Public Member Functions
cv::Mat	downSample (cv::Mat data_in, int scales)
void	drawTablePlaneOnImage (XYZPointCloud &plane, PoseStamped cent)
PushPose::Response	findPushPose (cv::Mat visual_frame, cv::Mat depth_frame, XYZPointCloud &cloud, bool use_guided)
PoseStamped	findRandomPushPose (XYZPointCloud &input_cloud)
bool	getLineValues (cv::Point p1, cv::Point p2, std::vector< cv::Point > &line, cv::Size frame_size, int &min_x, int &max_x, int &min_y, int &max_y)
XYZPointCloud	getMaskedPointCloud (XYZPointCloud &input_cloud, cv::Mat &mask_in)
bool	getPushPose (PushPose::Request &req, PushPose::Response &res)
PoseStamped	getPushVector ()
cv::Mat	getTableHeightDistances ()
bool	getTableLocation (LocateTable::Request &req, LocateTable::Response &res)
PoseStamped	getTablePlane (XYZPointCloud &cloud)
void	initTracker ()
	MGCNode (ros::NodeHandle &n)
ArmModel	projectArmPoses (std_msgs::Header img_header, cv::Size frame_size, int &min_x, int &max_x, int &min_y, int &max_y)
cv::Point	projectJointOriginIntoImage (std_msgs::Header img_header, std::string joint_name)
cv::Point	projectPointIntoImage (PointStamped cur_point, std::string target_frame)
cv::Point	projectPointIntoImage (PoseStamped cur_pose, std::string target_frame)
void	sensorCallback (const sensor_msgs::ImageConstPtr &img_msg, const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	spin ()
void	startTracker ()
void	stopTracker ()
void	trackerGoalCallback (const tabletop_pushing::ObjectSingulationGoalConstPtr &goal)
void	updateTracks (cv::Mat color_frame, cv::Mat &depth_frame, cv::Mat &prev_color_frame, cv::Mat &prev_depth_frame, XYZPointCloud &cloud)
cv::Mat	upSample (cv::Mat data_in, int scales)
Protected Attributes
image_transport::Publisher	arm_img_pub_
std::deque< cv::Mat >	arm_mask_hist_
image_transport::Publisher	arm_mask_pub_
bool	auto_flow_cluster_
bool	autorun_pcl_segmentation_
std::string	base_output_path_
double	below_table_z_
sensor_msgs::CvBridge	bridge_
sensor_msgs::CameraInfo	cam_info_
std::string	cam_info_topic_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	cloud_sub_
std::deque< cv::Mat >	color_frame_hist_
int	crop_max_x_
int	crop_max_y_
int	crop_min_x_
int	crop_min_y_
std_msgs::Header	cur_camera_header_
cv::Mat	cur_color_frame_
cv::Mat	cur_depth_frame_
XYZPointCloud	cur_point_cloud_
ProtoObjects	cur_proto_objs_
cv::Mat	cur_workspace_mask_
std::deque< cv::Mat >	depth_frame_hist_
message_filters::Subscriber < sensor_msgs::Image >	depth_sub_
int	display_wait_ms_
std::deque< cv::Mat >	flow_u_hist_
std::deque< cv::Mat >	flow_v_hist_
bool	have_depth_data_
int	image_hist_size_
message_filters::Subscriber < sensor_msgs::Image >	image_sub_
image_transport::ImageTransport	it_
double	max_pushing_x_
double	max_pushing_y_
double	max_workspace_x_
double	max_workspace_y_
double	max_workspace_z_
double	min_pushing_x_
double	min_pushing_y_
double	min_workspace_x_
double	min_workspace_y_
double	min_workspace_z_
image_transport::Publisher	motion_img_pub_
std::deque< cv::Mat >	motion_mask_hist_
image_transport::Publisher	motion_mask_pub_
ros::NodeHandle	n_
ros::NodeHandle	n_private_
double	norm_est_radius_
int	num_downsamples_
ObjectSingulation	os_
PointCloudSegmentation	pcl_segmenter_
std_msgs::Header	prev_camera_header_
cv::Mat	prev_color_frame_
cv::Mat	prev_depth_frame_
ProtoObjects	prev_proto_objs_
cv::Mat	prev_seg_mask_
cv::Mat	prev_workspace_mask_
ros::ServiceServer	push_pose_server_
bool	segmenting_moving_stuff_
actionlib::SimpleActionServer < tabletop_pushing::ObjectSingulationAction >	singulation_server_
message_filters::Synchronizer < MySyncPolicy >	sync_
PoseStamped	table_centroid_
ros::ServiceServer	table_location_server_
tf::TransformListener	tf_
int	tracker_count_
bool	tracker_initialized_
bool	tracking_
std::string	workspace_frame_
std::deque< cv::Mat >	workspace_mask_hist_

Detailed Description

Definition at line 695 of file motion_graphcut.cpp.

Constructor & Destructor Documentation

MGCNode::MGCNode ( ros::NodeHandle & n ) [inline]

Definition at line 698 of file motion_graphcut.cpp.

Member Function Documentation

cv::Mat MGCNode::downSample	(	cv::Mat	data_in,
		int	scales
	)		`[inline]`

Definition at line 1652 of file motion_graphcut.cpp.

void MGCNode::drawTablePlaneOnImage	(	XYZPointCloud &	plane,
		PoseStamped	cent
	)		`[inline]`

Definition at line 1618 of file motion_graphcut.cpp.

PushPose::Response MGCNode::findPushPose	(	cv::Mat	visual_frame,
		cv::Mat	depth_frame,
		XYZPointCloud &	cloud,
		bool	use_guided
	)		`[inline]`

Definition at line 1003 of file motion_graphcut.cpp.

PoseStamped MGCNode::findRandomPushPose ( XYZPointCloud & input_cloud ) [inline]

Definition at line 1719 of file motion_graphcut.cpp.

bool MGCNode::getLineValues	(	cv::Point	p1,
		cv::Point	p2,
		std::vector< cv::Point > &	line,
		cv::Size	frame_size,
		int &	min_x,
		int &	max_x,
		int &	min_y,
		int &	max_y
	)		`[inline]`

Definition at line 1358 of file motion_graphcut.cpp.

XYZPointCloud MGCNode::getMaskedPointCloud	(	XYZPointCloud &	input_cloud,
		cv::Mat &	mask_in
	)		`[inline]`

Definition at line 1770 of file motion_graphcut.cpp.

bool MGCNode::getPushPose	(	PushPose::Request &	req,
		PushPose::Response &	res
	)		`[inline]`

Definition at line 961 of file motion_graphcut.cpp.

PoseStamped MGCNode::getPushVector ( ) [inline]

Definition at line 976 of file motion_graphcut.cpp.

cv::Mat MGCNode::getTableHeightDistances ( ) [inline]

Definition at line 1676 of file motion_graphcut.cpp.

bool MGCNode::getTableLocation	(	LocateTable::Request &	req,
		LocateTable::Response &	res
	)		`[inline]`

Definition at line 936 of file motion_graphcut.cpp.

PoseStamped MGCNode::getTablePlane ( XYZPointCloud & cloud ) [inline]

Definition at line 1702 of file motion_graphcut.cpp.

void MGCNode::initTracker ( ) [inline]

Definition at line 1056 of file motion_graphcut.cpp.

ArmModel MGCNode::projectArmPoses	(	std_msgs::Header	img_header,
		cv::Size	frame_size,
		int &	min_x,
		int &	max_x,
		int &	min_y,
		int &	max_y
	)		`[inline]`

Definition at line 1452 of file motion_graphcut.cpp.

cv::Point MGCNode::projectJointOriginIntoImage	(	std_msgs::Header	img_header,
		std::string	joint_name
	)		`[inline]`

Definition at line 1563 of file motion_graphcut.cpp.

cv::Point MGCNode::projectPointIntoImage	(	PointStamped	cur_point,
		std::string	target_frame
	)		`[inline]`

Definition at line 1318 of file motion_graphcut.cpp.

cv::Point MGCNode::projectPointIntoImage	(	PoseStamped	cur_pose,
		std::string	target_frame
	)		`[inline]`

Definition at line 1349 of file motion_graphcut.cpp.

void MGCNode::sensorCallback	(	const sensor_msgs::ImageConstPtr &	img_msg,
		const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::PointCloud2ConstPtr &	cloud_msg
	)		`[inline]`

Definition at line 829 of file motion_graphcut.cpp.

void MGCNode::spin ( ) [inline]

Executive control function for launching the node.

Definition at line 1798 of file motion_graphcut.cpp.

void MGCNode::startTracker ( ) [inline]

Definition at line 1062 of file motion_graphcut.cpp.

void MGCNode::stopTracker ( ) [inline]

Definition at line 1068 of file motion_graphcut.cpp.

void MGCNode::trackerGoalCallback ( const tabletop_pushing::ObjectSingulationGoalConstPtr & goal ) [inline]

Definition at line 1024 of file motion_graphcut.cpp.

void MGCNode::updateTracks	(	cv::Mat	color_frame,
		cv::Mat &	depth_frame,
		cv::Mat &	prev_color_frame,
		cv::Mat &	prev_depth_frame,
		XYZPointCloud &	cloud
	)		`[inline]`