pcl::FalsePositivesFilter Class Reference

Filter object recognition results. More...

#include <false_positives_filter.h>

List of all members.

Classes
struct	Parameters
Public Types
typedef PosesFromMatches::PoseEstimate	PoseEstimate
typedef PosesFromMatches::PoseEstimatesVector	PoseEstimates
Public Member Functions
void	doIcp (const RangeImage &scene, const ObjectModel &model, PoseEstimates &pose_estimates, bool fast_icp) const
	Perform a fast ICP step.
	FalsePositivesFilter ()
void	filterResults (const RangeImage &scene, const ObjectModel &model, PoseEstimates &pose_estimates) const
	Do all the filtering steps.
Parameters &	getParameters ()
	Get a reference to the parameters struct.
void	keepBest (PoseEstimates &pose_estimates, int max_no_of_results) const
	Only keep the given number of best pose estimates.
void	maximumRange (const RangeImage &scene, const ObjectModel &model, PoseEstimates &pose_estimates, float maximum_range) const
	Filter results regarding maximumdistance between object center and observer.
void	setViewSimulationImagesPtr (std::vector< RangeImage > *vsi_ptr)
	Set the pointer to store view simulation results.
void	similarPoses (const ObjectModel &model, PoseEstimates &pose_estimates) const
	Filter results that are in the same place. Keep only the one with the highest score.
void	sortAndApplyMinScore (PoseEstimates &pose_estimates, float min_score) const
	Sort the pose estimates regarding decreasing score and keep only those above the minimum score.
void	validationPoints (const RangeImage &scene, const ObjectModel &model, PoseEstimates &pose_estimates, float min_score, float max_dist_error=-1.0f) const
	Filter results based on the reprojection of validation points.
void	viewSimulation (const RangeImage &scene, const ObjectModel &model, PoseEstimates &pose_estimates, float min_score, float max_dist_error=-1.0f, std::vector< RangeImage > *results=NULL) const
virtual	~FalsePositivesFilter ()
Protected Member Functions
float	getBorderValidationPointScore (const std::vector< Eigen::Vector3f > &border_points, const Eigen::Affine3f &pose, const RangeImage &scene, float max_dist_error, float min_score) const
void	getRangeImagesForComparison (const RangeImage &scene, const ObjectModel &model, const PoseEstimate &pose_estimate, RangeImage &object_image, RangeImage &scene_sub_image) const
float	getSurfaceValidationPointScore (const std::vector< Eigen::Vector3f > &surface_points, const Eigen::Affine3f &pose, const RangeImage &scene, float max_dist_error, float min_score) const
float	getViewSimulationNormalsScore (const RangeImage &object_image, const RangeImage &scene_sub_image, RangeImage *score_image=NULL) const
float	getViewSimulationScore (const RangeImage &object_image, const RangeImage &scene_sub_image, float max_dist_error, float &border_score, RangeImage *score_image=NULL) const
Protected Attributes
Parameters	parameters_
std::vector< RangeImage > *	view_simulation_images_

---

Detailed Description

Filter object recognition results.

Definition at line 52 of file false_positives_filter.h.

---

Member Typedef Documentation

typedef PosesFromMatches::PoseEstimate pcl::FalsePositivesFilter::PoseEstimate

Definition at line 56 of file false_positives_filter.h.

typedef PosesFromMatches::PoseEstimatesVector pcl::FalsePositivesFilter::PoseEstimates

Definition at line 57 of file false_positives_filter.h.

---

Constructor & Destructor Documentation

pcl::FalsePositivesFilter::FalsePositivesFilter

(

)

Constructor

Definition at line 50 of file false_positives_filter.cpp.

pcl::FalsePositivesFilter::~FalsePositivesFilter

(

)

[virtual]

Destructor

Definition at line 54 of file false_positives_filter.cpp.

---

Member Function Documentation

void pcl::FalsePositivesFilter::doIcp	(	const RangeImage &	scene,
		const ObjectModel &	model,
		PoseEstimates &	pose_estimates,
		bool	fast_icp
	)		const

Perform a fast ICP step.

Definition at line 656 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::filterResults	(	const RangeImage &	scene,
		const ObjectModel &	model,
		PoseEstimates &	pose_estimates
	)		const

Do all the filtering steps.

Definition at line 685 of file false_positives_filter.cpp.

float pcl::FalsePositivesFilter::getBorderValidationPointScore	(	const std::vector< Eigen::Vector3f > &	border_points,
		const Eigen::Affine3f &	pose,
		const RangeImage &	scene,
		float	max_dist_error,
		float	min_score
	)		const [protected]

Definition at line 239 of file false_positives_filter.cpp.

Parameters& pcl::FalsePositivesFilter::getParameters

(

)

[inline]

Get a reference to the parameters struct.

Definition at line 166 of file false_positives_filter.h.

void pcl::FalsePositivesFilter::getRangeImagesForComparison	(	const RangeImage &	scene,
		const ObjectModel &	model,
		const PoseEstimate &	pose_estimate,
		RangeImage &	object_image,
		RangeImage &	scene_sub_image
	)		const [protected]

Get range image of the part in the scene where the object is supposed to be and a simulated view of the model from the same perspective

Definition at line 59 of file false_positives_filter.cpp.

float pcl::FalsePositivesFilter::getSurfaceValidationPointScore	(	const std::vector< Eigen::Vector3f > &	surface_points,
		const Eigen::Affine3f &	pose,
		const RangeImage &	scene,
		float	max_dist_error,
		float	min_score
	)		const [protected]

Definition at line 321 of file false_positives_filter.cpp.

float pcl::FalsePositivesFilter::getViewSimulationNormalsScore	(	const RangeImage &	object_image,
		const RangeImage &	scene_sub_image,
		RangeImage *	score_image = NULL
	)		const [protected]

Definition at line 82 of file false_positives_filter.cpp.

float pcl::FalsePositivesFilter::getViewSimulationScore	(	const RangeImage &	object_image,
		const RangeImage &	scene_sub_image,
		float	max_dist_error,
		float &	border_score,
		RangeImage *	score_image = NULL
	)		const [protected]

Definition at line 124 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::keepBest	(	PoseEstimates &	pose_estimates,
		int	max_no_of_results
	)		const

Only keep the given number of best pose estimates.

Definition at line 471 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::maximumRange	(	const RangeImage &	scene,
		const ObjectModel &	model,
		PoseEstimates &	pose_estimates,
		float	maximum_range
	)		const

Filter results regarding maximumdistance between object center and observer.

Definition at line 576 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::setViewSimulationImagesPtr

(

std::vector< RangeImage > *

vsi_ptr

)

[inline]

Set the pointer to store view simulation results.

Definition at line 170 of file false_positives_filter.h.

void pcl::FalsePositivesFilter::similarPoses	(	const ObjectModel &	model,
		PoseEstimates &	pose_estimates
	)		const

Filter results that are in the same place. Keep only the one with the highest score.

Definition at line 598 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::sortAndApplyMinScore	(	PoseEstimates &	pose_estimates,
		float	min_score
	)		const

Sort the pose estimates regarding decreasing score and keep only those above the minimum score.

Definition at line 647 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::validationPoints	(	const RangeImage &	scene,
		const ObjectModel &	model,
		PoseEstimates &	pose_estimates,
		float	min_score,
		float	max_dist_error = -1.0f
	)		const

Filter results based on the reprojection of validation points.

Definition at line 400 of file false_positives_filter.cpp.

void pcl::FalsePositivesFilter::viewSimulation	(	const RangeImage &	scene,
		const ObjectModel &	model,
		PoseEstimates &	pose_estimates,
		float	min_score,
		float	max_dist_error = -1.0f,
		std::vector< RangeImage > *	results = NULL
	)		const

Calculate a score based on the comparison of the part in the scene where the object is supposed to be and a simulated view of the model from the same perspective. The produced range images can be retrieved for debug purposes by setting results.

Definition at line 488 of file false_positives_filter.cpp.

---

Member Data Documentation

Parameters pcl::FalsePositivesFilter::parameters_ [protected]

Definition at line 195 of file false_positives_filter.h.

std::vector<RangeImage>* pcl::FalsePositivesFilter::view_simulation_images_ [protected]

Definition at line 196 of file false_positives_filter.h.

---

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

• false_positives_filter.h
• false_positives_filter.cpp