Public Member Functions
PushVector	findRandomPushPose (XYZPointCloud &input_cloud)
PushVector	getPushVector (bool no_push_calc, cv::Mat &color_img, cv::Mat &depth_img, XYZPointCloud &cloud, cv::Mat &workspace_mask, bool use_guided=true)
bool	initialize (cv::Mat &color_img, cv::Mat &depth_img, XYZPointCloud &cloud, cv::Mat &workspace_mask)
bool	isInitialized () const
	ObjectSingulation (shared_ptr< PointCloudSegmentation > pcl_segmenter)
void	unInitialize ()
Public Attributes
double	bad_icp_score_limit_
std::string	base_output_path_
double	boundary_ransac_thresh_
double	depth_edge_weight_
double	depth_edge_weight_thresh_
double	edge_weight_thresh_
bool	force_remain_singulated_
int	histogram_bin_height_
int	histogram_bin_width_
double	max_push_angle_
double	max_push_dist_
double	max_pushing_x_
double	max_pushing_y_
double	max_table_x_
double	max_table_y_
int	min_boundary_length_
int	min_cluster_size_
int	min_edge_length_
double	min_push_angle_
double	min_push_dist_
double	min_pushing_x_
double	min_pushing_y_
double	min_table_x_
double	min_table_y_
int	num_angle_bins_
int	num_downsamples_
ros::Publisher	obj_push_pub_
int	per_object_rand_push_count_
double	push_collision_intersection_thresh_
double	push_dist_inflation_
int	push_guess_limit_
double	start_collision_thresh_
bool	threshold_edges_
int	upscale_
bool	use_displays_
bool	use_unguided_icp_
std::string	workspace_frame_
bool	write_to_disk_
Protected Member Functions
void	associate3DBoundaries (std::vector< Boundary > &boundaries, ProtoObjects &objs, cv::Mat &obj_lbl_img)
ProtoObjects	calcProtoObjects (XYZPointCloud &cloud, bool use_guided=true)
std::vector< unsigned int >	checkSingulated (std::vector< Boundary > &boundaries, ProtoObjects &objs)
PushVector	determinePushPose (cv::Mat &boundary_img, ProtoObjects &objs, std::vector< Boundary > &boundaries, XYZPointCloud &cloud)
PushVector	determinePushVector (std::vector< Boundary > &boundaries, ProtoObjects &objs, cv::Mat &obj_lbl_img)
geometry_msgs::Point	determineStartPoint (XYZPointCloud &pts, PushOpt &opt)
geometry_msgs::Point	determineStartPoint (XYZPointCloud &obj_cloud, Eigen::Vector4f centroid, Eigen::Vector3f push_unit_vec, double &push_angle, double &push_dist)
void	displayBoundaryOrientation (cv::Mat &obj_img, Boundary &boundary, std::string title)
void	displayPushVector (cv::Mat &lbl_img, Boundary &boundary, PushVector &push, PushOpt &split)
void	displayPushVector (ProtoObject &obj, PushVector &push, Eigen::Vector3f push_unit_vec)
void	draw3DBoundaries (std::vector< Boundary > boundaries, cv::Mat &img, unsigned int objs_size, bool is_obj_img=false)
void	drawObjectHists (cv::Mat &img, ProtoObjects &objs, int highlight_bin, int highlight_obj, bool is_obj_img=false)
void	drawObjectTransformAxises (cv::Mat &obj_img, ProtoObjects &objs)
void	drawSemicircleHist (std::vector< int > &hist, cv::Mat &disp_img, const cv::Point center, int w, int h, const cv::Scalar line_color, const cv::Scalar fill_color, const cv::Scalar highlight_color, const float start_rot, int highlight_bin=-1)
void	drawUnguidedHist (std::vector< int > &hist, cv::Mat &disp_img, const cv::Point center, int w, int h, const cv::Scalar line_color, const cv::Scalar fill_color, const cv::Scalar highlight_color, const float start_rot, int highlight_bin=-1)
void	drawUnguidedHists (cv::Mat &img, ProtoObjects &objs, int highlight_obj)
void	evaluatePushOpts (PushOpts &split_opts, Boundary &boundary, ProtoObjects &objs)
PushVector	findRandomPushVector (ProtoObjects &objs, XYZPointCloud &cloud, cv::Mat &color_img)
PushOpts	generatePushOpts (Boundary &boundary)
void	get3DBoundaries (std::vector< Boundary > &boundaries, XYZPointCloud &cloud)
void	get3DBoundary (Boundary &b, XYZPointCloud &cloud)
double	getBoundaryLengthXYMeters (Boundary &b)
int	getNextID ()
std::vector< Boundary >	getObjectBoundaryStrengths (cv::Mat &color_img, cv::Mat &depth_img, cv::Mat &workspace_mask, cv::Mat &combined_edges)
float	getObjFrameAngleFromWorldFrame (float theta, Eigen::Matrix4f &t)
float	getObjFrameBoundaryOrientation (Boundary &b, Eigen::Matrix4f &t)
Eigen::Vector3f	getRANSACXYVector (Boundary &b)
Eigen::Vector3f	getRANSACXYVector (Boundary &b, Eigen::Vector3f &l_pt)
void	highlightBoundaryOrientation (cv::Mat &obj_img, Boundary &boundary, std::string title)
void	matchMoved (ProtoObjects &cur_objs, ProtoObjects &prev_objs, std::vector< bool > matched, bool split, bool merged, bool use_guided)
std::vector< bool >	matchUnmoved (ProtoObjects &cur_objs, ProtoObjects &prev_objs)
bool	pushCollidesWithObject (PushOpt &po, ProtoObjects &objs)
int	pushCollidesWithWhat (PushOpt &po, ProtoObjects &objs)
bool	pushLeavesTable (PushOpt &po)
bool	pushLeavesWorkspace (PushOpt &po, ProtoObject &obj)
int	quantizeAngle (float angle)
ProtoObjects	splitObject3D (Boundary &boundary, ProtoObject &to_split, bool update_boundary=false)
ProtoObjects	splitObject3D (Eigen::Vector4f &hessian, ProtoObject &to_split)
Eigen::Vector4f	splitPlaneVertical (Boundary &b, bool update_boundary=false, bool use_boundary=false)
bool	startCollidesWithObject (PushOpt &po, ProtoObjects &objs)
bool	startLeavesWorkspace (PushOpt &po)
float	subHalfPiAngle (float angle)
void	updateMovedObjs (ProtoObjects &cur_objs, ProtoObjects &prev_objs, bool use_guided=true)
Protected Attributes
int	callback_count_
ProtoObjects	cur_proto_objs_
XYZPointCloud	cur_table_cloud_
cv::Mat	dx_kernel_
cv::Mat	dy_kernel_
cv::Mat	g_kernel_
bool	initialized_
bool	merged_
int	next_id_
shared_ptr < PointCloudSegmentation >	pcl_segmenter_
XYZPointCloud	prev_cloud_down_
XYZPointCloud	prev_objs_down_
ProtoObjects	prev_proto_objs_
PushVector	prev_push_vector_
bool	split_

Detailed Description

Definition at line 293 of file object_singulation_node.cpp.

Constructor & Destructor Documentation

ObjectSingulation::ObjectSingulation ( shared_ptr< PointCloudSegmentation > pcl_segmenter ) [inline]

Definition at line 296 of file object_singulation_node.cpp.

Member Function Documentation

void ObjectSingulation::associate3DBoundaries	(	std::vector< Boundary > &	boundaries,
		ProtoObjects &	objs,
		cv::Mat &	obj_lbl_img
	)		`[inline, protected]`

Definition at line 1197 of file object_singulation_node.cpp.

ProtoObjects ObjectSingulation::calcProtoObjects	(	XYZPointCloud &	cloud,
		bool	use_guided = `true`
	)		`[inline, protected]`

Find the current object estimates in the current cloud, dependent on the previous cloud

Parameters:

cloud The cloud to find the objects in.

Returns:: The current estimate of the objects

Definition at line 477 of file object_singulation_node.cpp.

std::vector<unsigned int> ObjectSingulation::checkSingulated	(	std::vector< Boundary > &	boundaries,
		ProtoObjects &	objs
	)		`[inline, protected]`

Definition at line 1371 of file object_singulation_node.cpp.

PushVector ObjectSingulation::determinePushPose	(	cv::Mat &	boundary_img,
		ProtoObjects &	objs,
		std::vector< Boundary > &	boundaries,
		XYZPointCloud &	cloud
	)		`[inline, protected]`

Determine what push to make given the current object and boundary estimates

Parameters:

boundary_img	The image of the estimated boundary strengths
objs	The estimated set of proto objects

Returns:: A push for the robot to make to singulate objects

Definition at line 800 of file object_singulation_node.cpp.

PushVector ObjectSingulation::determinePushVector	(	std::vector< Boundary > &	boundaries,
		ProtoObjects &	objs,
		cv::Mat &	obj_lbl_img
	)		`[inline, protected]`

Definition at line 837 of file object_singulation_node.cpp.

geometry_msgs::Point ObjectSingulation::determineStartPoint	(	XYZPointCloud &	pts,
		PushOpt &	opt
	)		`[inline, protected]`

Definition at line 1701 of file object_singulation_node.cpp.

geometry_msgs::Point ObjectSingulation::determineStartPoint	(	XYZPointCloud &	obj_cloud,
		Eigen::Vector4f	centroid,
		Eigen::Vector3f	push_unit_vec,
		double &	push_angle,
		double &	push_dist
	)		`[inline, protected]`

Definition at line 1751 of file object_singulation_node.cpp.

void ObjectSingulation::displayBoundaryOrientation	(	cv::Mat &	obj_img,
		Boundary &	boundary,
		std::string	title
	)		`[inline, protected]`

Definition at line 1857 of file object_singulation_node.cpp.

void ObjectSingulation::displayPushVector	(	cv::Mat &	lbl_img,
		Boundary &	boundary,
		PushVector &	push,
		PushOpt &	split
	)		`[inline, protected]`

Definition at line 1501 of file object_singulation_node.cpp.

void ObjectSingulation::displayPushVector	(	ProtoObject &	obj,
		PushVector &	push,
		Eigen::Vector3f	push_unit_vec
	)		`[inline, protected]`

Definition at line 1556 of file object_singulation_node.cpp.

void ObjectSingulation::draw3DBoundaries	(	std::vector< Boundary >	boundaries,
		cv::Mat &	img,
		unsigned int	objs_size,
		bool	is_obj_img = `false`
	)		`[inline, protected]`

Definition at line 1966 of file object_singulation_node.cpp.

void ObjectSingulation::drawObjectHists	(	cv::Mat &	img,
		ProtoObjects &	objs,
		int	highlight_bin,
		int	highlight_obj,
		bool	is_obj_img = `false`
	)		`[inline, protected]`

Definition at line 2155 of file object_singulation_node.cpp.

void ObjectSingulation::drawObjectTransformAxises	(	cv::Mat &	obj_img,
		ProtoObjects &	objs
	)		`[inline, protected]`

Definition at line 2054 of file object_singulation_node.cpp.

void ObjectSingulation::drawSemicircleHist	(	std::vector< int > &	hist,
		cv::Mat &	disp_img,
		const cv::Point	center,
		int	w,
		int	h,
		const cv::Scalar	line_color,
		const cv::Scalar	fill_color,
		const cv::Scalar	highlight_color,
		const float	start_rot,
		int	highlight_bin = `-1`
	)		`[inline, protected]`

Definition at line 2296 of file object_singulation_node.cpp.

void ObjectSingulation::drawUnguidedHist	(	std::vector< int > &	hist,
		cv::Mat &	disp_img,
		const cv::Point	center,
		int	w,
		int	h,
		const cv::Scalar	line_color,
		const cv::Scalar	fill_color,
		const cv::Scalar	highlight_color,
		const float	start_rot,
		int	highlight_bin = `-1`
	)		`[inline, protected]`

Definition at line 2417 of file object_singulation_node.cpp.

void ObjectSingulation::drawUnguidedHists	(	cv::Mat &	img,
		ProtoObjects &	objs,
		int	highlight_obj
	)		`[inline, protected]`

Definition at line 2241 of file object_singulation_node.cpp.

void ObjectSingulation::evaluatePushOpts	(	PushOpts &	split_opts,
		Boundary &	boundary,
		ProtoObjects &	objs
	)		`[inline, protected]`

Definition at line 1470 of file object_singulation_node.cpp.

PushVector ObjectSingulation::findRandomPushPose ( XYZPointCloud & input_cloud ) [inline]

Randomly choose an object to push that is within reach. Chooses a random direction to push from.

Parameters:

input_cloud Point cloud containing the tabletop scene to push in

Returns:: The location and direction to push.

Definition at line 414 of file object_singulation_node.cpp.

PushVector ObjectSingulation::findRandomPushVector	(	ProtoObjects &	objs,
		XYZPointCloud &	cloud,
		cv::Mat &	color_img
	)		`[inline, protected]`

Randomly choose an object to push that is within reach. Chooses a random direction to push from.

Parameters:

input_cloud Point cloud containing the tabletop scene to push in

Returns:: The location and direction to push.

Definition at line 960 of file object_singulation_node.cpp.

PushOpts ObjectSingulation::generatePushOpts ( Boundary & boundary ) [inline, protected]

Definition at line 1417 of file object_singulation_node.cpp.

void ObjectSingulation::get3DBoundaries	(	std::vector< Boundary > &	boundaries,
		XYZPointCloud &	cloud
	)		`[inline, protected]`

Definition at line 1174 of file object_singulation_node.cpp.

void ObjectSingulation::get3DBoundary	(	Boundary &	b,
		XYZPointCloud &	cloud
	)		`[inline, protected]`

Definition at line 1182 of file object_singulation_node.cpp.

double ObjectSingulation::getBoundaryLengthXYMeters ( Boundary & b ) [inline, protected]

Definition at line 1683 of file object_singulation_node.cpp.

int ObjectSingulation::getNextID ( ) [inline, protected]

Definition at line 2149 of file object_singulation_node.cpp.

std::vector<Boundary> ObjectSingulation::getObjectBoundaryStrengths	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		cv::Mat &	workspace_mask,
		cv::Mat &	combined_edges
	)		`[inline, protected]`

Determine the strength of object boundaries in an RGB-D image

Parameters:

color_img	The color image
depth_img	The depth image
workspace_mask	A mask depicting locations of interest
combined_edges	Edge image

Returns:: A vector of the detected Boundary objects

Definition at line 1088 of file object_singulation_node.cpp.

float ObjectSingulation::getObjFrameAngleFromWorldFrame	(	float	theta,
		Eigen::Matrix4f &	t
	)		`[inline, protected]`

Definition at line 1283 of file object_singulation_node.cpp.

float ObjectSingulation::getObjFrameBoundaryOrientation	(	Boundary &	b,
		Eigen::Matrix4f &	t
	)		`[inline, protected]`

Definition at line 1274 of file object_singulation_node.cpp.

PushVector ObjectSingulation::getPushVector	(	bool	no_push_calc,
		cv::Mat &	color_img,
		cv::Mat &	depth_img,
		XYZPointCloud &	cloud,
		cv::Mat &	workspace_mask,
		bool	use_guided = `true`
	)		`[inline]`

Determine the pushing pose and direction to verify separate objects

Parameters:

color_img	The current color image
depth_img	The current depth image
cloud	The current point cloud
workspace_mask	The current workspace mask

Returns:: The location and orientation to push

Definition at line 334 of file object_singulation_node.cpp.

Eigen::Vector3f ObjectSingulation::getRANSACXYVector ( Boundary & b ) [inline, protected]

Definition at line 1314 of file object_singulation_node.cpp.

Eigen::Vector3f ObjectSingulation::getRANSACXYVector	(	Boundary &	b,
		Eigen::Vector3f &	l_pt
	)		`[inline, protected]`

Definition at line 1320 of file object_singulation_node.cpp.

void ObjectSingulation::highlightBoundaryOrientation	(	cv::Mat &	obj_img,
		Boundary &	boundary,
		std::string	title
	)		`[inline, protected]`

Definition at line 1927 of file object_singulation_node.cpp.

bool ObjectSingulation::initialize	(	cv::Mat &	color_img,
		cv::Mat &	depth_img,
		XYZPointCloud &	cloud,
		cv::Mat &	workspace_mask
	)		`[inline]`

Definition at line 306 of file object_singulation_node.cpp.

bool ObjectSingulation::isInitialized ( ) const [inline]

Definition at line 2532 of file object_singulation_node.cpp.

void ObjectSingulation::matchMoved	(	ProtoObjects &	cur_objs,
		ProtoObjects &	prev_objs,
		std::vector< bool >	matched,
		bool	split,
		bool	merged,
		bool	use_guided
	)		`[inline, protected]`