Classes | Public Member Functions | Protected Slots | Protected Member Functions | Protected Attributes | Private Types | Private Member Functions | Private Attributes
object_segmentation_gui::ObjectSegmentationRvizUI Class Reference

#include <object_segmentation_rviz_ui.h>

List of all members.

Classes

struct  ClickInfo

Public Member Functions

 ObjectSegmentationRvizUI (rviz::VisualizationManager *visualization_manager, QWidget *parent=0)
void startActionServer (ros::NodeHandle &node_handle)
void stopActionServer ()
virtual void update (float wall_dt, float ros_dt)
virtual ~ObjectSegmentationRvizUI ()

Protected Slots

virtual void acceptButtonClicked ()
virtual void cancelButtonClicked ()
virtual void gradWeightChanged (int new_value)
virtual void resetButtonClicked ()
virtual void restartButtonClicked ()
virtual void segmentButtonClicked ()
virtual void uniformChecked ()
virtual void withColorChecked ()
virtual void withDisparityChecked ()
virtual void withHolesChecked ()
virtual void withSurfaceChecked ()

Protected Member Functions

void acceptNewGoal ()
void addColorCode ()
void cleanupAndHide ()
virtual bool eventFilter (QObject *watched_object, QEvent *event)
void filterOutliersAndDownsample (std::vector< sensor_msgs::PointCloud > &clusters)
void preempt ()
void reconstructAndClusterPointCloud (ObjectSegmentationGuiResult &result)
void setupRenderPanel (rviz::VisualizationManager *visualization_manager)
void stopSegmentation ()

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_
Ui::MainFrame * ui_
double up_direction_
bool use_gpu_
double window_size_

Detailed Description

Definition at line 69 of file object_segmentation_rviz_ui.h.

Member Typedef Documentation

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

Definition at line 72 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 151 of file object_segmentation_rviz_ui.h.

Constructor & Destructor Documentation

object_segmentation_gui::ObjectSegmentationRvizUI::ObjectSegmentationRvizUI ( rviz::VisualizationManager *  visualization_manager,
QWidget *  parent = 0 
)

Publisher for images (debugging only)

Definition at line 82 of file object_segmentation_rviz_ui.cpp.

object_segmentation_gui::ObjectSegmentationRvizUI::~ObjectSegmentationRvizUI ( ) [virtual]

Definition at line 188 of file object_segmentation_rviz_ui.cpp.

Member Function Documentation

void object_segmentation_gui::ObjectSegmentationRvizUI::acceptButtonClicked ( ) [protected, virtual, slot]

Definition at line 766 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::acceptNewGoal ( ) [protected]

Definition at line 255 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::addColorCode ( ) [protected]

Definition at line 574 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::addToMasks ( const ObjectSegmenter::Box2D &  select_) [private]

Definition at line 586 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::cancelButtonClicked ( ) [protected, virtual, slot]

Definition at line 816 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::cleanupAndHide ( ) [protected]

Definition at line 353 of file object_segmentation_rviz_ui.cpp.

bool object_segmentation_gui::ObjectSegmentationRvizUI::eventFilter ( QObject *  watched_object,
QEvent *  event 
) [protected, virtual]

Reimplemented from QObject to filter mouse events from render_panel_.

Definition at line 451 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 633 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::filterOutliersAndDownsample ( std::vector< sensor_msgs::PointCloud > &  clusters) [protected]

Definition at line 1093 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::getClusterSize ( ) [private]

Definition at line 996 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::gradWeightChanged ( int  new_value) [protected, virtual, slot]

Definition at line 987 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::includeFlags ( ObjectSegmenter::Action &  ac) [private]

Definition at line 876 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::initStorage ( const sensor_msgs::Image &  image) [private]

Definition at line 323 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::overlaySegmentationMask ( ) [private]

Definition at line 668 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::preempt ( ) [protected]

Definition at line 346 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::reconstructAndClusterPointCloud ( ObjectSegmentationGuiResult &  result) [protected]

Definition at line 1024 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::reset ( ) [private]

Definition at line 829 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::resetButtonClicked ( ) [protected, virtual, slot]

Definition at line 823 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::resetVars ( ) [private]

Definition at line 370 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::restartButtonClicked ( ) [protected, virtual, slot]

Definition at line 843 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::segment ( ) [private]

Definition at line 905 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::segmentButtonClicked ( ) [protected, virtual, slot]

Definition at line 887 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::setupRenderPanel ( rviz::VisualizationManager *  visualization_manager) [protected]

Definition at line 199 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::startActionServer ( ros::NodeHandle &  node_handle)

Definition at line 211 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::stopActionServer ( )

Definition at line 233 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::stopSegmentation ( ) [protected]

Definition at line 363 of file object_segmentation_rviz_ui.cpp.

int object_segmentation_gui::ObjectSegmentationRvizUI::sumLabels ( const sensor_msgs::Image &  image) [private]

Definition at line 438 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::uniformChecked ( ) [protected, virtual, slot]

Definition at line 984 of file object_segmentation_rviz_ui.cpp.

