object_segmentation_gui::ObjectSegmentationRvizUI Class Reference

#include <object_segmentation_rviz_ui.h>

Inheritance diagram for object_segmentation_gui::ObjectSegmentationRvizUI:

[legend]

List of all members.

Classes
struct	ClickInfo
Public Member Functions
	ObjectSegmentationRvizUI (rviz::VisualizationManager *visualization_manager)
void	startActionServer (ros::NodeHandle &node_handle)
void	stopActionServer ()
virtual void	update (float wall_dt, float ros_dt)
virtual	~ObjectSegmentationRvizUI ()
Protected Member Functions
virtual void	acceptButtonClicked (wxCommandEvent &)
void	acceptNewGoal ()
void	addColorCode ()
virtual void	cancelButtonClicked (wxCommandEvent &)
void	cleanupAndHide ()
void	createRenderPanel (rviz::VisualizationManager *visualization_manager)
void	filterOutliersAndDownsample (std::vector< sensor_msgs::PointCloud > &clusters)
virtual void	gradWeightChanged (wxScrollEvent &event)
virtual void	onRenderWindowMouseEvents (wxMouseEvent &event)
void	preempt ()
void	reconstructAndClusterPointCloud (ObjectSegmentationGuiResult &result)
virtual void	resetButtonClicked (wxCommandEvent &)
virtual void	restartButtonClicked (wxCommandEvent &event)
virtual void	segmentButtonClicked (wxCommandEvent &)
void	stopSegmentation ()
virtual void	uniformChecked (wxCommandEvent &event)
virtual void	withColorChecked (wxCommandEvent &event)
virtual void	withDisparityChecked (wxCommandEvent &event)
virtual void	withHolesChecked (wxCommandEvent &event)
virtual void	withSurfaceChecked (wxCommandEvent &event)
Protected Attributes
Ogre::ManualObject *	box_object_
ClickInfo	click_info_
rviz_interaction_tools::ImageOverlay *	image_overlay_
actionlib::SimpleActionServer < ObjectSegmentationGuiAction > *	object_segmentation_server_
rviz::RenderPanel *	render_panel_
Ogre::SceneManager *	scene_manager_
Ogre::SceneNode *	scene_root_
rviz::WindowManagerInterface *	window_manager_
Private Types
typedef geometry_msgs::Point32	Point
enum	ResetType {   PLAIN, COLOR, SURFACE, DISP,   HOLES, UNIFORM }
Private Member Functions
void	addToMasks (const ObjectSegmenter::Box2D &select_)
void	fillRgbImage (sensor_msgs::Image &rgb_img, const sensor_msgs::PointCloud2 &point_cloud)
void	getClusterSize ()
void	includeFlags (ObjectSegmenter::Action &ac)
void	initStorage (const sensor_msgs::Image &image)
void	overlaySegmentationMask ()
void	reset ()
void	resetVars ()
void	segment ()
int	sumLabels (const sensor_msgs::Image &image)
void	updateSelectBox (int start_x, int start_y, int stop_x, int stop_y)
Private Attributes
double	ball_size_
double	clustering_voxel_size_
	voxel grid filtering parameters
std::vector < sensor_msgs::PointCloud >	clusters_
std::vector< int >	color_code_
sensor_msgs::CameraInfo	current_camera_info_
stereo_msgs::DisparityImage	current_disparity_image_
sensor_msgs::Image	current_image_
int	current_marker_id_
	The current marker being published.
sensor_msgs::PointCloud2	current_point_cloud_
double	grad_weight_
image_transport::Publisher	image_pub_
	Publishing images (for debug only).
sensor_msgs::Image	inits_
int	inlier_threshold_
	parameters for table plane detection
sensor_msgs::Image	labels_
ros::Publisher	marker_pub_
	Publisher for markers.
double	mean_k_
	statistical outlier removal parameters
int	n_iter_
ros::NodeHandle	nh_
	The node handle.
int	num_fg_hypos_
int	num_markers_published_
	Used to remember the number of markers we publish so we can delete them later.
ObjectSegmenter *	object_segmenter_
bool	paused_
std::deque < ObjectSegmenter::Box2D >	previous_queue_
ros::NodeHandle	priv_nh_
	The node handle.
std::deque < ObjectSegmenter::Box2D >	region_queue_
bool	running_
std::vector< int >	segm_size_
double	std_
sensor_msgs::PointCloud	table_points_
TableTransform	table_transformer_
sensor_msgs::Image	texture_buffer_
double	up_direction_
bool	use_gpu_
double	window_size_

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Detailed Description

Definition at line 67 of file object_segmentation_rviz_ui.h.

---

Member Typedef Documentation

typedef geometry_msgs::Point32 object_segmentation_gui::ObjectSegmentationRvizUI::Point [private]

Definition at line 69 of file object_segmentation_rviz_ui.h.

---

Member Enumeration Documentation

enum object_segmentation_gui::ObjectSegmentationRvizUI::ResetType [private]

Enumerator:

PLAIN
COLOR
SURFACE
DISP
HOLES
UNIFORM

Definition at line 147 of file object_segmentation_rviz_ui.h.

---

Constructor & Destructor Documentation

object_segmentation_gui::ObjectSegmentationRvizUI::ObjectSegmentationRvizUI

(

rviz::VisualizationManager *

visualization_manager

)

Publisher for images (debugging only)

Definition at line 78 of file object_segmentation_rviz_ui.cpp.

object_segmentation_gui::ObjectSegmentationRvizUI::~ObjectSegmentationRvizUI

(

)

[virtual]

Definition at line 157 of file object_segmentation_rviz_ui.cpp.

---

Member Function Documentation

void object_segmentation_gui::ObjectSegmentationRvizUI::acceptButtonClicked

(

wxCommandEvent &

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 755 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::acceptNewGoal

(

)

[protected]

Definition at line 269 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::addColorCode

(

)

[protected]

Definition at line 563 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::addToMasks

(

const ObjectSegmenter::Box2D &

select_

)

[private]

Definition at line 575 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::cancelButtonClicked

(

wxCommandEvent &

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 805 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::cleanupAndHide

(

)

[protected]

Definition at line 367 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::createRenderPanel

(

rviz::VisualizationManager *

visualization_manager

)

[protected]

Definition at line 168 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::fillRgbImage	(	sensor_msgs::Image &	rgb_img,
		const sensor_msgs::PointCloud2 &	point_cloud
	)			[private]

Definition at line 622 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::filterOutliersAndDownsample

(

std::vector< sensor_msgs::PointCloud > &

clusters

)

[protected]

Definition at line 1082 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::getClusterSize

(

)

[private]

Definition at line 985 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::gradWeightChanged

(

wxScrollEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 976 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::includeFlags

(

ObjectSegmenter::Action &

ac

)

[private]

Definition at line 865 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::initStorage

(

const sensor_msgs::Image &

image

)

[private]

Definition at line 337 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::onRenderWindowMouseEvents

(

wxMouseEvent &

event

)

[protected, virtual]

Definition at line 465 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::overlaySegmentationMask

(

)

[private]

Definition at line 657 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::preempt

(

)

[protected]

Definition at line 360 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::reconstructAndClusterPointCloud

(

ObjectSegmentationGuiResult &

result

)

[protected]

Definition at line 1013 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::reset

(

)

[private]

Definition at line 818 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::resetButtonClicked

(

wxCommandEvent &

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 812 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::resetVars

(

)

[private]

Definition at line 384 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::restartButtonClicked

(

wxCommandEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 832 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::segment

(

)

[private]

Definition at line 894 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::segmentButtonClicked

(

wxCommandEvent &

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 876 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::startActionServer

(

ros::NodeHandle &

node_handle

)

Definition at line 225 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::stopActionServer

(

)

Definition at line 247 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::stopSegmentation

(

)

[protected]

Definition at line 377 of file object_segmentation_rviz_ui.cpp.

int object_segmentation_gui::ObjectSegmentationRvizUI::sumLabels

(

const sensor_msgs::Image &

image

)

[private]

Definition at line 452 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::uniformChecked

(

wxCommandEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 973 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::update	(	float	wall_dt,
		float	ros_dt
	)			[virtual]

Definition at line 422 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::updateSelectBox	(	int	start_x,
		int	start_y,
		int	stop_x,
		int	stop_y
	)			[private]

Definition at line 724 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withColorChecked

(

wxCommandEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 954 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withDisparityChecked

(

wxCommandEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 943 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withHolesChecked

(

wxCommandEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 970 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withSurfaceChecked

(

wxCommandEvent &

event

)

[protected, virtual]

Reimplemented from ObjectSegmentationFrame.

Definition at line 940 of file object_segmentation_rviz_ui.cpp.

---

Member Data Documentation

double object_segmentation_gui::ObjectSegmentationRvizUI::ball_size_ [private]

Definition at line 187 of file object_segmentation_rviz_ui.h.

Ogre::ManualObject* object_segmentation_gui::ObjectSegmentationRvizUI::box_object_ [protected]

Definition at line 141 of file object_segmentation_rviz_ui.h.

ClickInfo object_segmentation_gui::ObjectSegmentationRvizUI::click_info_ [protected]

Definition at line 140 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::clustering_voxel_size_ [private]

voxel grid filtering parameters

Definition at line 255 of file object_segmentation_rviz_ui.h.

std::vector<sensor_msgs::PointCloud> object_segmentation_gui::ObjectSegmentationRvizUI::clusters_ [private]

Point clusters

Definition at line 234 of file object_segmentation_rviz_ui.h.

std::vector<int> object_segmentation_gui::ObjectSegmentationRvizUI::color_code_ [private]

Definition at line 225 of file object_segmentation_rviz_ui.h.

sensor_msgs::CameraInfo object_segmentation_gui::ObjectSegmentationRvizUI::current_camera_info_ [private]

Definition at line 210 of file object_segmentation_rviz_ui.h.

stereo_msgs::DisparityImage object_segmentation_gui::ObjectSegmentationRvizUI::current_disparity_image_ [private]

Definition at line 208 of file object_segmentation_rviz_ui.h.

sensor_msgs::Image object_segmentation_gui::ObjectSegmentationRvizUI::current_image_ [private]

Definition at line 207 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::current_marker_id_ [private]

The current marker being published.

Definition at line 244 of file object_segmentation_rviz_ui.h.

sensor_msgs::PointCloud2 object_segmentation_gui::ObjectSegmentationRvizUI::current_point_cloud_ [private]

Definition at line 209 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::grad_weight_ [private]

Definition at line 185 of file object_segmentation_rviz_ui.h.

rviz_interaction_tools::ImageOverlay* object_segmentation_gui::ObjectSegmentationRvizUI::image_overlay_ [protected]

Definition at line 124 of file object_segmentation_rviz_ui.h.

image_transport::Publisher object_segmentation_gui::ObjectSegmentationRvizUI::image_pub_ [private]

Publishing images (for debug only).

Definition at line 156 of file object_segmentation_rviz_ui.h.

sensor_msgs::Image object_segmentation_gui::ObjectSegmentationRvizUI::inits_ [private]

Definition at line 216 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::inlier_threshold_ [private]

parameters for table plane detection

Definition at line 247 of file object_segmentation_rviz_ui.h.

sensor_msgs::Image object_segmentation_gui::ObjectSegmentationRvizUI::labels_ [private]

Definition at line 213 of file object_segmentation_rviz_ui.h.

ros::Publisher object_segmentation_gui::ObjectSegmentationRvizUI::marker_pub_ [private]

Publisher for markers.

Definition at line 240 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::mean_k_ [private]

statistical outlier removal parameters

Definition at line 251 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::n_iter_ [private]

Definition at line 188 of file object_segmentation_rviz_ui.h.

ros::NodeHandle object_segmentation_gui::ObjectSegmentationRvizUI::nh_ [private]

The node handle.

Definition at line 150 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::num_fg_hypos_ [private]

Definition at line 195 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::num_markers_published_ [private]

Used to remember the number of markers we publish so we can delete them later.

Definition at line 242 of file object_segmentation_rviz_ui.h.

actionlib::SimpleActionServer<ObjectSegmentationGuiAction>* object_segmentation_gui::ObjectSegmentationRvizUI::object_segmentation_server_ [protected]

Definition at line 143 of file object_segmentation_rviz_ui.h.

ObjectSegmenter* object_segmentation_gui::ObjectSegmentationRvizUI::object_segmenter_ [private]

Definition at line 192 of file object_segmentation_rviz_ui.h.

bool object_segmentation_gui::ObjectSegmentationRvizUI::paused_ [private]

Definition at line 222 of file object_segmentation_rviz_ui.h.

std::deque<ObjectSegmenter::Box2D> object_segmentation_gui::ObjectSegmentationRvizUI::previous_queue_ [private]

Definition at line 201 of file object_segmentation_rviz_ui.h.

ros::NodeHandle object_segmentation_gui::ObjectSegmentationRvizUI::priv_nh_ [private]

The node handle.

Definition at line 153 of file object_segmentation_rviz_ui.h.

std::deque<ObjectSegmenter::Box2D> object_segmentation_gui::ObjectSegmentationRvizUI::region_queue_ [private]

Definition at line 198 of file object_segmentation_rviz_ui.h.

rviz::RenderPanel* object_segmentation_gui::ObjectSegmentationRvizUI::render_panel_ [protected]

Definition at line 119 of file object_segmentation_rviz_ui.h.

bool object_segmentation_gui::ObjectSegmentationRvizUI::running_ [private]

Definition at line 221 of file object_segmentation_rviz_ui.h.

Ogre::SceneManager* object_segmentation_gui::ObjectSegmentationRvizUI::scene_manager_ [protected]

Definition at line 121 of file object_segmentation_rviz_ui.h.

Ogre::SceneNode* object_segmentation_gui::ObjectSegmentationRvizUI::scene_root_ [protected]

Definition at line 122 of file object_segmentation_rviz_ui.h.

std::vector<int> object_segmentation_gui::ObjectSegmentationRvizUI::segm_size_ [private]

Number of points in each segment Number of pixels might be bigger since parts of the image without disparity information can be included in the segment.

Definition at line 231 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::std_ [private]

Definition at line 252 of file object_segmentation_rviz_ui.h.

sensor_msgs::PointCloud object_segmentation_gui::ObjectSegmentationRvizUI::table_points_ [private]

Point belonging to table plane

Definition at line 237 of file object_segmentation_rviz_ui.h.

TableTransform object_segmentation_gui::ObjectSegmentationRvizUI::table_transformer_ [private]

Definition at line 204 of file object_segmentation_rviz_ui.h.

sensor_msgs::Image object_segmentation_gui::ObjectSegmentationRvizUI::texture_buffer_ [private]

Definition at line 219 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::up_direction_ [private]

Definition at line 248 of file object_segmentation_rviz_ui.h.

bool object_segmentation_gui::ObjectSegmentationRvizUI::use_gpu_ [private]

Definition at line 189 of file object_segmentation_rviz_ui.h.

rviz::WindowManagerInterface* object_segmentation_gui::ObjectSegmentationRvizUI::window_manager_ [protected]

Definition at line 118 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::window_size_ [private]

Definition at line 186 of file object_segmentation_rviz_ui.h.

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

• object_segmentation_rviz_ui.h
• object_segmentation_rviz_ui.cpp