#include <sstream>
#include <iostream>
#include <fstream>
#include <tabletop_pushing/shape_features.h>
#include <ros/ros.h>
#include <pcl16/point_cloud.h>
#include <pcl16/point_types.h>
#include <pcl16/io/pcd_io.h>
#include <pcl16_ros/transforms.h>
#include <pcl16/ros/conversions.h>
#include <pcl16/common/pca.h>
#include <tabletop_pushing/VisFeedbackPushTrackingAction.h>
#include <tabletop_pushing/point_cloud_segmentation.h>
#include <cpl_visual_features/helpers.h>
#include <cpl_visual_features/features/kernels.h>
#include <time.h>
#include <libsvm/svm.h>

Include dependency graph for extract_shape_features.cpp:

Classes
class	TrialStuff
Defines
#define	XY_RES 0.001
Typedefs
typedef tabletop_pushing::VisFeedbackPushTrackingFeedback	PushTrackerState
Functions
ShapeLocation	chooseFixedGoalPushStartLoc (ProtoObject &cur_obj, PushTrackerState &cur_state, bool new_object, int num_start_loc_pushes_per_sample, int num_start_loc_sample_locs)
ShapeLocation	chooseFixedGoalPushStartLoc (ProtoObject &cur_obj, PushTrackerState &cur_state, pcl16::PointXYZ start_pt)
ShapeLocation	chooseLearnedPushStartLoc (ProtoObject &cur_obj, PushTrackerState &cur_state, std::string param_path, float &chosen_score)
static double	dist (pcl16::PointXYZ a, pcl16::PointXYZ b)
void	drawScores (std::vector< double > &push_scores, std::string out_file_path)
void	getMajorMinorBoundaryDists (std::string cloud_path, pcl16::PointXYZ init_loc, pcl16::PointXYZ start_pt, double &major_dist, double &minor_dist)
ShapeDescriptor	getTrialDescriptor (std::string cloud_path, pcl16::PointXYZ init_loc, double init_theta, bool new_object)
ShapeDescriptor	getTrialDescriptor (std::string cloud_path, pcl16::PointXYZ init_loc, double init_theta, pcl16::PointXYZ start_pt)
std::vector< TrialStuff >	getTrialsFromFile (std::string aff_file_name)
int	main (int argc, char **argv)
pcl16::PointXYZ	objectPointInWorldFrame (pcl16::PointXYZ obj_pt, PushTrackerState &cur_state)
int	objLocToIdx (double val, double min_val, double max_val)
pcl16::PointXYZ	pointClosestToAngle (double major_angle, XYZPointCloud &hull_cloud, Eigen::Vector4f centroid)
ShapeLocation	predictPushLocation (std::string cloud_path, pcl16::PointXYZ init_loc, double init_theta, pcl16::PointXYZ start_pt, std::string param_path)
std::vector< double >	readScoreFile (std::string file_path)
static double	sqrDist (pcl16::PointXYZ a, pcl16::PointXYZ b)
double	sqrDistXY (pcl16::PointXYZ a, pcl16::PointXYZ b)
pcl16::PointXYZ	worldPointInObjectFrame (pcl16::PointXYZ world_pt, PushTrackerState &cur_state)
void	writeNewExampleFile (std::string out_file_name, std::vector< TrialStuff > trials, ShapeDescriptors descriptors, std::vector< double > &push_scores)
void	writeNewFile (std::string out_file_name, std::vector< TrialStuff > trials, ShapeDescriptors descriptors)
Variables
PushTrackerState	cur_state_
XYZPointCloud	hull_cloud_
double	point_cloud_hist_res_ = 0.01
double	start_loc_arc_length_percent_
ShapeLocations	start_loc_history_
int	start_loc_push_sample_count_

Define Documentation

#define XY_RES 0.001

Definition at line 26 of file extract_shape_features.cpp.

Typedef Documentation

typedef tabletop_pushing::VisFeedbackPushTrackingFeedback PushTrackerState

Definition at line 24 of file extract_shape_features.cpp.

