#include <object_descriptor.h>

Public Member Functions
double	getDiameter () const

int	getInstanceCount () const

std::string	getMesh () const

std::vector< ObjectViewDescriptor >	getModelViewDescriptors () const

std::string	getName () const

Eigen::Vector3d	getOrientation () const

int	getRotationModelType () const

double	getScore3D () const

HalconCpp::HSurfaceModel	getSurfaceModel () const

bool	getUsePoseVal () const

bool	isValid () const
	Checks whether this object can be used for recognition. More...

	ObjectDescriptor (std::string folder_path, std::string xml_path, int instance_count, bool use_pose_val)
	The constructor of this class. More...

void	setCount (int count)

void	setUsePoseVal (bool usePoseVal)

Static Public Attributes
static const int	ROTATION_MODEL_CYLINDER = 1

static const int	ROTATION_MODEL_NONE = 0

static const int	ROTATION_MODEL_SPHERE = 2

Private Attributes
double	diameter_

int	instance_count_

std::string	mesh_name_

std::vector< ObjectViewDescriptor >	model_view_descriptors_

std::string	name_

Eigen::Vector3d	orientation_

int	rotation_model_type_

double	score_3D_

HalconCpp::HSurfaceModel	surface_model_

bool	use_pose_val_

bool	valid_object_

Detailed Description

This class represents an object which can be recognized

Definition at line 34 of file object_descriptor.h.

Constructor & Destructor Documentation

descriptor_surface_based_recognition::ObjectDescriptor::ObjectDescriptor	(	std::string	folder_path,
		std::string	xml_path,
		int	instance_count,
		bool	use_pose_val
	)

The constructor of this class.

Parameters

folder_path	The path to the folder containing the trained objects
xml_path	The path to the file containing the meta data for this object
instance_count	The maximum number of instances which can be found

Definition at line 37 of file object_descriptor.cpp.

Member Function Documentation

double descriptor_surface_based_recognition::ObjectDescriptor::getDiameter ( ) const

Definition at line 163 of file object_descriptor.cpp.

int descriptor_surface_based_recognition::ObjectDescriptor::getInstanceCount ( ) const

Definition at line 169 of file object_descriptor.cpp.

std::string descriptor_surface_based_recognition::ObjectDescriptor::getMesh ( ) const

Definition at line 157 of file object_descriptor.cpp.

std::vector< ObjectViewDescriptor > descriptor_surface_based_recognition::ObjectDescriptor::getModelViewDescriptors ( ) const

Definition at line 167 of file object_descriptor.cpp.

std::string descriptor_surface_based_recognition::ObjectDescriptor::getName ( void ) const

Getters for the class members

Definition at line 153 of file object_descriptor.cpp.

Eigen::Vector3d descriptor_surface_based_recognition::ObjectDescriptor::getOrientation ( ) const

Definition at line 161 of file object_descriptor.cpp.

int descriptor_surface_based_recognition::ObjectDescriptor::getRotationModelType ( ) const

Definition at line 159 of file object_descriptor.cpp.

double descriptor_surface_based_recognition::ObjectDescriptor::getScore3D ( ) const

Definition at line 165 of file object_descriptor.cpp.

HalconCpp::HSurfaceModel descriptor_surface_based_recognition::ObjectDescriptor::getSurfaceModel ( ) const

Definition at line 155 of file object_descriptor.cpp.

bool descriptor_surface_based_recognition::ObjectDescriptor::getUsePoseVal ( ) const

Definition at line 171 of file object_descriptor.cpp.

bool descriptor_surface_based_recognition::ObjectDescriptor::isValid ( ) const

Checks whether this object can be used for recognition.

Returns: True if this object is valid, false otherwise

Definition at line 151 of file object_descriptor.cpp.

void descriptor_surface_based_recognition::ObjectDescriptor::setCount ( int count )

Setters for the class members

Definition at line 174 of file object_descriptor.cpp.

void descriptor_surface_based_recognition::ObjectDescriptor::setUsePoseVal ( bool usePoseVal )

Definition at line 180 of file object_descriptor.cpp.

Member Data Documentation

double descriptor_surface_based_recognition::ObjectDescriptor::diameter_

private

The maximum diameter of the object's bounding box

Definition at line 54 of file object_descriptor.h.

int descriptor_surface_based_recognition::ObjectDescriptor::instance_count_

private

The maximum number of instances which can be found

Definition at line 66 of file object_descriptor.h.

std::string descriptor_surface_based_recognition::ObjectDescriptor::mesh_name_

private

The name of the object model used for visualisation

Definition at line 45 of file object_descriptor.h.

std::vector<ObjectViewDescriptor> descriptor_surface_based_recognition::ObjectDescriptor::model_view_descriptors_

private

A list of descriptors of the object views used for 2D-recognition

Definition at line 60 of file object_descriptor.h.

std::string descriptor_surface_based_recognition::ObjectDescriptor::name_

private

The name of the object

Definition at line 39 of file object_descriptor.h.

Eigen::Vector3d descriptor_surface_based_recognition::ObjectDescriptor::orientation_

private

The orientation of the object

Definition at line 51 of file object_descriptor.h.

const int descriptor_surface_based_recognition::ObjectDescriptor::ROTATION_MODEL_CYLINDER = 1

static

Definition at line 76 of file object_descriptor.h.

const int descriptor_surface_based_recognition::ObjectDescriptor::ROTATION_MODEL_NONE = 0

static

The rotation-types an object can have

Definition at line 75 of file object_descriptor.h.

const int descriptor_surface_based_recognition::ObjectDescriptor::ROTATION_MODEL_SPHERE = 2

static

Definition at line 77 of file object_descriptor.h.

int descriptor_surface_based_recognition::ObjectDescriptor::rotation_model_type_

private

The rotation-type of the object

Definition at line 48 of file object_descriptor.h.

double descriptor_surface_based_recognition::ObjectDescriptor::score_3D_

private

The minimum score a valid 3D-recognition result needs

Definition at line 57 of file object_descriptor.h.

HalconCpp::HSurfaceModel descriptor_surface_based_recognition::ObjectDescriptor::surface_model_

private

The surface-model used for the recognition of the object in the point cloud

Definition at line 42 of file object_descriptor.h.

bool descriptor_surface_based_recognition::ObjectDescriptor::use_pose_val_

private

Definition at line 68 of file object_descriptor.h.

bool descriptor_surface_based_recognition::ObjectDescriptor::valid_object_

private

Indicates whether this object is valid and can be used for recognition

Definition at line 63 of file object_descriptor.h.

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

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation