#include <object_tracker_25d.h>

Public Member Functions
void	computeState (ProtoObject &cur_obj, pcl16::PointCloud< pcl16::PointXYZ > &cloud, std::string proxy_name, cv::Mat &in_frame, tabletop_pushing::VisFeedbackPushTrackingFeedback &state, bool init_state=false)
void	findFootprintBox (ProtoObject &obj, cv::RotatedRect &ellipse)
void	findFootprintEllipse (ProtoObject &obj, cv::RotatedRect &ellipse)
ProtoObject	findTargetObject (cv::Mat &in_frame, pcl16::PointCloud< pcl16::PointXYZ > &cloud, bool &no_objects, bool init=false)
ProtoObject	findTargetObjectGC (cv::Mat &in_frame, XYZPointCloud &cloud, cv::Mat &depth_frame, cv::Mat self_mask, bool &no_objects, bool init=false)
void	fit2DMassEllipse (ProtoObject &obj, cv::RotatedRect &ellipse)
void	fitHullEllipse (XYZPointCloud &hull_cloud, cv::RotatedRect &obj_ellipse)
void	fitObjectEllipse (ProtoObject &obj, cv::RotatedRect &ellipse)
cv::RotatedRect	getMostRecentEllipse () const
ProtoObject	getMostRecentObject () const
tabletop_pushing::VisFeedbackPushTrackingFeedback	getMostRecentState () const
bool	getSwapState () const
double	getThetaFromEllipse (cv::RotatedRect &obj_ellipse)
void	initTracks (cv::Mat &in_frame, cv::Mat &depth_frame, cv::Mat &self_mask, pcl16::PointCloud< pcl16::PointXYZ > &cloud, std::string proxy_name, tabletop_pushing::VisFeedbackPushTrackingFeedback &state, bool start_swap=false)
bool	isInitialized () const
bool	isPaused () const
	ObjectTracker25D (boost::shared_ptr< PointCloudSegmentation > segmenter, boost::shared_ptr< ArmObjSegmentation > arm_segmenter, int num_downsamples=0, bool use_displays=false, bool write_to_disk=false, std::string base_output_path="", std::string camera_frame="", bool use_cv_ellipse=false, bool use_mps_segmentation=false, bool use_graphcut_arm_seg_=false, double hull_alpha=0.01)
void	pause ()
void	pausedUpdate (cv::Mat in_frame)
void	setNumDownsamples (int num_downsamples)
void	stopTracking ()
void	toggleSwap ()
void	trackerBoxDisplay (cv::Mat &in_frame, ProtoObject &cur_obj, cv::RotatedRect &obj_ellipse)
void	trackerDisplay (cv::Mat &in_frame, ProtoObject &cur_obj, cv::RotatedRect &obj_ellipse)
void	trackerDisplay (cv::Mat &in_frame, tabletop_pushing::VisFeedbackPushTrackingFeedback &state, ProtoObject &obj, bool other_color=false)
void	unpause ()
void	updateTracks (cv::Mat &in_frame, cv::Mat &depth_frame, cv::Mat &self_mask, pcl16::PointCloud< pcl16::PointXYZ > &cloud, std::string proxy_name, tabletop_pushing::VisFeedbackPushTrackingFeedback &state)
Protected Member Functions
GMM	buildColorModel (XYZPointCloud &cloud, cv::Mat &frame, int num_clusters)
cv::Mat	getTableMask (XYZPointCloud &cloud, XYZPointCloud &table_cloud, cv::Size mask_size, XYZPointCloud &obj_cloud)
ProtoObject	matchToTargetObject (ProtoObjects &objects, cv::Mat &in_frame, bool init=false)
void	updateHeading (tabletop_pushing::VisFeedbackPushTrackingFeedback &state, bool init_state)
Protected Attributes
boost::shared_ptr < ArmObjSegmentation >	arm_segmenter_
std::string	base_output_path_
std::string	camera_frame_
int	frame_count_
int	frame_set_count_
bool	have_obj_color_model_
bool	have_table_color_model_
double	hull_alpha_
tabletop_pushing::VisFeedbackPushTrackingFeedback	init_state_
bool	initialized_
int	num_downsamples_
GMM	obj_color_model_
bool	obj_saved_
bool	paused_
boost::shared_ptr < PointCloudSegmentation >	pcl_segmenter_
XYZPointCloud	previous_hull_cloud_
ProtoObject	previous_obj_
cv::RotatedRect	previous_obj_ellipse_
tabletop_pushing::VisFeedbackPushTrackingFeedback	previous_state_
double	previous_time_
int	record_count_
bool	swap_orientation_
GMM	table_color_model_
int	upscale_
bool	use_cv_ellipse_fit_
bool	use_displays_
bool	use_graphcut_arm_seg_
bool	use_mps_segmentation_
bool	write_to_disk_

Detailed Description

Definition at line 63 of file object_tracker_25d.h.

Constructor & Destructor Documentation

ObjectTracker25D::ObjectTracker25D	(	boost::shared_ptr< PointCloudSegmentation >	segmenter,
		boost::shared_ptr< ArmObjSegmentation >	arm_segmenter,
		int	num_downsamples = `0`,
		bool	use_displays = `false`,
		bool	write_to_disk = `false`,
		std::string	base_output_path = `""`,
		std::string	camera_frame = `""`,
		bool	use_cv_ellipse = `false`,
		bool	use_mps_segmentation = `false`,
		bool	use_graphcut_arm_seg_ = `false`,
		double	hull_alpha = `0.01`
	)

Definition at line 33 of file object_tracker_25d.cpp.

Member Function Documentation

GMM ObjectTracker25D::buildColorModel	(	XYZPointCloud &	cloud,
		cv::Mat &	frame,
		int	num_clusters
	)		`[protected]`

Definition at line 987 of file object_tracker_25d.cpp.

void ObjectTracker25D::computeState	(	ProtoObject &	cur_obj,
		pcl16::PointCloud< pcl16::PointXYZ > &	cloud,
		std::string	proxy_name,
		cv::Mat &	in_frame,
		tabletop_pushing::VisFeedbackPushTrackingFeedback &	state,
		bool	init_state = `false`
	)

Definition at line 259 of file object_tracker_25d.cpp.

void ObjectTracker25D::findFootprintBox	(	ProtoObject &	obj,
		cv::RotatedRect &	ellipse
	)

Definition at line 543 of file object_tracker_25d.cpp.

void ObjectTracker25D::findFootprintEllipse	(	ProtoObject &	obj,
		cv::RotatedRect &	ellipse
	)

Definition at line 530 of file object_tracker_25d.cpp.

ProtoObject ObjectTracker25D::findTargetObject	(	cv::Mat &	in_frame,
		pcl16::PointCloud< pcl16::PointXYZ > &	cloud,
		bool &	no_objects,
		bool	init = `false`
	)

Definition at line 129 of file object_tracker_25d.cpp.

ProtoObject ObjectTracker25D::findTargetObjectGC	(	cv::Mat &	in_frame,
		XYZPointCloud &	cloud,
		cv::Mat &	depth_frame,
		cv::Mat	self_mask,
		bool &	no_objects,
		bool	init = `false`
	)

Definition at line 50 of file object_tracker_25d.cpp.

void ObjectTracker25D::fit2DMassEllipse	(	ProtoObject &	obj,
		cv::RotatedRect &	ellipse
	)

Definition at line 555 of file object_tracker_25d.cpp.

void ObjectTracker25D::fitHullEllipse	(	XYZPointCloud &	hull_cloud,
		cv::RotatedRect &	obj_ellipse
	)

Definition at line 477 of file object_tracker_25d.cpp.

void ObjectTracker25D::fitObjectEllipse	(	ProtoObject &	obj,
		cv::RotatedRect &	ellipse
	)

Definition at line 465 of file object_tracker_25d.cpp.

cv::RotatedRect tabletop_pushing::ObjectTracker25D::getMostRecentEllipse ( ) const [inline]

Definition at line 136 of file object_tracker_25d.h.

ProtoObject tabletop_pushing::ObjectTracker25D::getMostRecentObject ( ) const [inline]

Definition at line 131 of file object_tracker_25d.h.

tabletop_pushing::VisFeedbackPushTrackingFeedback tabletop_pushing::ObjectTracker25D::getMostRecentState ( ) const [inline]

Definition at line 126 of file object_tracker_25d.h.

bool tabletop_pushing::ObjectTracker25D::getSwapState ( ) const [inline]

Definition at line 156 of file object_tracker_25d.h.

cv::Mat ObjectTracker25D::getTableMask	(	XYZPointCloud &	cloud,
		XYZPointCloud &	table_cloud,
		cv::Size	mask_size,
		XYZPointCloud &	obj_cloud
	)		`[protected]`

Definition at line 976 of file object_tracker_25d.cpp.

double ObjectTracker25D::getThetaFromEllipse ( cv::RotatedRect & obj_ellipse )

Definition at line 687 of file object_tracker_25d.cpp.

void ObjectTracker25D::initTracks	(	cv::Mat &	in_frame,
		cv::Mat &	depth_frame,
		cv::Mat &	self_mask,
		pcl16::PointCloud< pcl16::PointXYZ > &	cloud,
		std::string	proxy_name,
		tabletop_pushing::VisFeedbackPushTrackingFeedback &	state,
		bool	start_swap = `false`
	)

Definition at line 628 of file object_tracker_25d.cpp.

bool tabletop_pushing::ObjectTracker25D::isInitialized ( ) const [inline]

Definition at line 109 of file object_tracker_25d.h.

bool tabletop_pushing::ObjectTracker25D::isPaused ( ) const [inline]

Definition at line 151 of file object_tracker_25d.h.

ProtoObject ObjectTracker25D::matchToTargetObject	(	ProtoObjects &	objects,
		cv::Mat &	in_frame,
		bool	init = `false`
	)		`[protected]`

Definition at line 159 of file object_tracker_25d.cpp.

void tabletop_pushing::ObjectTracker25D::pause ( ) [inline]

Definition at line 141 of file object_tracker_25d.h.

void ObjectTracker25D::pausedUpdate ( cv::Mat in_frame )

Definition at line 789 of file object_tracker_25d.cpp.

void tabletop_pushing::ObjectTracker25D::setNumDownsamples ( int num_downsamples ) [inline]

Definition at line 120 of file object_tracker_25d.h.

void tabletop_pushing::ObjectTracker25D::stopTracking ( ) [inline]

Definition at line 114 of file object_tracker_25d.h.

void tabletop_pushing::ObjectTracker25D::toggleSwap ( ) [inline]

Definition at line 161 of file object_tracker_25d.h.

void ObjectTracker25D::trackerBoxDisplay	(	cv::Mat &	in_frame,
		ProtoObject &	cur_obj,
		cv::RotatedRect &	obj_ellipse
	)

Definition at line 857 of file object_tracker_25d.cpp.

void ObjectTracker25D::trackerDisplay	(	cv::Mat &	in_frame,
		ProtoObject &	cur_obj,
		cv::RotatedRect &	obj_ellipse
	)

Definition at line 803 of file object_tracker_25d.cpp.

void ObjectTracker25D::trackerDisplay	(	cv::Mat &	in_frame,
		tabletop_pushing::VisFeedbackPushTrackingFeedback &	state,
		ProtoObject &	obj,
		bool	other_color = `false`
	)

Definition at line 918 of file object_tracker_25d.cpp.

void tabletop_pushing::ObjectTracker25D::unpause ( ) [inline]

Definition at line 146 of file object_tracker_25d.h.

void ObjectTracker25D::updateHeading	(	tabletop_pushing::VisFeedbackPushTrackingFeedback &	state,
		bool	init_state
	)		`[protected]`

Definition at line 237 of file object_tracker_25d.cpp.

void ObjectTracker25D::updateTracks	(	cv::Mat &	in_frame,
		cv::Mat &	depth_frame,
		cv::Mat &	self_mask,
		pcl16::PointCloud< pcl16::PointXYZ > &	cloud,
		std::string	proxy_name,
		tabletop_pushing::VisFeedbackPushTrackingFeedback &	state
	)