Function Documentation

ShapeLocation chooseFixedGoalPushStartLoc	(	ProtoObject &	cur_obj,
		PushTrackerState &	cur_state,
		bool	new_object,
		int	num_start_loc_pushes_per_sample,
		int	num_start_loc_sample_locs
	)

Definition at line 96 of file extract_shape_features.cpp.

ShapeLocation chooseFixedGoalPushStartLoc	(	ProtoObject &	cur_obj,
		PushTrackerState &	cur_state,
		pcl16::PointXYZ	start_pt
	)

Definition at line 212 of file extract_shape_features.cpp.

ShapeLocation chooseLearnedPushStartLoc	(	ProtoObject &	cur_obj,
		PushTrackerState &	cur_state,
		std::string	param_path,
		float &	chosen_score
	)

Definition at line 244 of file extract_shape_features.cpp.

static double dist	(	pcl16::PointXYZ	a,
		pcl16::PointXYZ	b
	)		`[inline, static]`

Definition at line 80 of file extract_shape_features.cpp.

void drawScores	(	std::vector< double > &	push_scores,
		std::string	out_file_path
	)

Definition at line 556 of file extract_shape_features.cpp.

void getMajorMinorBoundaryDists	(	std::string	cloud_path,
		pcl16::PointXYZ	init_loc,
		pcl16::PointXYZ	start_pt,
		double &	major_dist,
		double &	minor_dist
	)

Definition at line 617 of file extract_shape_features.cpp.

ShapeDescriptor getTrialDescriptor	(	std::string	cloud_path,
		pcl16::PointXYZ	init_loc,
		double	init_theta,
		bool	new_object
	)

Definition at line 311 of file extract_shape_features.cpp.

ShapeDescriptor getTrialDescriptor	(	std::string	cloud_path,
		pcl16::PointXYZ	init_loc,
		double	init_theta,
		pcl16::PointXYZ	start_pt
	)

Definition at line 338 of file extract_shape_features.cpp.

std::vector<TrialStuff> getTrialsFromFile ( std::string aff_file_name )

Definition at line 409 of file extract_shape_features.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 667 of file extract_shape_features.cpp.

pcl16::PointXYZ objectPointInWorldFrame	(	pcl16::PointXYZ	obj_pt,
		PushTrackerState &	cur_state
	)

Definition at line 63 of file extract_shape_features.cpp.

int objLocToIdx	(	double	val,
		double	min_val,
		double	max_val
	)		`[inline]`

Definition at line 34 of file extract_shape_features.cpp.

pcl16::PointXYZ pointClosestToAngle	(	double	major_angle,
		XYZPointCloud &	hull_cloud,
		Eigen::Vector4f	centroid
	)

Definition at line 600 of file extract_shape_features.cpp.

ShapeLocation predictPushLocation	(	std::string	cloud_path,
		pcl16::PointXYZ	init_loc,
		double	init_theta,
		pcl16::PointXYZ	start_pt,
		std::string	param_path
	)

Definition at line 365 of file extract_shape_features.cpp.

std::vector<double> readScoreFile ( std::string file_path )

Definition at line 535 of file extract_shape_features.cpp.

static double sqrDist	(	pcl16::PointXYZ	a,
		pcl16::PointXYZ	b
	)		`[inline, static]`

Definition at line 88 of file extract_shape_features.cpp.

double sqrDistXY	(	pcl16::PointXYZ	a,
		pcl16::PointXYZ	b
	)		`[inline]`

Definition at line 39 of file extract_shape_features.cpp.

pcl16::PointXYZ worldPointInObjectFrame	(	pcl16::PointXYZ	world_pt,
		PushTrackerState &	cur_state
	)

Definition at line 46 of file extract_shape_features.cpp.

void writeNewExampleFile	(	std::string	out_file_name,
		std::vector< TrialStuff >	trials,
		ShapeDescriptors	descriptors,
		std::vector< double > &	push_scores
	)