#include <recognition_result.h>
Public Member Functions | |
bool | checkModelFound () |
Checks whether the model was correctly found. More... | |
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. More... | |
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 |
This class represents a recognized instance of an object
Definition at line 34 of file recognition_result.h.
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
view_index | – |
score2D | |– see above |
trans_matrix_2D | | |
texPoint | – |
Definition at line 25 of file recognition_result.cpp.
bool descriptor_surface_based_recognition::RecognitionResult::checkModelFound | ( | ) |
Checks whether the model was correctly found.
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.
|
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.
|
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.
|
private |
The found pose
Definition at line 71 of file recognition_result.h.
|
private |
Indicates whether the found pose is valid
Definition at line 59 of file recognition_result.h.
|
private |
The found 2D-recognition score
Definition at line 44 of file recognition_result.h.
|
private |
The found 3D-recognition score
Definition at line 62 of file recognition_result.h.
|
private |
The reduced point cloud used to recognize the object
Definition at line 68 of file recognition_result.h.
|
private |
The length of the square, reduced search domain used for the 2D-recognition
Definition at line 56 of file recognition_result.h.
|
private |
The transformed (with the matrix above) center of the found view's feature points
Definition at line 50 of file recognition_result.h.
|
private |
The 3D-point in the point cloud corrensponding to the texPoint above
Definition at line 65 of file recognition_result.h.
|
private |
The transformation matrix of the view found in the 2D-recognition
Definition at line 47 of file recognition_result.h.
|
private |
The index of the object view found in the 2D-recognition
Definition at line 41 of file recognition_result.h.