Classes
class	DescriptorSurfaceBasedRecognition

struct	hsv

class	Object2DPositions

class	ObjectDescriptor

class	ObjectViewDescriptor

class	PoseRecognition

class	PoseValidation

class	RecognitionResult

struct	rgb

class	RotationAxis

Typedefs
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::PointCloud2 >	ApproximatePolicy

typedef message_filters::Synchronizer< ApproximatePolicy >	ApproximateSync

Functions
static const std::string	CLEAR_ALL_RECOGNIZERS_SERVICE_NAME ("clear_all_recognizers")

Eigen::Vector3d	computeMedian (std::vector< Eigen::Vector3d > points)
	Computes the median of the given points. More...

pcl::PointXYZ	computeMedian (std::vector< pcl::PointXYZ > points)
	Computes the median of the given points. More...

pcl::PointXYZ	findPoint3D (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, pcl::PointXYZ current_point, int row, int column, int image_height, int image_width)
	Finds the corresponding 3D point to the given 2D point. More...

static const std::string	GET_OBJECT_LIST_SERVICE_NAME ("get_object_list")

static const std::string	GET_RECOGNIZER_SERVICE_NAME ("get_recognizer")

rgb	hsv2rgb (hsv in)
	Converts the given hsv-color to rgb. More...

static const std::string	NODE_NAME ("asr_descriptor_surface_based_recognition")

static const std::string	OBJECT_DATABASE_CATEGORY ("descriptor")

static const std::string	OBJECT_DB_SERVICE_OBJECT_MESHES ("/asr_object_database/recognizer_list_meshes")

static const std::string	OBJECT_DB_SERVICE_OBJECT_TYPE ("/asr_object_database/object_meta_data")

static const std::string	OUTPUT_EVALUATION_DIR ("eval")

static const std::string	OUTPUT_EVALUATION_FILE_POSES ("global_poses.txt")

static const std::string	OUTPUT_EVALUATION_FILE_TIME ("global_times.txt")

Eigen::Vector3d	parseStringVector (std::string input_string, std::string delim)
	Parses the given string and returns the 3D-double-vector described by it. More...

Eigen::Vector2i	parseStringVector2i (std::string input_string, std::string delim)
	Parses the given string and returns the 2D-int-vector described by it. More...

static const std::string	RELEASE_RECOGNIZER_SERVICE_NAME ("release_recognizer")

Variables
std::string	PACKAGE_PATH

Detailed Description

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::PointCloud2> descriptor_surface_based_recognition::ApproximatePolicy

Definition at line 83 of file descriptor_surface_based_recognition.h.

typedef message_filters::Synchronizer<ApproximatePolicy> descriptor_surface_based_recognition::ApproximateSync

Definition at line 84 of file descriptor_surface_based_recognition.h.

Function Documentation

static const std::string descriptor_surface_based_recognition::CLEAR_ALL_RECOGNIZERS_SERVICE_NAME ( "clear_all_recognizers" )

static

Eigen::Vector3d descriptor_surface_based_recognition::computeMedian ( std::vector< Eigen::Vector3d > points )

Computes the median of the given points.

Parameters

points The input points used for the calculation of the median

Returns: The median vector

Definition at line 67 of file util.cpp.

pcl::PointXYZ descriptor_surface_based_recognition::computeMedian ( std::vector< pcl::PointXYZ > points )

Computes the median of the given points.

Parameters

points The input points used for the calculation of the median

Returns: The median vector

Definition at line 89 of file util.cpp.

pcl::PointXYZ descriptor_surface_based_recognition::findPoint3D	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		pcl::PointXYZ	current_point,
		int	row,
		int	column,
		int	image_height,
		int	image_width
	)

Finds the corresponding 3D point to the given 2D point.

Parameters

cloud	The point cloud containing the correct 2D-3D-relation
current_point	The starting point which is returned if it is valid
row	The row of the 2D point
column	The column of the 2D point
image_height	The height of the image
image_width	The width of the image

Returns: The 3D-point which fits to the point in the image

Definition at line 104 of file util.cpp.

static const std::string descriptor_surface_based_recognition::GET_OBJECT_LIST_SERVICE_NAME ( "get_object_list" )

static

static const std::string descriptor_surface_based_recognition::GET_RECOGNIZER_SERVICE_NAME ( "get_recognizer" )

static

rgb descriptor_surface_based_recognition::hsv2rgb ( hsv in )

Converts the given hsv-color to rgb.

Parameters

in	The given hsv-color

Returns: The converted rgb-color

Definition at line 151 of file util.cpp.

static const std::string descriptor_surface_based_recognition::NODE_NAME ( "asr_descriptor_surface_based_recognition" )

static

static const std::string descriptor_surface_based_recognition::OBJECT_DATABASE_CATEGORY ( "descriptor" )

static

The name of the category in the object database the objects of this recognizer belong to

static const std::string descriptor_surface_based_recognition::OBJECT_DB_SERVICE_OBJECT_MESHES ( "/asr_object_database/recognizer_list_meshes" )

static

static const std::string descriptor_surface_based_recognition::OBJECT_DB_SERVICE_OBJECT_TYPE ( "/asr_object_database/object_meta_data" )

static

static const std::string descriptor_surface_based_recognition::OUTPUT_EVALUATION_DIR ( "eval" )

static

The Evaluation files' names

static const std::string descriptor_surface_based_recognition::OUTPUT_EVALUATION_FILE_POSES ( "global_poses.txt" )

static

static const std::string descriptor_surface_based_recognition::OUTPUT_EVALUATION_FILE_TIME ( "global_times.txt" )

static

Eigen::Vector3d descriptor_surface_based_recognition::parseStringVector	(	std::string	input_string,
		std::string	delim
	)

Parses the given string and returns the 3D-double-vector described by it.

Global utility functions

Parameters

input_string	The input vector given as a string
delim	The string used to split the input_string

Returns: The parsed vector

Definition at line 37 of file util.cpp.

Eigen::Vector2i descriptor_surface_based_recognition::parseStringVector2i	(	std::string	input_string,
		std::string	delim
	)

Parses the given string and returns the 2D-int-vector described by it.

Parameters

input_string	The input vector given as a string
delim	The string used to split the input_string

Returns: The parsed vector

Definition at line 52 of file util.cpp.

static const std::string descriptor_surface_based_recognition::RELEASE_RECOGNIZER_SERVICE_NAME ( "release_recognizer" )

static

Variable Documentation

std::string descriptor_surface_based_recognition::PACKAGE_PATH

The path to this package

Definition at line 57 of file descriptor_surface_based_recognition.cpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation