FeatureTracker Class Reference

List of all members.

Public Member Functions
bool	calcResiduals (const std::vector< Eigen::Matrix3f > &RTs, const std::vector< std::vector< cv::Point2f > > &corner_trajectories_t, Eigen::VectorXf &residuals)
bool	calcResiduals (const std::vector< Eigen::Matrix3f > &RTs, const std::vector< std::vector< cv::Point2f > > &corner_trajectories_t, Eigen::VectorXf &residuals)
bool	calcResiduals (const std::vector< Eigen::Matrix3f > &RTs, const std::vector< std::vector< cv::Point2f > > &corner_trajectories_t, Eigen::VectorXf &residuals)
int	draw (Eigen::VectorXf &prob_dist)
int	draw (Eigen::VectorXf &prob_dist)
int	draw (Eigen::VectorXf &prob_dist)
bool	evluateTrajectories ()
bool	evluateTrajectories ()
bool	evluateTrajectories ()
	FeatureTracker ()
	FeatureTracker ()
	FeatureTracker ()
bool	filterTrajectories ()
bool	filterTrajectories ()
bool	filterTrajectories3d ()
std::vector< cv::Point2f >	findCorners (cv::Mat &first_image, std::vector< std::vector< cv::Point > > contours=std::vector< std::vector< cv::Point > >(), cv::Mat *mask=0)
std::vector< cv::Point2f >	findCorners (cv::Mat &first_image, cv::Mat *mask=0)
std::vector< cv::Point2f >	findCorners (cv::Mat &first_image, cv::Mat *mask=0)
bool	generateHypothesis (const Eigen::VectorXf &mask, std::vector< Eigen::Matrix3f > &RTs)
bool	generateHypothesis (const Eigen::VectorXf &mask, std::vector< Eigen::Matrix3f > &RTs)
bool	generateHypothesis (const Eigen::VectorXf &mask, std::vector< Eigen::Matrix3f > &RTs)
bool	getPclPoint (int x, int y, pcl::PointXYZ &point)
bool	grasp ()
float	sampleHypothesisSet (std::vector< int > &feature_assocoation, Eigen::VectorXf &feature_per_hyp_count)
float	sampleHypothesisSet (std::vector< int > &feature_assocoation)
float	sampleHypothesisSet (std::vector< int > &feature_assocoation)
bool	selectRandomFeatures (std::vector< int > &features_idx, const Eigen::VectorXf &mask)
bool	selectRandomFeatures (std::vector< int > &features_idx, const Eigen::VectorXf &mask)
bool	selectRandomFeatures (std::vector< int > &features_idx, const Eigen::VectorXf &mask)
bool	tracking_step (cv::Mat &new_image)
bool	tracking_step (cv::Mat &new_image)
bool	tracking_step (cv::Mat &new_image)
bool	writeClustersToFile (int &idx, cv::Point2f &feature, std::ofstream &a_file)
Public Attributes
pcl::PointCloud< pcl::PointXYZ > ::Ptr	cloud
pcl::PointCloud< pcl::PointXYZ > ::Ptr	cloud_segment
std::vector< std::vector < cv::Point2f > >	corner_trajectories
std::vector< std::vector < cv::Point2f > >	corner_trajectories_filtered_and_transposed
std::vector< std::vector < pcl::PointXYZ > >	corner_trajectories_filtered_and_transposed_3d
Eigen::VectorXi	good_corners
cv::Mat	last_image
ros::NodeHandle	nh
int	num_tracking_steps
tf::TransformListener	tf_listen
cv::Mat	vis_image
cv::Mat	vis_image_orig
Static Public Attributes
static unsigned char	colormap []
static const int	MAX_CORNERS = 500
static const double	min_distance = 10
static const int	num_points_to_select = 3
static const double	quality = 0.01
static const float	residual_error_comp = 0.1
static const int	WIN_SIZE = 10

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Detailed Description

Definition at line 138 of file c_track_features.cpp.

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Constructor & Destructor Documentation

FeatureTracker::FeatureTracker

(

)

[inline]

Definition at line 166 of file c_track_features.cpp.

FeatureTracker::FeatureTracker

(

)

[inline]

Definition at line 296 of file c_track_features_3d.cpp.

FeatureTracker::FeatureTracker

(

)

[inline]

Definition at line 185 of file c_track_features_with_grasping.cpp.

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Member Function Documentation

bool FeatureTracker::calcResiduals	(	const std::vector< Eigen::Matrix3f > &	RTs,
		const std::vector< std::vector< cv::Point2f > > &	corner_trajectories_t,
		Eigen::VectorXf &	residuals
	)

bool FeatureTracker::calcResiduals	(	const std::vector< Eigen::Matrix3f > &	RTs,
		const std::vector< std::vector< cv::Point2f > > &	corner_trajectories_t,
		Eigen::VectorXf &	residuals
	)

bool FeatureTracker::calcResiduals	(	const std::vector< Eigen::Matrix3f > &	RTs,
		const std::vector< std::vector< cv::Point2f > > &	corner_trajectories_t,
		Eigen::VectorXf &	residuals
	)

Definition at line 285 of file c_track_features.cpp.

int FeatureTracker::draw

(

Eigen::VectorXf &

prob_dist

)

Draw random bucket according probability distribution.

int FeatureTracker::draw

(

Eigen::VectorXf &

prob_dist

)

Draw random bucket according probability distribution.

int FeatureTracker::draw

(

Eigen::VectorXf &

prob_dist

)

Draw random bucket according probability distribution.

Definition at line 348 of file c_track_features.cpp.

bool FeatureTracker::evluateTrajectories

(

)

bool FeatureTracker::evluateTrajectories

(

)

bool FeatureTracker::evluateTrajectories

(

)

Definition at line 483 of file c_track_features.cpp.

bool FeatureTracker::filterTrajectories

(

)

bool FeatureTracker::filterTrajectories

(

)

Definition at line 308 of file c_track_features.cpp.

bool FeatureTracker::filterTrajectories3d

(

)

Definition at line 474 of file c_track_features_3d.cpp.

std::vector< cv::Point2f > FeatureTracker::findCorners	(	cv::Mat &	first_image,
		std::vector< std::vector< cv::Point > >	contours = std::vector<std::vector<cv::Point> > (),
		cv::Mat *	mask = 0
	)

Definition at line 628 of file c_track_features_with_grasping.cpp.

std::vector<cv::Point2f> FeatureTracker::findCorners	(	cv::Mat &	first_image,
		cv::Mat *	mask = 0
	)

std::vector< cv::Point2f > FeatureTracker::findCorners	(	cv::Mat &	first_image,
		cv::Mat *	mask = 0
	)

Definition at line 219 of file c_track_features.cpp.

bool FeatureTracker::generateHypothesis	(	const Eigen::VectorXf &	mask,
		std::vector< Eigen::Matrix3f > &	RTs
	)

bool FeatureTracker::generateHypothesis	(	const Eigen::VectorXf &	mask,
		std::vector< Eigen::Matrix3f > &	RTs
	)

bool FeatureTracker::generateHypothesis	(	const Eigen::VectorXf &	mask,
		std::vector< Eigen::Matrix3f > &	RTs
	)

Definition at line 428 of file c_track_features.cpp.

bool FeatureTracker::getPclPoint	(	int	x,
		int	y,
		pcl::PointXYZ &	point
	)

Definition at line 951 of file c_track_features_with_grasping.cpp.

bool FeatureTracker::grasp

(

)

Definition at line 245 of file c_track_features_with_grasping.cpp.

float FeatureTracker::sampleHypothesisSet	(	std::vector< int > &	feature_assocoation,
		Eigen::VectorXf &	feature_per_hyp_count
	)

Definition at line 1068 of file c_track_features_with_grasping.cpp.

float FeatureTracker::sampleHypothesisSet

(

std::vector< int > &

feature_assocoation

)

float FeatureTracker::sampleHypothesisSet

(

std::vector< int > &

feature_assocoation

)

Definition at line 543 of file c_track_features.cpp.

bool FeatureTracker::selectRandomFeatures	(	std::vector< int > &	features_idx,
		const Eigen::VectorXf &	mask
	)

bool FeatureTracker::selectRandomFeatures	(	std::vector< int > &	features_idx,
		const Eigen::VectorXf &	mask
	)

bool FeatureTracker::selectRandomFeatures	(	std::vector< int > &	features_idx,
		const Eigen::VectorXf &	mask
	)

Definition at line 363 of file c_track_features.cpp.

bool FeatureTracker::tracking_step

(

cv::Mat &

new_image

)

bool FeatureTracker::tracking_step

(

cv::Mat &

new_image

)

bool FeatureTracker::tracking_step

(

cv::Mat &

new_image

)

Definition at line 246 of file c_track_features.cpp.

bool FeatureTracker::writeClustersToFile	(	int &	idx,
		cv::Point2f &	feature,
		std::ofstream &	a_file
	)

Definition at line 466 of file c_track_features.cpp.

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Member Data Documentation

pcl::PointCloud< pcl::PointXYZ >::Ptr FeatureTracker::cloud

Definition at line 280 of file c_track_features_3d.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr FeatureTracker::cloud_segment

Definition at line 171 of file c_track_features_with_grasping.cpp.

unsigned char FeatureTracker::colormap [static]

Initial value:

{
                255,0,0,
                0,255,0,
                0,0,255,
                255,255,0,
                255,0,255,
                0,255,255,
                127,0,0,
                0,127,0,
                0,0,127,
                127,127,0,
                127,0,127,
                0,127,127,
}

Definition at line 162 of file c_track_features.cpp.

std::vector< std::vector< cv::Point2f > > FeatureTracker::corner_trajectories

Definition at line 153 of file c_track_features.cpp.

std::vector< std::vector< cv::Point2f > > FeatureTracker::corner_trajectories_filtered_and_transposed

Definition at line 154 of file c_track_features.cpp.

std::vector<std::vector<pcl::PointXYZ> > FeatureTracker::corner_trajectories_filtered_and_transposed_3d

Definition at line 284 of file c_track_features_3d.cpp.

Eigen::VectorXi FeatureTracker::good_corners

Definition at line 156 of file c_track_features.cpp.

cv::Mat FeatureTracker::last_image

Definition at line 152 of file c_track_features.cpp.

static const int FeatureTracker::MAX_CORNERS = 500 [static]

Definition at line 142 of file c_track_features.cpp.

static const double FeatureTracker::min_distance = 10 [static]

Definition at line 144 of file c_track_features.cpp.

ros::NodeHandle FeatureTracker::nh

Definition at line 173 of file c_track_features_with_grasping.cpp.

static const int FeatureTracker::num_points_to_select = 3 [static]

Definition at line 148 of file c_track_features.cpp.

int FeatureTracker::num_tracking_steps

Definition at line 159 of file c_track_features.cpp.

static const double FeatureTracker::quality = 0.01 [static]

Definition at line 143 of file c_track_features.cpp.

static const float FeatureTracker::residual_error_comp = 0.1 [static]

Definition at line 164 of file c_track_features.cpp.

tf::TransformListener FeatureTracker::tf_listen

Definition at line 162 of file c_track_features_with_grasping.cpp.

cv::Mat FeatureTracker::vis_image

Definition at line 150 of file c_track_features.cpp.

cv::Mat FeatureTracker::vis_image_orig

Definition at line 151 of file c_track_features.cpp.

static const int FeatureTracker::WIN_SIZE = 10 [static]

Definition at line 145 of file c_track_features.cpp.

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

• c_track_features.cpp
• c_track_features_3d.cpp
• c_track_features_with_grasping.cpp