Point Cloud Library (PCL)
1.8.1
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ObjectRecognition (const ObjectRecognitionParameters ¶ms) | |
void | populateDatabase (const std::vector< std::string > &filenames) |
const ObjectModel & | recognizeObject (const PointCloudPtr &query_cloud) |
PointCloudPtr | recognizeAndAlignPoints (const PointCloudPtr &query_cloud) |
void | constructObjectModel (const PointCloudPtr &points, ObjectModel &output) const |
ObjectRecognition (const ObjectRecognitionParameters ¶ms) | |
void | populateDatabase (const std::vector< std::string > &filenames) |
const ObjectModel & | recognizeObject (const PointCloudPtr &query_cloud) |
PointCloudPtr | recognizeAndAlignPoints (const PointCloudPtr &query_cloud) |
void | constructObjectModel (const PointCloudPtr &points, ObjectModel &output) const |
ObjectRecognition (const ObjectRecognitionParameters ¶ms) | |
void | populateDatabase (const std::vector< std::string > &filenames) |
const ObjectModel & | recognizeObject (const PointCloudPtr &query_cloud) |
PointCloudPtr | recognizeAndAlignPoints (const PointCloudPtr &query_cloud) |
void | constructObjectModel (const PointCloudPtr &points, ObjectModel &output) const |
Protected Member Functions | |
PointCloudPtr | applyFiltersAndSegment (const PointCloudPtr &input, const ObjectRecognitionParameters ¶ms) const |
void | estimateFeatures (const PointCloudPtr &points, const ObjectRecognitionParameters ¶ms, SurfaceNormalsPtr &normals_out, PointCloudPtr &keypoints_out, LocalDescriptorsPtr &local_descriptors_out, GlobalDescriptorsPtr &global_descriptor_out) const |
PointCloudPtr | alignModelPoints (const ObjectModel &source, const ObjectModel &target, const ObjectRecognitionParameters ¶ms) const |
PointCloudPtr | applyFiltersAndSegment (const PointCloudPtr &input, const ObjectRecognitionParameters ¶ms) const |
void | estimateFeatures (const PointCloudPtr &points, const ObjectRecognitionParameters ¶ms, SurfaceNormalsPtr &normals_out, PointCloudPtr &keypoints_out, LocalDescriptorsPtr &local_descriptors_out, GlobalDescriptorsPtr &global_descriptor_out) const |
PointCloudPtr | alignModelPoints (const ObjectModel &source, const ObjectModel &target, const ObjectRecognitionParameters ¶ms) const |
PointCloudPtr | applyFiltersAndSegment (const PointCloudPtr &input, const ObjectRecognitionParameters ¶ms) const |
void | estimateFeatures (const PointCloudPtr &points, const ObjectRecognitionParameters ¶ms, SurfaceNormalsPtr &normals_out, PointCloudPtr &keypoints_out, LocalDescriptorsPtr &local_descriptors_out, GlobalDescriptorsPtr &global_descriptor_out) const |
PointCloudPtr | alignModelPoints (const ObjectModel &source, const ObjectModel &target, const ObjectRecognitionParameters ¶ms) const |
Protected Attributes | |
ObjectRecognitionParameters | params_ |
std::vector< ObjectModel > | models_ |
GlobalDescriptorsPtr | descriptors_ |
pcl::KdTreeFLANN< GlobalDescriptorT >::Ptr | kdtree_ |
Definition at line 57 of file object_recognition.h.
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Definition at line 60 of file object_recognition.h.
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Definition at line 60 of file object_recognition.h.
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Definition at line 60 of file object_recognition.h.
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Definition at line 133 of file object_recognition.h.
References ObjectRecognitionParameters::icp_max_correspondence_distance, ObjectRecognitionParameters::icp_max_iterations, ObjectRecognitionParameters::icp_outlier_rejection_threshold, ObjectRecognitionParameters::icp_transformation_epsilon, ObjectRecognitionParameters::initial_alignment_max_correspondence_distance, ObjectRecognitionParameters::initial_alignment_min_sample_distance, ObjectRecognitionParameters::initial_alignment_nr_iterations, ObjectModel::keypoints, ObjectModel::local_descriptors, ObjectModel::points, and pcl::transformPointCloud().
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Definition at line 176 of file object_recognition.h.
References ObjectRecognitionParameters::icp_max_correspondence_distance, ObjectRecognitionParameters::icp_max_iterations, ObjectRecognitionParameters::icp_outlier_rejection_threshold, ObjectRecognitionParameters::icp_transformation_epsilon, ObjectRecognitionParameters::initial_alignment_max_correspondence_distance, ObjectRecognitionParameters::initial_alignment_min_sample_distance, ObjectRecognitionParameters::initial_alignment_nr_iterations, ObjectModel::keypoints, ObjectModel::local_descriptors, ObjectModel::points, and pcl::transformPointCloud().
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Definition at line 176 of file object_recognition.h.
References ObjectRecognitionParameters::icp_max_correspondence_distance, ObjectRecognitionParameters::icp_max_iterations, ObjectRecognitionParameters::icp_outlier_rejection_threshold, ObjectRecognitionParameters::icp_transformation_epsilon, ObjectRecognitionParameters::initial_alignment_max_correspondence_distance, ObjectRecognitionParameters::initial_alignment_min_sample_distance, ObjectRecognitionParameters::initial_alignment_nr_iterations, ObjectModel::keypoints, ObjectModel::local_descriptors, ObjectModel::points, and pcl::transformPointCloud().
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Definition at line 96 of file object_recognition.h.
References ObjectRecognitionParameters::cluster_tolerance, pcl::copyPointCloud(), ObjectRecognitionParameters::downsample_leaf_size, ObjectRecognitionParameters::max_cluster_size, ObjectRecognitionParameters::max_depth, ObjectRecognitionParameters::max_ransac_iterations, ObjectRecognitionParameters::min_cluster_size, ObjectRecognitionParameters::min_depth, ObjectRecognitionParameters::outlier_rejection_min_neighbors, ObjectRecognitionParameters::outlier_rejection_radius, and ObjectRecognitionParameters::plane_inlier_distance_threshold.
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Definition at line 139 of file object_recognition.h.
References ObjectRecognitionParameters::cluster_tolerance, pcl::copyPointCloud(), ObjectRecognitionParameters::downsample_leaf_size, ObjectRecognitionParameters::max_cluster_size, ObjectRecognitionParameters::max_depth, ObjectRecognitionParameters::max_ransac_iterations, ObjectRecognitionParameters::min_cluster_size, ObjectRecognitionParameters::min_depth, ObjectRecognitionParameters::outlier_rejection_min_neighbors, ObjectRecognitionParameters::outlier_rejection_radius, and ObjectRecognitionParameters::plane_inlier_distance_threshold.
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Definition at line 139 of file object_recognition.h.
References ObjectRecognitionParameters::cluster_tolerance, pcl::copyPointCloud(), ObjectRecognitionParameters::downsample_leaf_size, ObjectRecognitionParameters::max_cluster_size, ObjectRecognitionParameters::max_depth, ObjectRecognitionParameters::max_ransac_iterations, ObjectRecognitionParameters::min_cluster_size, ObjectRecognitionParameters::min_depth, ObjectRecognitionParameters::outlier_rejection_min_neighbors, ObjectRecognitionParameters::outlier_rejection_radius, and ObjectRecognitionParameters::plane_inlier_distance_threshold.
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Definition at line 84 of file object_recognition.h.
References ObjectModel::global_descriptor, ObjectModel::keypoints, ObjectModel::local_descriptors, and ObjectModel::points.
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Definition at line 127 of file object_recognition.h.
References ObjectModel::global_descriptor, ObjectModel::keypoints, ObjectModel::local_descriptors, and ObjectModel::points.
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Definition at line 127 of file object_recognition.h.
References ObjectModel::global_descriptor, ObjectModel::keypoints, ObjectModel::local_descriptors, and ObjectModel::points.
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Definition at line 116 of file object_recognition.h.
References ObjectRecognitionParameters::keypoints_min_contrast, ObjectRecognitionParameters::keypoints_min_scale, ObjectRecognitionParameters::keypoints_nr_octaves, ObjectRecognitionParameters::keypoints_nr_scales_per_octave, ObjectRecognitionParameters::local_descriptor_radius, and ObjectRecognitionParameters::surface_normal_radius.
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Definition at line 159 of file object_recognition.h.
References ObjectRecognitionParameters::keypoints_min_contrast, ObjectRecognitionParameters::keypoints_min_scale, ObjectRecognitionParameters::keypoints_nr_octaves, ObjectRecognitionParameters::keypoints_nr_scales_per_octave, ObjectRecognitionParameters::local_descriptor_radius, and ObjectRecognitionParameters::surface_normal_radius.
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Definition at line 159 of file object_recognition.h.
References ObjectRecognitionParameters::keypoints_min_contrast, ObjectRecognitionParameters::keypoints_min_scale, ObjectRecognitionParameters::keypoints_nr_octaves, ObjectRecognitionParameters::keypoints_nr_scales_per_octave, ObjectRecognitionParameters::local_descriptor_radius, and ObjectRecognitionParameters::surface_normal_radius.
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Definition at line 64 of file object_recognition.h.
References pcl::io::loadPCDFile().
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Definition at line 64 of file object_recognition.h.
References pcl::io::loadPCDFile().
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Definition at line 64 of file object_recognition.h.
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Definition at line 76 of file object_recognition.h.
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Definition at line 110 of file object_recognition.h.
References ObjectModel::global_descriptor.
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Definition at line 110 of file object_recognition.h.
References ObjectModel::global_descriptor.
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Definition at line 69 of file object_recognition.h.
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Definition at line 95 of file object_recognition.h.
References ObjectModel::global_descriptor.
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Definition at line 95 of file object_recognition.h.
References ObjectModel::global_descriptor.
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Definition at line 198 of file object_recognition.h.
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Definition at line 199 of file object_recognition.h.
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Definition at line 197 of file object_recognition.h.
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Definition at line 196 of file object_recognition.h.