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 ObjectModelrecognizeObject (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 ObjectModelrecognizeObject (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 ObjectModelrecognizeObject (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< ObjectModelmodels_
 
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

◆ alignModelPoints() [2/3]

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

◆ alignModelPoints() [3/3]

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

◆ applyFiltersAndSegment() [1/3]

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

◆ applyFiltersAndSegment() [2/3]

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

◆ applyFiltersAndSegment() [3/3]

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

◆ constructObjectModel() [1/3]

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

◆ constructObjectModel() [2/3]

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

◆ constructObjectModel() [3/3]

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

◆ 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

◆ 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

◆ 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

◆ 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

◆ populateDatabase() [3/3]

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

◆ 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

◆ recognizeAndAlignPoints() [3/3]

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

◆ 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

◆ recognizeObject() [3/3]

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

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

◆ models_

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

◆ 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: