Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
ObjectRecognition Class Reference

#include </__w/1/s/doc/tutorials/content/sources/iccv2011/include/object_recognition.h>

+ Collaboration diagram for ObjectRecognition:

Public Member Functions

 ObjectRecognition (const ObjectRecognitionParameters &params)
 
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 &params)
 
void populateDatabase (const std::vector< std::string > &)
 
const ObjectModel & recognizeObject (const PointCloudPtr &)
 
PointCloudPtr recognizeAndAlignPoints (const PointCloudPtr &)
 
void constructObjectModel (const PointCloudPtr &points, ObjectModel &output) const
 
 ObjectRecognition (const ObjectRecognitionParameters &params)
 
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 &params) const
 
void estimateFeatures (const PointCloudPtr &points, const ObjectRecognitionParameters &params, 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 &params) const
 
PointCloudPtr applyFiltersAndSegment (const PointCloudPtr &input, const ObjectRecognitionParameters &params) const
 
void estimateFeatures (const PointCloudPtr &points, const ObjectRecognitionParameters &params, 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 &params) const
 
PointCloudPtr applyFiltersAndSegment (const PointCloudPtr &input, const ObjectRecognitionParameters &params) const
 
void estimateFeatures (const PointCloudPtr &points, const ObjectRecognitionParameters &params, 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 &params) const
 

Protected Attributes

ObjectRecognitionParameters params_
 
std::vector< ObjectModel > models_
 
GlobalDescriptorsPtr descriptors_
 
pcl::KdTreeFLANN< GlobalDescriptorT >::Ptr kdtree_
 

Detailed Description

Definition at line 56 of file object_recognition.h.

Constructor & Destructor Documentation

◆ ObjectRecognition() [1/3]

ObjectRecognition::ObjectRecognition ( const ObjectRecognitionParameters &  params)
inline

Definition at line 59 of file object_recognition.h.

◆ ObjectRecognition() [2/3]

ObjectRecognition::ObjectRecognition ( const ObjectRecognitionParameters &  params)
inline

Definition at line 58 of file object_recognition.h.

◆ ObjectRecognition() [3/3]

ObjectRecognition::ObjectRecognition ( const ObjectRecognitionParameters &  params)
inline

Definition at line 58 of file object_recognition.h.

Member Function Documentation

◆ alignModelPoints() [1/3]

PointCloudPtr ObjectRecognition::alignModelPoints ( const ObjectModel &  source,
const ObjectModel &  target,
const ObjectRecognitionParameters &  params 
) const
inlineprotected

Definition at line 175 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().

Referenced by recognizeAndAlignPoints().

◆ alignModelPoints() [2/3]

PointCloudPtr ObjectRecognition::alignModelPoints ( const ObjectModel &  source,
const ObjectModel &  target,
const ObjectRecognitionParameters &  params 
) const
inlineprotected

Definition at line 131 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().

◆ alignModelPoints() [3/3]

PointCloudPtr ObjectRecognition::alignModelPoints ( const ObjectModel &  source,
const ObjectModel &  target,
const ObjectRecognitionParameters &  params 
) const
inlineprotected

Definition at line 174 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().

◆ applyFiltersAndSegment() [1/3]

PointCloudPtr ObjectRecognition::applyFiltersAndSegment ( const PointCloudPtr &  input,
const ObjectRecognitionParameters &  params 
) const
inlineprotected

Definition at line 138 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.

Referenced by constructObjectModel().

◆ applyFiltersAndSegment() [2/3]

PointCloudPtr ObjectRecognition::applyFiltersAndSegment ( const PointCloudPtr &  input,
const ObjectRecognitionParameters &  params 
) const
inlineprotected

Definition at line 94 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.

◆ applyFiltersAndSegment() [3/3]

PointCloudPtr ObjectRecognition::applyFiltersAndSegment ( const PointCloudPtr &  input,
const ObjectRecognitionParameters &  params 
) const
inlineprotected

Definition at line 137 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.

◆ constructObjectModel() [1/3]

void ObjectRecognition::constructObjectModel ( const PointCloudPtr &  points,
ObjectModel &  output 
) const
inline

Definition at line 126 of file object_recognition.h.

References applyFiltersAndSegment(), estimateFeatures(), ObjectModel::global_descriptor, ObjectModel::keypoints, ObjectModel::local_descriptors, params_, and ObjectModel::points.

Referenced by populateDatabase(), recognizeAndAlignPoints(), and recognizeObject().

◆ constructObjectModel() [2/3]

void ObjectRecognition::constructObjectModel ( const PointCloudPtr &  points,
ObjectModel &  output 
) const
inline

Definition at line 82 of file object_recognition.h.

References applyFiltersAndSegment(), estimateFeatures(), ObjectModel::global_descriptor, ObjectModel::keypoints, ObjectModel::local_descriptors, params_, and ObjectModel::points.

◆ constructObjectModel() [3/3]

void ObjectRecognition::constructObjectModel ( const PointCloudPtr &  points,
ObjectModel &  output 
) const
inline

Definition at line 125 of file object_recognition.h.

References applyFiltersAndSegment(), estimateFeatures(), ObjectModel::global_descriptor, ObjectModel::keypoints, ObjectModel::local_descriptors, params_, and ObjectModel::points.

◆ estimateFeatures() [1/3]

void ObjectRecognition::estimateFeatures ( const PointCloudPtr &  points,
const ObjectRecognitionParameters &  params,
SurfaceNormalsPtr &  normals_out,
PointCloudPtr &  keypoints_out,
LocalDescriptorsPtr &  local_descriptors_out,
GlobalDescriptorsPtr &  global_descriptor_out 
) const
inlineprotected

Definition at line 158 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.

Referenced by constructObjectModel().

◆ estimateFeatures() [2/3]

void ObjectRecognition::estimateFeatures ( const PointCloudPtr &  points,
const ObjectRecognitionParameters &  params,
SurfaceNormalsPtr &  normals_out,
PointCloudPtr &  keypoints_out,
LocalDescriptorsPtr &  local_descriptors_out,
GlobalDescriptorsPtr &  global_descriptor_out 
) const
inlineprotected

Definition at line 114 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.

◆ estimateFeatures() [3/3]

void ObjectRecognition::estimateFeatures ( const PointCloudPtr &  points,
const ObjectRecognitionParameters &  params,
SurfaceNormalsPtr &  normals_out,
PointCloudPtr &  keypoints_out,
LocalDescriptorsPtr &  local_descriptors_out,
GlobalDescriptorsPtr &  global_descriptor_out 
) const
inlineprotected

Definition at line 157 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.

◆ populateDatabase() [1/3]

void ObjectRecognition::populateDatabase ( const std::vector< std::string > &  )
inline

Definition at line 62 of file object_recognition.h.

◆ populateDatabase() [2/3]

void ObjectRecognition::populateDatabase ( const std::vector< std::string > &  filenames)
inline

Definition at line 63 of file object_recognition.h.

References constructObjectModel(), descriptors_, kdtree_, pcl::io::loadPCDFile(), and models_.

◆ populateDatabase() [3/3]

void ObjectRecognition::populateDatabase ( const std::vector< std::string > &  filenames)
inline

Definition at line 62 of file object_recognition.h.

References constructObjectModel(), descriptors_, kdtree_, pcl::io::loadPCDFile(), and models_.

◆ recognizeAndAlignPoints() [1/3]

PointCloudPtr ObjectRecognition::recognizeAndAlignPoints ( const PointCloudPtr &  )
inline

Definition at line 74 of file object_recognition.h.

◆ recognizeAndAlignPoints() [2/3]

PointCloudPtr ObjectRecognition::recognizeAndAlignPoints ( const PointCloudPtr &  query_cloud)
inline

Definition at line 109 of file object_recognition.h.

References alignModelPoints(), constructObjectModel(), ObjectModel::global_descriptor, kdtree_, models_, and params_.

◆ recognizeAndAlignPoints() [3/3]

PointCloudPtr ObjectRecognition::recognizeAndAlignPoints ( const PointCloudPtr &  query_cloud)
inline

Definition at line 108 of file object_recognition.h.

References alignModelPoints(), constructObjectModel(), ObjectModel::global_descriptor, kdtree_, models_, and params_.

◆ recognizeObject() [1/3]

const ObjectModel& ObjectRecognition::recognizeObject ( const PointCloudPtr &  )
inline

Definition at line 67 of file object_recognition.h.

References models_.

◆ recognizeObject() [2/3]

const ObjectModel& ObjectRecognition::recognizeObject ( const PointCloudPtr &  query_cloud)
inline

Definition at line 94 of file object_recognition.h.

References constructObjectModel(), ObjectModel::global_descriptor, kdtree_, and models_.

◆ recognizeObject() [3/3]

const ObjectModel& ObjectRecognition::recognizeObject ( const PointCloudPtr &  query_cloud)
inline

Definition at line 93 of file object_recognition.h.

References constructObjectModel(), ObjectModel::global_descriptor, kdtree_, and models_.

Member Data Documentation

◆ descriptors_

GlobalDescriptorsPtr ObjectRecognition::descriptors_
protected

Definition at line 197 of file object_recognition.h.

Referenced by populateDatabase().

◆ kdtree_

pcl::KdTreeFLANN< GlobalDescriptorT >::Ptr ObjectRecognition::kdtree_
protected

Definition at line 198 of file object_recognition.h.

Referenced by populateDatabase(), recognizeAndAlignPoints(), and recognizeObject().

◆ models_

std::vector< ObjectModel > ObjectRecognition::models_
protected

Definition at line 196 of file object_recognition.h.

Referenced by populateDatabase(), recognizeAndAlignPoints(), and recognizeObject().

◆ params_

ObjectRecognitionParameters ObjectRecognition::params_
protected

Definition at line 195 of file object_recognition.h.

Referenced by constructObjectModel(), and recognizeAndAlignPoints().

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