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

Definition at line 408 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 735 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withColorChecked ( ) [protected, virtual, slot]

Definition at line 965 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withDisparityChecked ( ) [protected, virtual, slot]

Definition at line 954 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withHolesChecked ( ) [protected, virtual, slot]

Definition at line 981 of file object_segmentation_rviz_ui.cpp.

void object_segmentation_gui::ObjectSegmentationRvizUI::withSurfaceChecked ( ) [protected, virtual, slot]

Definition at line 951 of file object_segmentation_rviz_ui.cpp.

Member Data Documentation

double object_segmentation_gui::ObjectSegmentationRvizUI::ball_size_ [private]

Definition at line 191 of file object_segmentation_rviz_ui.h.

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

Definition at line 145 of file object_segmentation_rviz_ui.h.

ClickInfo object_segmentation_gui::ObjectSegmentationRvizUI::click_info_ [protected]

Definition at line 144 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::clustering_voxel_size_ [private]

voxel grid filtering parameters

Definition at line 259 of file object_segmentation_rviz_ui.h.

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

Point clusters

Definition at line 238 of file object_segmentation_rviz_ui.h.

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

Definition at line 229 of file object_segmentation_rviz_ui.h.

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

Definition at line 214 of file object_segmentation_rviz_ui.h.

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

Definition at line 212 of file object_segmentation_rviz_ui.h.

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

Definition at line 211 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::current_marker_id_ [private]

The current marker being published.

Definition at line 248 of file object_segmentation_rviz_ui.h.

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

Definition at line 213 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::grad_weight_ [private]

Definition at line 189 of file object_segmentation_rviz_ui.h.

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

Definition at line 128 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 160 of file object_segmentation_rviz_ui.h.

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

Definition at line 220 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::inlier_threshold_ [private]

parameters for table plane detection

Definition at line 251 of file object_segmentation_rviz_ui.h.

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

Definition at line 217 of file object_segmentation_rviz_ui.h.

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

Publisher for markers.

Definition at line 244 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::mean_k_ [private]

statistical outlier removal parameters

Definition at line 255 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::n_iter_ [private]

Definition at line 192 of file object_segmentation_rviz_ui.h.

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

The node handle.

Definition at line 154 of file object_segmentation_rviz_ui.h.

int object_segmentation_gui::ObjectSegmentationRvizUI::num_fg_hypos_ [private]

Definition at line 199 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 246 of file object_segmentation_rviz_ui.h.

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

Definition at line 147 of file object_segmentation_rviz_ui.h.

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

Definition at line 196 of file object_segmentation_rviz_ui.h.

bool object_segmentation_gui::ObjectSegmentationRvizUI::paused_ [private]

Definition at line 226 of file object_segmentation_rviz_ui.h.

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

Definition at line 205 of file object_segmentation_rviz_ui.h.

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

The node handle.

Definition at line 157 of file object_segmentation_rviz_ui.h.

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

Definition at line 202 of file object_segmentation_rviz_ui.h.

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

Definition at line 123 of file object_segmentation_rviz_ui.h.

bool object_segmentation_gui::ObjectSegmentationRvizUI::running_ [private]

Definition at line 225 of file object_segmentation_rviz_ui.h.

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

Definition at line 125 of file object_segmentation_rviz_ui.h.

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

Definition at line 126 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 235 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::std_ [private]

Definition at line 256 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 241 of file object_segmentation_rviz_ui.h.

TableTransform object_segmentation_gui::ObjectSegmentationRvizUI::table_transformer_ [private]

Definition at line 208 of file object_segmentation_rviz_ui.h.

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

Definition at line 223 of file object_segmentation_rviz_ui.h.

Ui::MainFrame* object_segmentation_gui::ObjectSegmentationRvizUI::ui_ [private]

Definition at line 261 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::up_direction_ [private]

Definition at line 252 of file object_segmentation_rviz_ui.h.

bool object_segmentation_gui::ObjectSegmentationRvizUI::use_gpu_ [private]

Definition at line 193 of file object_segmentation_rviz_ui.h.

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

Definition at line 122 of file object_segmentation_rviz_ui.h.

double object_segmentation_gui::ObjectSegmentationRvizUI::window_size_ [private]

Definition at line 190 of file object_segmentation_rviz_ui.h.

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

object_segmentation_gui
Author(s): Jeannette Bohg
autogenerated on Fri Jan 3 2014 12:03:36