The main recognition object for segmented point clouds. More...

#include <PointCloudRecognizer.h>

Public Member Functions
	PointCloudRecognizer ()
bool	recognizeObject (rail_manipulation_msgs::SegmentedObject &object, const std::vector< PCLGraspModel > &candidates) const
	The main recognition function.
Static Public Attributes
static const double	ALPHA = 0.5
static const double	OVERLAP_THRESHOLD = 0.6
static const double	SCORE_CONFIDENCE_THRESHOLD = 1.1
Private Member Functions
void	computeGraspList (const tf2::Transform &tf_icp, const geometry_msgs::Point &centroid, const std::vector< graspdb::Grasp > &candidate_grasps, std::vector< graspdb::Grasp > &grasps) const
	Compute the grasps for the recognized object.
double	scoreRegistration (pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr candidate, pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr object, tf2::Transform &tf_icp) const
	Score the point cloud registration for the two point clouds.

Detailed Description

The main recognition object for segmented point clouds.

The point cloud recognizer takes a segmented object and a list of grasp model candidates and attempts to recognize the object.

Definition at line 42 of file PointCloudRecognizer.h.

Constructor & Destructor Documentation

PointCloudRecognizer::PointCloudRecognizer ( )

Creates a new PointCloudRecognizer.

Definition at line 24 of file PointCloudRecognizer.cpp.

Member Function Documentation

void PointCloudRecognizer::computeGraspList	(	const tf2::Transform &	tf_icp,
		const geometry_msgs::Point &	centroid,
		const std::vector< graspdb::Grasp > &	candidate_grasps,
		std::vector< graspdb::Grasp > &	grasps
	)		const `[private]`

Compute the grasps for the recognized object.

Compute the grasps to the recognized object based on the grasps from the model.

Parameters:

tf_icp	The transform between the candidate model and the segmented object.
centroid	The centroid of the object point cloud.
candidate_grasps	The candidate grasps from the model.
grasps	The transformed grasps with respect to the recognized object.

Definition at line 172 of file PointCloudRecognizer.cpp.

bool PointCloudRecognizer::recognizeObject	(	rail_manipulation_msgs::SegmentedObject &	object,
		const std::vector< PCLGraspModel > &	candidates
	)		const

The main recognition function.

Attempt to recognize the given object against the list of candidates. The object is compared to each candidate and registration metrics are calculated. The weighted score is checked and the model with the lowest error score is picked as the object. If this score meets the threshold, the segmented object is updated with the correct grasps and object information.

Parameters:

object	The segmented object to recognize and update if recognition is successful.
candidates	The list of candidate models for this object.

Returns:: True if the segmented object was recognized and updated accordingly.

Definition at line 28 of file PointCloudRecognizer.cpp.

double PointCloudRecognizer::scoreRegistration	(	pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	candidate,
		pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	object,
		tf2::Transform &	tf_icp
	)		const `[private]`

Score the point cloud registration for the two point clouds.

Perform registration from the object to the candidate and return the resulting weighted registration score (a measure of error). The tf_icp transform is filled with the transform used to shift the object to the candidate. A score of infinity (meaning a very poor match) is possible.

Parameters:

candidate	The candidate point cloud.
object	The point cloud of the object in question.
tf_icp	The transform from object to candidate used after ICP.

Returns:: The score representing the weighted success of the registration (a measure of error).

Definition at line 149 of file PointCloudRecognizer.cpp.

Member Data Documentation

const double rail::pick_and_place::PointCloudRecognizer::ALPHA = 0.5 [static]

The weighting constant for the match score metric.

Definition at line 46 of file PointCloudRecognizer.h.

const double rail::pick_and_place::PointCloudRecognizer::OVERLAP_THRESHOLD = 0.6 [static]

The threshold for the overlap metric to be considered a valid match.

Definition at line 50 of file PointCloudRecognizer.h.

const double rail::pick_and_place::PointCloudRecognizer::SCORE_CONFIDENCE_THRESHOLD = 1.1 [static]

The confidence threshold for a recognition score.

Definition at line 48 of file PointCloudRecognizer.h.

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

Public Member Functions

Static Public Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation