#include <ObjectDetectorProvider.h>

Public Member Functions
void	init ()
	ObjectDetectorProvider (const ros::NodeHandle &node_handle)
	ObjectDetectorProvider (const ros::NodeHandle &node_handle, const CameraBridge &camera)
bool	ServiceSearchFor (re_vision::SearchFor::Request &req, re_vision::SearchFor::Response &res)
void	SetDebugMode (bool onoff, const std::string &dir="")
void	SetVisualizationMode (bool onoff)
void	TopicCameraInfo (const sensor_msgs::CameraInfo::ConstPtr &caminfo)
void	TopicNewModel (const std_msgs::String::ConstPtr &msg)
virtual	~ObjectDetectorProvider ()
Protected Types
typedef std::map< std::string, ObjectDetectorMethod * >	tAlgorithmMap
typedef std::map< std::string, ObjectModel * >	tModelMap
Protected Member Functions
void	createDetectionAlgorithms ()
bool	debugMode () const
void	detectObjects (const std::vector< std::string > &objects, const cv::Mat &image, int max_points_per_object, std::vector< re_msgs::DetectedObject * > &ret)
void	emptyResponse (const re_vision::SearchFor::Request &req, re_vision::SearchFor::Response &res) const
const CameraBridge &	getCamera () const
cv::Mat	getImage (const re_vision::SearchFor::Request &req)
void	getValidObjects (const std::vector< std::string > &objects, std::vector< std::string > &valid_objects, std::vector< re_msgs::DetectedObject > &detections, std::vector< re_msgs::DetectedObject * > &pointers) const
void	learnNewModel (const std::string &path)
void	processRequest (const re_vision::SearchFor::Request &req, const cv::Mat &image, re_vision::SearchFor::Response &res)
void	rectifyDetections (std::vector< re_msgs::DetectedObject > &detections, int W, int H, int max_points_per_object) const
void	removeModel (const std::string &name)
void	removeSomePoints (re_msgs::DetectedObject &detection, int max_points) const
void	showRequestInformation (const re_vision::SearchFor::Request &req, const cv::Mat &image) const
Protected Attributes
tAlgorithmMap	m_algorithms
sensor_msgs::CvBridge	m_bridge
CameraBridge	m_camera
bool	m_camera_info_got
ros::Subscriber *	m_camera_info_sub
bool	m_debug
tModelMap	m_models
ros::Subscriber	m_new_model_sub
ros::NodeHandle	m_node_handle
ros::ServiceServer	m_service
bool	m_visualization
ros::Publisher	m_visualization_pub
VisualizationManager *	m_visualizer

Detailed Description

Definition at line 58 of file ObjectDetectorProvider.h.

Member Typedef Documentation

typedef std::map<std::string, ObjectDetectorMethod*> ObjectDetectorProvider::tAlgorithmMap [protected]

Definition at line 237 of file ObjectDetectorProvider.h.

typedef std::map<std::string, ObjectModel*> ObjectDetectorProvider::tModelMap [protected]

Definition at line 233 of file ObjectDetectorProvider.h.

Constructor & Destructor Documentation

ObjectDetectorProvider::ObjectDetectorProvider ( const ros::NodeHandle & node_handle )

Creates the provider with the name of the topic to listen to to obtain the camera parameters

Parameters:

node_handle

Definition at line 66 of file ObjectDetectorProvider.cpp.

ObjectDetectorProvider::ObjectDetectorProvider	(	const ros::NodeHandle &	node_handle,
		const CameraBridge &	camera
	)

Creates the provider with a predefined camera

Parameters:

node_handle
camera	predefined camera parameters

Definition at line 77 of file ObjectDetectorProvider.cpp.

ObjectDetectorProvider::~ObjectDetectorProvider ( ) [virtual]

Definition at line 233 of file ObjectDetectorProvider.cpp.

Member Function Documentation

void ObjectDetectorProvider::createDetectionAlgorithms ( ) [inline, protected]

Instantiates the object detection algorithms

Definition at line 88 of file ObjectDetectorProvider.cpp.

bool ObjectDetectorProvider::debugMode ( ) const [inline, protected]

Definition at line 176 of file ObjectDetectorProvider.h.

void ObjectDetectorProvider::detectObjects	(	const std::vector< std::string > &	objects,
		const cv::Mat &	image,
		int	max_points_per_object,
		std::vector< re_msgs::DetectedObject * > &	ret
	)		`[protected]`

Definition at line 442 of file ObjectDetectorProvider.cpp.

void ObjectDetectorProvider::emptyResponse	(	const re_vision::SearchFor::Request &	req,
		re_vision::SearchFor::Response &	res
	)		const `[inline, protected]`

Definition at line 362 of file ObjectDetectorProvider.cpp.

const CameraBridge& ObjectDetectorProvider::getCamera ( ) const [inline, protected]

Definition at line 179 of file ObjectDetectorProvider.h.

cv::Mat ObjectDetectorProvider::getImage ( const re_vision::SearchFor::Request & req ) [protected]

Definition at line 373 of file ObjectDetectorProvider.cpp.

void ObjectDetectorProvider::getValidObjects	(	const std::vector< std::string > &	objects,
		std::vector< std::string > &	valid_objects,
		std::vector< re_msgs::DetectedObject > &	detections,
		std::vector< re_msgs::DetectedObject * > &	pointers
	)		const `[protected]`

Definition at line 253 of file ObjectDetectorProvider.cpp.

void ObjectDetectorProvider::init ( )

Definition at line 172 of file ObjectDetectorProvider.cpp.

void ObjectDetectorProvider::learnNewModel ( const std::string & path ) [protected]

Adds the model located in the given path to the list of models

Parameters:

path

Definition at line 399 of file ObjectDetectorProvider.cpp.

void ObjectDetectorProvider::processRequest	(	const re_vision::SearchFor::Request &	req,
		const cv::Mat &	image,
		re_vision::SearchFor::Response &	res
	)		`[protected]`

Definition at line 291 of file ObjectDetectorProvider.cpp.

void ObjectDetectorProvider::rectifyDetections	(	std::vector< re_msgs::DetectedObject > &	detections,
		int	W,
		int	H,
		int	max_points_per_object
	)		const `[protected]`

Distorts the 2d points detected in the rectified image to match the location of the points in the original input image. This also removes those points whose distorted (x,y) end up outside the image

Parameters: