_point_3D)
Private Attributes
HalconCpp::HQuaternion	adjusted_rotation_
bool	model_found_
HalconCpp::HTuple	pose_
bool	pose_valid_
double	score_2D_
double	score_3D_
pcl::PointCloud< pcl::PointXYZ > ::Ptr	search_cloud_
int	search_radius_
Eigen::Vector2i	tex_point_
Eigen::Vector3d	tex_point_3D_
HalconCpp::HHomMat2D	trans_matrix_2D_
int	view_index

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Detailed Description

This class represents a recognized instance of an object

Definition at line 34 of file recognition_result.h.

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Constructor & Destructor Documentation

descriptor_surface_based_recognition::RecognitionResult::RecognitionResult	(	int	view_index,
		double	score_2D,
		HalconCpp::HHomMat2D &	trans_matrix_2D,
		const Eigen::Vector2i &	tex_point
	)

The constructor of this class.

Macro needed to allow a dynamic construction of this class

Parameters:

view_index	--
score2D	|-- see above
trans_matrix_2D	|
texPoint	--

Definition at line 25 of file recognition_result.cpp.

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Member Function Documentation

bool descriptor_surface_based_recognition::RecognitionResult::checkModelFound

(

)

Checks whether the model was correctly found.

Returns:

True if the model was correctly found in 3D and 2D, false if it was found only in 2D

Definition at line 30 of file recognition_result.cpp.

HalconCpp::HQuaternion descriptor_surface_based_recognition::RecognitionResult::getAdjustedRotation

(

)

const

Definition at line 65 of file recognition_result.cpp.

HalconCpp::HTuple descriptor_surface_based_recognition::RecognitionResult::getPose

(

)

const

Getters for the class members

Definition at line 49 of file recognition_result.cpp.

bool descriptor_surface_based_recognition::RecognitionResult::getPoseValid

(

)

const

Definition at line 69 of file recognition_result.cpp.

double descriptor_surface_based_recognition::RecognitionResult::getScore2D

(

)

const

Definition at line 51 of file recognition_result.cpp.

double descriptor_surface_based_recognition::RecognitionResult::getScore3D

(

)

const

Definition at line 53 of file recognition_result.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr descriptor_surface_based_recognition::RecognitionResult::getSearchCloud

(

)

const

Definition at line 63 of file recognition_result.cpp.

int descriptor_surface_based_recognition::RecognitionResult::getSearchRadius

(

)

const

Definition at line 67 of file recognition_result.cpp.

Eigen::Vector2i descriptor_surface_based_recognition::RecognitionResult::getTexPoint

(

)

const

Definition at line 59 of file recognition_result.cpp.

Eigen::Vector3d descriptor_surface_based_recognition::RecognitionResult::getTexPoint3D

(

)

const

Definition at line 61 of file recognition_result.cpp.

HalconCpp::HHomMat2D descriptor_surface_based_recognition::RecognitionResult::getTransMatrix2D

(

)

const

Definition at line 57 of file recognition_result.cpp.

int descriptor_surface_based_recognition::RecognitionResult::getViewIndex

(

)

const

Definition at line 55 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setAdjustedRotation

(

HalconCpp::HQuaternion

quaternion

)

Definition at line 40 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setModelFound

(

bool

model_found = true

)

Definition at line 36 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setPose

(

HalconCpp::HTuple

pose

)

Definition at line 34 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setPoseValid

(

bool

pose_valid

)

Definition at line 46 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setScore3D

(

double

score_3D

)

Definition at line 42 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setSearchCloud

(

pcl::PointCloud< pcl::PointXYZ >::Ptr &

search_cloud

)

Setters for the class members

Definition at line 32 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setSearchRadius

(

int

radius

)

Definition at line 44 of file recognition_result.cpp.

void descriptor_surface_based_recognition::RecognitionResult::setTexPoint3D

(

pcl::PointXYZ

tex_point_3D

)

Definition at line 38 of file recognition_result.cpp.

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Member Data Documentation

HalconCpp::HQuaternion descriptor_surface_based_recognition::RecognitionResult::adjusted_rotation_ [private]

The quaternion used to adjust the rotation of the pose above to get the correct pose

Definition at line 53 of file recognition_result.h.

bool descriptor_surface_based_recognition::RecognitionResult::model_found_ [private]

If true the pose of the model was correctly found (3D and 2D), false if the object was found only in 2D

Definition at line 38 of file recognition_result.h.

HalconCpp::HTuple descriptor_surface_based_recognition::RecognitionResult::pose_ [private]

The found pose

Definition at line 71 of file recognition_result.h.

bool descriptor_surface_based_recognition::RecognitionResult::pose_valid_ [private]

Indicates whether the found pose is valid

Definition at line 59 of file recognition_result.h.

double descriptor_surface_based_recognition::RecognitionResult::score_2D_ [private]

The found 2D-recognition score

Definition at line 44 of file recognition_result.h.

double descriptor_surface_based_recognition::RecognitionResult::score_3D_ [private]

The found 3D-recognition score

Definition at line 62 of file recognition_result.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr descriptor_surface_based_recognition::RecognitionResult::search_cloud_ [private]

The reduced point cloud used to recognize the object

Definition at line 68 of file recognition_result.h.

int descriptor_surface_based_recognition::RecognitionResult::search_radius_ [private]

The length of the square, reduced search domain used for the 2D-recognition

Definition at line 56 of file recognition_result.h.

Eigen::Vector2i descriptor_surface_based_recognition::RecognitionResult::tex_point_ [private]

The transformed (with the matrix above) center of the found view's feature points

Definition at line 50 of file recognition_result.h.

Eigen::Vector3d descriptor_surface_based_recognition::RecognitionResult::tex_point_3D_ [private]

The 3D-point in the point cloud corrensponding to the texPoint above

Definition at line 65 of file recognition_result.h.

HalconCpp::HHomMat2D descriptor_surface_based_recognition::RecognitionResult::trans_matrix_2D_ [private]

The transformation matrix of the view found in the 2D-recognition

Definition at line 47 of file recognition_result.h.

int descriptor_surface_based_recognition::RecognitionResult::view_index [private]

The index of the object view found in the 2D-recognition

Definition at line 41 of file recognition_result.h.

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

• recognition_result.h
• recognition_result.cpp