detector.cpp File Reference

#include <ros/ros.h>
#include <iostream>
#include <cmath>
#include <stdexcept>
#include "duration.h"
#include <sys/time.h>
#include "ros/time.h"
#include <cstdio>
#include <sstream>
#include <log4cxx/logger.h>
#include "ros/console.h"
#include <boost/static_assert.hpp>
#include <cassert>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#include <string>
#include "ros/assert.h"
#include <vector>
#include <map>
#include <set>
#include <list>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <boost/function.hpp>
#include "exceptions.h"
#include <boost/shared_array.hpp>
#include "ros/types.h"
#include "ros/forwards.h"
#include "ros/common.h"
#include "ros/macros.h"
#include <string.h>
#include <boost/array.hpp>
#include "serialized_message.h"
#include "message_forward.h"
#include <boost/utility/enable_if.hpp>
#include <boost/type_traits/remove_const.hpp>
#include <boost/type_traits/remove_reference.hpp>
#include "message_traits.h"
#include "ros/exception.h"
#include <boost/call_traits.hpp>
#include <boost/mpl/and.hpp>
#include <boost/mpl/or.hpp>
#include <boost/mpl/not.hpp>
#include <cstring>
#include <boost/bind.hpp>
#include <typeinfo>
#include <ros/message.h>
#include <boost/type_traits/is_void.hpp>
#include <boost/type_traits/is_base_of.hpp>
#include <boost/type_traits/is_const.hpp>
#include <boost/type_traits/add_const.hpp>
#include <boost/make_shared.hpp>
#include <ros/static_assert.h>
#include "ros/message_traits.h"
#include "ros/builtin_message_traits.h"
#include "ros/serialization.h"
#include "ros/message_event.h"
#include "forwards.h"
#include "timer_options.h"
#include "wall_timer_options.h"
#include "ros/service_traits.h"
#include <boost/lexical_cast.hpp>
#include "subscription_callback_helper.h"
#include "ros/spinner.h"
#include <time.h>
#include "ros/publisher.h"
#include <boost/utility.hpp>
#include "ros/service_server.h"
#include "ros/subscriber.h"
#include "ros/node_handle.h"
#include "ros/init.h"
#include "XmlRpcValue.h"
#include "node_handle.h"
#include "ros/names.h"
#include <ostream>
#include "ros/message_operations.h"
#include "std_msgs/Header.h"
#include <sensor_msgs/Image.h>
#include <stdlib.h>
#include <float.h>
#include <math.h>
#include <limits.h>
#include "opencv2/core/core.hpp"
#include "opencv2/core/types_c.h"
#include "opencv2/imgproc/types_c.h"
#include "opencv2/core/core_c.h"
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Point.h"
#include "btMatrix3x3.h"
#include "geometry_msgs/Pose.h"

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Go to the source code of this file.

Classes
struct	Observation
struct	Track
Functions
void	addToTrack (Observation &percept)
bool	checkPercept (Observation &percept, int plane)
void	CountConvexPoly (cv::Mat &img, const cv::Point *v, int npts, int &pixel_value, int &pixel_size, int &pixel_occ)
float	evalPercept (Observation &percept, int plane, bool draw=false)
bool	extractPlanes ()
void	imageCallback (const sensor_msgs::Image::ConstPtr &msg)
void	infoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
int	main (int argc, char **argv)
int	openChannel (articulation_msgs::TrackMsg &track, std::string name, bool autocreate)
float	optimizePercept (Observation &percept, int plane)
bool	sameObject (Observation &a, Observation &b)
cv::Point	samplePoint (int step)
void	sendTracks (std_msgs::Header header)
cv::Point	to2D (cv::Point3f pt)
cv::Point3f	to3D (cv::Point a)
Variables
sensor_msgs::CameraInfo::ConstPtr	cameraInfo_
int	CLIP_BOTTOM = 16
int	CLIP_LEFT = 16
int	CLIP_RIGHT = 16
int	CLIP_TOP = 40
int	COST_FREE = 255
int	COST_INPLANE = 0
int	COST_OCCLUDED = 20
int	COST_UNKNOWN = 20
cv_bridge::CvImagePtr	cv_ptr
cv::Mat	debugImage_
double	FILTER_Z = 2
double	MAX_DIFF_ROT = M_PI/180*20
double	MAX_DIFF_SIZE = 0.05
double	MAX_DIFF_TRANS = 0.10
const int	MAX_PLANES = 10
cv::Vec3f	planeCenter [MAX_PLANES]
cv::Mat	planeImage [MAX_PLANES]
cv::Vec3f	planeNormal [MAX_PLANES]
int	PLANES = 1
int	planeSize [MAX_PLANES]
double	PRIOR_HEIGHT = 0.1
double	PRIOR_WIDTH = 0.1
double	RANSAC_DISTANCE = 0.01
int	RANSAC_DOWNSAMPLE = 15
int	RANSAC_FITTING_ITERATIONS = 200
int	RANSAC_ITERATIONS = 200
bool	SHOW_IMAGES = true
int	STEP_FACTOR [] = {8,4,2,1}
double	STEP_ROT = M_PI/180*0.5
double	STEP_TRANS = 0.005
double	THRESHOLD_PRECISION = 0.7
double	THRESHOLD_RECALL = 0.7
cv::Mat	tmpImage_
ros::Publisher	track_pub_
std::vector< Track >	tracks
ros::Publisher	visualization_array_pub_
ros::Publisher	visualization_pub_