tabletop_object_detector Namespace Reference

Namespaces
namespace	msg
namespace	srv
Classes
struct	AddModelExclusion
struct	AddModelExclusionRequest_
struct	AddModelExclusionResponse_
struct	ClearExclusionsList
struct	ClearExclusionsListRequest_
struct	ClearExclusionsListResponse_
class	DistanceFieldFitter
	An individual fitter equipped with a distance field stored as a voxel grid. More...
class	ExhaustiveFitDetector
	Given a point cloud, computes the fit against multiple meshes and chooses the best ones. More...
class	ICPRegistrationFitter
	Implementation of a model fitter using ICP registration from pcl. More...
class	IterativeTranslationFitter
	Does an ICP-like fitting only in the X and Y translation DOFs. More...
class	MarkerGenerator
	A convenience class for generating markers based on various clustering and fitting data. More...
class	ModelFitInfo
	Holds information about the fit betwen a mesh and a point cloud. More...
class	ModelToCloudFitter
	The interface for a class that can fit an individual mesh to a point cloud. More...
struct	NegateExclusions
struct	NegateExclusionsRequest_
struct	NegateExclusionsResponse_
class	ObjectInHandSegmenter
struct	SegmentObjectInHand
struct	SegmentObjectInHandRequest_
struct	SegmentObjectInHandResponse_
struct	Table_
class	TabletopCompleteNode
struct	TabletopDetection
struct	TabletopDetectionRequest_
struct	TabletopDetectionResponse_
struct	TabletopDetectionResult_
struct	TabletopObjectRecognition
struct	TabletopObjectRecognitionRequest_
struct	TabletopObjectRecognitionResponse_
class	TabletopObjectRecognizer
struct	TabletopSegmentation
struct	TabletopSegmentationRequest_
struct	TabletopSegmentationResponse_
class	TabletopSegmentor
Typedefs
typedef ::tabletop_object_detector::AddModelExclusionRequest_ < std::allocator< void > >	AddModelExclusionRequest
typedef boost::shared_ptr < ::tabletop_object_detector::AddModelExclusionRequest const >	AddModelExclusionRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::AddModelExclusionRequest >	AddModelExclusionRequestPtr
typedef ::tabletop_object_detector::AddModelExclusionResponse_ < std::allocator< void > >	AddModelExclusionResponse
typedef boost::shared_ptr < ::tabletop_object_detector::AddModelExclusionResponse const >	AddModelExclusionResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::AddModelExclusionResponse >	AddModelExclusionResponsePtr
typedef ::tabletop_object_detector::ClearExclusionsListRequest_ < std::allocator< void > >	ClearExclusionsListRequest
typedef boost::shared_ptr < ::tabletop_object_detector::ClearExclusionsListRequest const >	ClearExclusionsListRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::ClearExclusionsListRequest >	ClearExclusionsListRequestPtr
typedef ::tabletop_object_detector::ClearExclusionsListResponse_ < std::allocator< void > >	ClearExclusionsListResponse
typedef boost::shared_ptr < ::tabletop_object_detector::ClearExclusionsListResponse const >	ClearExclusionsListResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::ClearExclusionsListResponse >	ClearExclusionsListResponsePtr
typedef ::tabletop_object_detector::NegateExclusionsRequest_ < std::allocator< void > >	NegateExclusionsRequest
typedef boost::shared_ptr < ::tabletop_object_detector::NegateExclusionsRequest const >	NegateExclusionsRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::NegateExclusionsRequest >	NegateExclusionsRequestPtr
typedef ::tabletop_object_detector::NegateExclusionsResponse_ < std::allocator< void > >	NegateExclusionsResponse
typedef boost::shared_ptr < ::tabletop_object_detector::NegateExclusionsResponse const >	NegateExclusionsResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::NegateExclusionsResponse >	NegateExclusionsResponsePtr
typedef ::tabletop_object_detector::SegmentObjectInHandRequest_ < std::allocator< void > >	SegmentObjectInHandRequest
typedef boost::shared_ptr < ::tabletop_object_detector::SegmentObjectInHandRequest const >	SegmentObjectInHandRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::SegmentObjectInHandRequest >	SegmentObjectInHandRequestPtr
typedef ::tabletop_object_detector::SegmentObjectInHandResponse_ < std::allocator< void > >	SegmentObjectInHandResponse
typedef boost::shared_ptr < ::tabletop_object_detector::SegmentObjectInHandResponse const >	SegmentObjectInHandResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::SegmentObjectInHandResponse >	SegmentObjectInHandResponsePtr
typedef ::tabletop_object_detector::Table_ < std::allocator< void > >	Table
typedef boost::shared_ptr < ::tabletop_object_detector::Table const >	TableConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::Table >	TablePtr
typedef ::tabletop_object_detector::TabletopDetectionRequest_ < std::allocator< void > >	TabletopDetectionRequest
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopDetectionRequest const >	TabletopDetectionRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopDetectionRequest >	TabletopDetectionRequestPtr
typedef ::tabletop_object_detector::TabletopDetectionResponse_ < std::allocator< void > >	TabletopDetectionResponse
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopDetectionResponse const >	TabletopDetectionResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopDetectionResponse >	TabletopDetectionResponsePtr
typedef ::tabletop_object_detector::TabletopDetectionResult_ < std::allocator< void > >	TabletopDetectionResult
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopDetectionResult const >	TabletopDetectionResultConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopDetectionResult >	TabletopDetectionResultPtr
typedef ::tabletop_object_detector::TabletopObjectRecognitionRequest_ < std::allocator< void > >	TabletopObjectRecognitionRequest
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopObjectRecognitionRequest const >	TabletopObjectRecognitionRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopObjectRecognitionRequest >	TabletopObjectRecognitionRequestPtr
typedef ::tabletop_object_detector::TabletopObjectRecognitionResponse_ < std::allocator< void > >	TabletopObjectRecognitionResponse
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopObjectRecognitionResponse const >	TabletopObjectRecognitionResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopObjectRecognitionResponse >	TabletopObjectRecognitionResponsePtr
typedef ::tabletop_object_detector::TabletopSegmentationRequest_ < std::allocator< void > >	TabletopSegmentationRequest
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopSegmentationRequest const >	TabletopSegmentationRequestConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopSegmentationRequest >	TabletopSegmentationRequestPtr
typedef ::tabletop_object_detector::TabletopSegmentationResponse_ < std::allocator< void > >	TabletopSegmentationResponse
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopSegmentationResponse const >	TabletopSegmentationResponseConstPtr
typedef boost::shared_ptr < ::tabletop_object_detector::TabletopSegmentationResponse >	TabletopSegmentationResponsePtr
Functions
double	dist (const btVector3 &v0, const btVector3 &v1)
template<typename PointT >
void	getClustersFromPointCloud2 (const pcl::PointCloud< PointT > &cloud_objects, const std::vector< pcl::PointIndices > &clusters2, std::vector< sensor_msgs::PointCloud > &clusters)
template<typename PointT >
bool	getPlanePoints (const pcl::PointCloud< PointT > &table, const tf::Transform &table_plane_trans, sensor_msgs::PointCloud &table_points)
tf::Transform	getPlaneTransform (pcl::ModelCoefficients coeffs, double up_direction)
std::vector< btVector3 >	interpolateTriangle (btVector3 v0, btVector3 v1, btVector3 v2, double min_res)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::tabletop_object_detector::TabletopDetectionResult_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::tabletop_object_detector::Table_< ContainerAllocator > &v)

