Point Cloud Library (PCL)  1.9.1-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>

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 > &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 > &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::ObjectRecognition ( const ObjectRecognitionParameters params)
inline

Definition at line 59 of file object_recognition.h.

ObjectRecognition::ObjectRecognition ( const ObjectRecognitionParameters params)
inline

Definition at line 58 of file object_recognition.h.

ObjectRecognition::ObjectRecognition ( const ObjectRecognitionParameters params)
inline

Definition at line 58 of file object_recognition.h.

Member Function Documentation

PointCloudPtr ObjectRecognition::alignModelPoints ( const ObjectModel source,
const ObjectModel target,
const ObjectRecognitionParameters params 
) const
inlineprotected
PointCloudPtr ObjectRecognition::alignModelPoints ( const ObjectModel source,
const ObjectModel target,
const ObjectRecognitionParameters params 
) const
inlineprotected
PointCloudPtr ObjectRecognition::alignModelPoints ( const ObjectModel source,
const ObjectModel target,
const ObjectRecognitionParameters params 
) const
inlineprotected
PointCloudPtr ObjectRecognition::applyFiltersAndSegment ( const PointCloudPtr &  input,
const ObjectRecognitionParameters params 
) const
inlineprotected
PointCloudPtr ObjectRecognition::applyFiltersAndSegment ( const PointCloudPtr &  input,
const ObjectRecognitionParameters params 
) const
inlineprotected
PointCloudPtr ObjectRecognition::applyFiltersAndSegment ( const PointCloudPtr &  input,
const ObjectRecognitionParameters params 
) const
inlineprotected
void ObjectRecognition::constructObjectModel ( const PointCloudPtr &  points,
ObjectModel output 
) const
inline
void ObjectRecognition::constructObjectModel ( const PointCloudPtr &  points,
ObjectModel output 
) const
inline
void ObjectRecognition::constructObjectModel ( const PointCloudPtr &  points,
ObjectModel output 
) const
inline
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
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
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
void ObjectRecognition::populateDatabase ( const std::vector< std::string > &  filenames)
inline

Definition at line 62 of file object_recognition.h.

References pcl::io::loadPCDFile().

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

Definition at line 62 of file object_recognition.h.

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

Definition at line 63 of file object_recognition.h.

References pcl::io::loadPCDFile().

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

Definition at line 74 of file object_recognition.h.

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

Definition at line 108 of file object_recognition.h.

References ObjectModel::global_descriptor.

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

Definition at line 109 of file object_recognition.h.

References ObjectModel::global_descriptor.

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

Definition at line 67 of file object_recognition.h.

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

Definition at line 93 of file object_recognition.h.

References ObjectModel::global_descriptor.

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

Definition at line 94 of file object_recognition.h.

References ObjectModel::global_descriptor.

Member Data Documentation

GlobalDescriptorsPtr ObjectRecognition::descriptors_
protected

Definition at line 197 of file object_recognition.h.

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

Definition at line 198 of file object_recognition.h.

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

Definition at line 196 of file object_recognition.h.

ObjectRecognitionParameters ObjectRecognition::params_
protected

Definition at line 195 of file object_recognition.h.


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