HandleDetector Class Reference

List of all members.

Classes
struct	Stats
Public Member Functions
	HandleDetector ()
void	serviceThread ()
bool	spin ()
	~HandleDetector ()
Public Attributes
CvHaarClassifierCascade *	cascade
sensor_msgs::PointCloudConstPtr	cloud_
ros::Subscriber	cloud_sub_
boost::condition_variable	data_cv_
boost::mutex	data_lock_
sensor_msgs::CvBridge	dbridge_
ros::ServiceServer	detect_service_
IplImage *	disp_
IplImage *	disp_clone_
stereo_msgs::DisparityImageConstPtr	dispimg_
ros::Subscriber	dispimg_sub_
bool	display_
int	frames_no_
bool	got_images_
sensor_msgs::CvBridge	lbridge_
IplImage *	left_
ros::Subscriber	left_image_sub_
sensor_msgs::ImageConstPtr	limage_
ros::Publisher	marker_pub_
double	max_height_
double	min_height_
ros::NodeHandle	nh_
ros::NodeHandle	nh_tilde_
ros::ServiceServer	preempt_service_
bool	preempted_
sensor_msgs::CvBridge	rbridge_
sensor_msgs::CameraInfoConstPtr	rcinfo_
IplImage *	right_
sensor_msgs::ImageConstPtr	rimage_
ros::CallbackQueue	service_queue_
boost::thread	service_thread_
ros::Time	start_image_wait_
CvMemStorage *	storage
TopicSynchronizer	sync_
tf::TransformListener	tf_
double	timeout_
Private Member Functions
void	applyPositionPrior ()
	Filters cloud point, retains only regions that could contain a handle.
bool	belongsToCluster (pair< float, float > center, pair< float, float > p)
	Checks if a point should belong to a cluster.
void	cloudCallback (const sensor_msgs::PointCloud::ConstPtr &point_cloud)
bool	decideHandlePosition (vector< CvRect > &handle_rect, geometry_msgs::PointStamped &handle)
	Decide the handle position from several detections across multiple frames.
bool	detectHandleSrv (door_handle_detector::DoorsDetector::Request &req, door_handle_detector::DoorsDetector::Response &resp)
	Service call to detect doors.
double	disparitySTD (IplImage *Id, const CvRect &R, double &meanDisparity, double minDisparity=0.5)
void	dispimgCallback (const stereo_msgs::DisparityImage::ConstPtr &dinfo)
CvScalar	estimatePlaneLS (sensor_msgs::PointCloud points)
	Computes a least-squares estimate of a plane.
sensor_msgs::PointCloud	filterPointCloud (const sensor_msgs::PointCloud pc, const CvRect &rect)
	Filters a cloud point, retains only points coming from a specific region in the disparity image.
void	findHandleCascade (vector< CvRect > &handle_rect)
	Start handle detection.
CvPoint	getDisparityCenter (CvRect &r)
bool	handlePossibleHere (CvRect &r)
	Determine if it's possible for handle to be in a specific ROI.
void	leftImageCallback (const sensor_msgs::Image::ConstPtr &image)
void	loadClassifier (string cascade_classifier)
void	pointCloudStatistics (const sensor_msgs::PointCloud &pc, Stats &x_stats, Stats &y_stats, Stats &z_stats)
bool	preempt (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
pair< float, float >	rectCenter (const CvRect &r)
bool	runHandleDetector (geometry_msgs::PointStamped &handle)
	Runs the handle detector.
void	showHandleMarker (geometry_msgs::PointStamped p)
	Publishes a visualization marker for a point.
void	subscribeStereoData ()
void	syncCallback ()
void	tryShrinkROI (CvRect &r)
void	unsubscribeStereoData ()

Detailed Description

Definition at line 105 of file handle_detector_vision.cpp.

Constructor & Destructor Documentation

HandleDetector::HandleDetector ( ) [inline]

Definition at line 173 of file handle_detector_vision.cpp.

HandleDetector::~HandleDetector ( ) [inline]

Definition at line 214 of file handle_detector_vision.cpp.

Member Function Documentation

void HandleDetector::applyPositionPrior ( ) [inline, private]

Filters cloud point, retains only regions that could contain a handle.

Definition at line 999 of file handle_detector_vision.cpp.

bool HandleDetector::belongsToCluster	(	pair< float, float >	center,
		pair< float, float >	p
	)			`[inline, private]`

Checks if a point should belong to a cluster.

Parameters:

	center
	p

Returns:

Definition at line 708 of file handle_detector_vision.cpp.

void HandleDetector::cloudCallback ( const sensor_msgs::PointCloud::ConstPtr & point_cloud ) [inline, private]

Definition at line 307 of file handle_detector_vision.cpp.

bool HandleDetector::decideHandlePosition	(	vector< CvRect > &	handle_rect,
		geometry_msgs::PointStamped &	handle
	)			`[inline, private]`

Decide the handle position from several detections across multiple frames.

This method does some simple clustering of all the bounding boxes and picks the cluster with the most elements.

Parameters:

	handle_rect	The handle bounding boxes
	handle	Point indicating the real-world handle position

Returns:

Definition at line 739 of file handle_detector_vision.cpp.

bool HandleDetector::detectHandleSrv	(	door_handle_detector::DoorsDetector::Request &	req,
		door_handle_detector::DoorsDetector::Response &	resp
	)			`[inline, private]`