---

Typedef Documentation

typedef ::tabletop_object_detector::AddModelExclusionRequest_<std::allocator<void> > tabletop_object_detector::AddModelExclusionRequest

Definition at line 94 of file AddModelExclusion.h.

typedef boost::shared_ptr< ::tabletop_object_detector::AddModelExclusionRequest const> tabletop_object_detector::AddModelExclusionRequestConstPtr

Definition at line 97 of file AddModelExclusion.h.

typedef boost::shared_ptr< ::tabletop_object_detector::AddModelExclusionRequest> tabletop_object_detector::AddModelExclusionRequestPtr

Definition at line 96 of file AddModelExclusion.h.

typedef ::tabletop_object_detector::AddModelExclusionResponse_<std::allocator<void> > tabletop_object_detector::AddModelExclusionResponse

Definition at line 166 of file AddModelExclusion.h.

typedef boost::shared_ptr< ::tabletop_object_detector::AddModelExclusionResponse const> tabletop_object_detector::AddModelExclusionResponseConstPtr

Definition at line 169 of file AddModelExclusion.h.

typedef boost::shared_ptr< ::tabletop_object_detector::AddModelExclusionResponse> tabletop_object_detector::AddModelExclusionResponsePtr

Definition at line 168 of file AddModelExclusion.h.

typedef ::tabletop_object_detector::ClearExclusionsListRequest_<std::allocator<void> > tabletop_object_detector::ClearExclusionsListRequest

Definition at line 85 of file ClearExclusionsList.h.

typedef boost::shared_ptr< ::tabletop_object_detector::ClearExclusionsListRequest const> tabletop_object_detector::ClearExclusionsListRequestConstPtr

Definition at line 88 of file ClearExclusionsList.h.

typedef boost::shared_ptr< ::tabletop_object_detector::ClearExclusionsListRequest> tabletop_object_detector::ClearExclusionsListRequestPtr

Definition at line 87 of file ClearExclusionsList.h.

typedef ::tabletop_object_detector::ClearExclusionsListResponse_<std::allocator<void> > tabletop_object_detector::ClearExclusionsListResponse

Definition at line 157 of file ClearExclusionsList.h.

typedef boost::shared_ptr< ::tabletop_object_detector::ClearExclusionsListResponse const> tabletop_object_detector::ClearExclusionsListResponseConstPtr

Definition at line 160 of file ClearExclusionsList.h.

typedef boost::shared_ptr< ::tabletop_object_detector::ClearExclusionsListResponse> tabletop_object_detector::ClearExclusionsListResponsePtr

Definition at line 159 of file ClearExclusionsList.h.

typedef ::tabletop_object_detector::NegateExclusionsRequest_<std::allocator<void> > tabletop_object_detector::NegateExclusionsRequest

Definition at line 93 of file NegateExclusions.h.

typedef boost::shared_ptr< ::tabletop_object_detector::NegateExclusionsRequest const> tabletop_object_detector::NegateExclusionsRequestConstPtr

Definition at line 96 of file NegateExclusions.h.

typedef boost::shared_ptr< ::tabletop_object_detector::NegateExclusionsRequest> tabletop_object_detector::NegateExclusionsRequestPtr

Definition at line 95 of file NegateExclusions.h.

typedef ::tabletop_object_detector::NegateExclusionsResponse_<std::allocator<void> > tabletop_object_detector::NegateExclusionsResponse

Definition at line 165 of file NegateExclusions.h.

typedef boost::shared_ptr< ::tabletop_object_detector::NegateExclusionsResponse const> tabletop_object_detector::NegateExclusionsResponseConstPtr

Definition at line 168 of file NegateExclusions.h.

typedef boost::shared_ptr< ::tabletop_object_detector::NegateExclusionsResponse> tabletop_object_detector::NegateExclusionsResponsePtr

Definition at line 167 of file NegateExclusions.h.

typedef ::tabletop_object_detector::SegmentObjectInHandRequest_<std::allocator<void> > tabletop_object_detector::SegmentObjectInHandRequest

Definition at line 96 of file SegmentObjectInHand.h.

typedef boost::shared_ptr< ::tabletop_object_detector::SegmentObjectInHandRequest const> tabletop_object_detector::SegmentObjectInHandRequestConstPtr

Definition at line 99 of file SegmentObjectInHand.h.

typedef boost::shared_ptr< ::tabletop_object_detector::SegmentObjectInHandRequest> tabletop_object_detector::SegmentObjectInHandRequestPtr

Definition at line 98 of file SegmentObjectInHand.h.

typedef ::tabletop_object_detector::SegmentObjectInHandResponse_<std::allocator<void> > tabletop_object_detector::SegmentObjectInHandResponse

Definition at line 263 of file SegmentObjectInHand.h.

typedef boost::shared_ptr< ::tabletop_object_detector::SegmentObjectInHandResponse const> tabletop_object_detector::SegmentObjectInHandResponseConstPtr

Definition at line 266 of file SegmentObjectInHand.h.

typedef boost::shared_ptr< ::tabletop_object_detector::SegmentObjectInHandResponse> tabletop_object_detector::SegmentObjectInHandResponsePtr

Definition at line 265 of file SegmentObjectInHand.h.

typedef ::tabletop_object_detector::Table_<std::allocator<void> > tabletop_object_detector::Table

Definition at line 178 of file Table.h.

typedef boost::shared_ptr< ::tabletop_object_detector::Table const> tabletop_object_detector::TableConstPtr

Definition at line 181 of file Table.h.

typedef boost::shared_ptr< ::tabletop_object_detector::Table> tabletop_object_detector::TablePtr

Definition at line 180 of file Table.h.

typedef ::tabletop_object_detector::TabletopDetectionRequest_<std::allocator<void> > tabletop_object_detector::TabletopDetectionRequest

Definition at line 122 of file TabletopDetection.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopDetectionRequest const> tabletop_object_detector::TabletopDetectionRequestConstPtr

Definition at line 125 of file TabletopDetection.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopDetectionRequest> tabletop_object_detector::TabletopDetectionRequestPtr

Definition at line 124 of file TabletopDetection.h.

typedef ::tabletop_object_detector::TabletopDetectionResponse_<std::allocator<void> > tabletop_object_detector::TabletopDetectionResponse

Definition at line 369 of file TabletopDetection.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopDetectionResponse const> tabletop_object_detector::TabletopDetectionResponseConstPtr

Definition at line 372 of file TabletopDetection.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopDetectionResponse> tabletop_object_detector::TabletopDetectionResponsePtr

Definition at line 371 of file TabletopDetection.h.

typedef ::tabletop_object_detector::TabletopDetectionResult_<std::allocator<void> > tabletop_object_detector::TabletopDetectionResult

Definition at line 293 of file TabletopDetectionResult.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopDetectionResult const> tabletop_object_detector::TabletopDetectionResultConstPtr

Definition at line 296 of file TabletopDetectionResult.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopDetectionResult> tabletop_object_detector::TabletopDetectionResultPtr

Definition at line 295 of file TabletopDetectionResult.h.

typedef ::tabletop_object_detector::TabletopObjectRecognitionRequest_<std::allocator<void> > tabletop_object_detector::TabletopObjectRecognitionRequest

Definition at line 259 of file TabletopObjectRecognition.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopObjectRecognitionRequest const> tabletop_object_detector::TabletopObjectRecognitionRequestConstPtr

Definition at line 262 of file TabletopObjectRecognition.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopObjectRecognitionRequest> tabletop_object_detector::TabletopObjectRecognitionRequestPtr

Definition at line 261 of file TabletopObjectRecognition.h.

typedef ::tabletop_object_detector::TabletopObjectRecognitionResponse_<std::allocator<void> > tabletop_object_detector::TabletopObjectRecognitionResponse

Definition at line 424 of file TabletopObjectRecognition.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopObjectRecognitionResponse const> tabletop_object_detector::TabletopObjectRecognitionResponseConstPtr

Definition at line 427 of file TabletopObjectRecognition.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopObjectRecognitionResponse> tabletop_object_detector::TabletopObjectRecognitionResponsePtr

Definition at line 426 of file TabletopObjectRecognition.h.

typedef ::tabletop_object_detector::TabletopSegmentationRequest_<std::allocator<void> > tabletop_object_detector::TabletopSegmentationRequest

Definition at line 88 of file TabletopSegmentation.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopSegmentationRequest const> tabletop_object_detector::TabletopSegmentationRequestConstPtr

Definition at line 91 of file TabletopSegmentation.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopSegmentationRequest> tabletop_object_detector::TabletopSegmentationRequestPtr

Definition at line 90 of file TabletopSegmentation.h.

typedef ::tabletop_object_detector::TabletopSegmentationResponse_<std::allocator<void> > tabletop_object_detector::TabletopSegmentationResponse

Definition at line 328 of file TabletopSegmentation.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopSegmentationResponse const> tabletop_object_detector::TabletopSegmentationResponseConstPtr

Definition at line 331 of file TabletopSegmentation.h.

typedef boost::shared_ptr< ::tabletop_object_detector::TabletopSegmentationResponse> tabletop_object_detector::TabletopSegmentationResponsePtr

Definition at line 330 of file TabletopSegmentation.h.

---

Function Documentation

double tabletop_object_detector::dist	(	const btVector3 &	v0,
		const btVector3 &	v1
	)

Definition at line 103 of file model_fitter.cpp.

template<typename PointT >

void tabletop_object_detector::getClustersFromPointCloud2	(	const pcl::PointCloud< PointT > &	cloud_objects,
		const std::vector< pcl::PointIndices > &	clusters2,
		std::vector< sensor_msgs::PointCloud > &	clusters
	)			[inline]

Definition at line 361 of file tabletop_segmentation.cpp.

template<typename PointT >

bool tabletop_object_detector::getPlanePoints	(	const pcl::PointCloud< PointT > &	table,
		const tf::Transform &	table_plane_trans,
		sensor_msgs::PointCloud &	table_points
	)			[inline]

Definition at line 319 of file tabletop_segmentation.cpp.

tf::Transform tabletop_object_detector::getPlaneTransform	(	pcl::ModelCoefficients	coeffs,
		double	up_direction
	)

Assumes plane coefficients are of the form ax+by+cz+d=0, normalized

Definition at line 284 of file tabletop_segmentation.cpp.

std::vector<btVector3> tabletop_object_detector::interpolateTriangle	(	btVector3	v0,
		btVector3	v1,
		btVector3	v2,
		double	min_res
	)

Given a triangle defined by three vertices, returns a set of points obtained by sampling the surface of the triangle. Points are obtained by barycentric interpolation, with a guarantee that, along the interpolated directions, the distance between interpolated locations is not greater than min_res (could be smaller if one of the 0-1 and 0-2 edges of the triangle is significantly shorter than the other).

The vertices themselves are NOT returned in the set of points.

Definition at line 119 of file model_fitter.cpp.

template<typename ContainerAllocator >

std::ostream& tabletop_object_detector::operator<<	(	std::ostream &	s,
		const ::tabletop_object_detector::TabletopDetectionResult_< ContainerAllocator > &	v
	)			[inline]

Definition at line 300 of file TabletopDetectionResult.h.

template<typename ContainerAllocator >

std::ostream& tabletop_object_detector::operator<<	(	std::ostream &	s,
		const ::tabletop_object_detector::Table_< ContainerAllocator > &	v
	)			[inline]

Definition at line 185 of file Table.h.