Namespaces | |
| namespace | position_feedback_push_node |
| namespace | push_learning |
| namespace | push_primitives |
| namespace | rbf_control |
| namespace | singulation_executive |
| namespace | tabletop_executive |
| namespace | tabletop_push_node |
Classes | |
| class | ArmObjSegmentation |
| class | NodeTable |
| class | ObjectTracker25D |
| class | PointCloudSegmentation |
| class | ProtoObject |
| class | ShapeLocation |
Typedefs | |
| typedef Graph< float, float, float > | GraphType |
| typedef pcl16::PointCloud < pcl16::Normal > | NormalCloud |
| typedef std::deque< ProtoObject > | ProtoObjects |
| typedef std::vector < ShapeLocation > | ShapeLocations |
| typedef pcl16::PointCloud < pcl16::PointXYZ > | XYZPointCloud |
Functions | |
| int | closestShapeFeatureCluster (cpl_visual_features::ShapeDescriptor &descriptor, cpl_visual_features::ShapeDescriptors ¢ers, double &min_dist) |
| void | clusterShapeFeatures (ShapeLocations &locs, int k, std::vector< int > &cluster_ids, cpl_visual_features::ShapeDescriptors ¢ers, double min_err_change, int max_iter, int num_retries=5) |
| cpl_visual_features::Path | compareBoundaryShapes (XYZPointCloud &hull_a, XYZPointCloud &hull_b, double &min_cost, double epsilon_cost=0.99) |
| cv::Mat | computeChi2Kernel (cpl_visual_features::ShapeDescriptors &sds, std::string feat_path, int local_length, int global_length, double gamma_local, double gamma_global, double mixture_weight) |
| cv::Mat | computeShapeFeatureAffinityMatrix (ShapeLocations &locs, bool use_center=false) |
| void | drawSamplePoints (XYZPointCloud &hull, XYZPointCloud &samples, double alpha, pcl16::PointXYZ ¢er_pt, pcl16::PointXYZ &sample_pt, pcl16::PointXYZ &approach_pt, pcl16::PointXYZ e_left, pcl16::PointXYZ e_right, pcl16::PointXYZ c_left, pcl16::PointXYZ c_right, pcl16::PointXYZ i_left, pcl16::PointXYZ i_right, double x_res, double y_res, double x_range, double y_range, ProtoObject &cur_obj) |
| void | estimateTransformFromMatches (XYZPointCloud &cloud_t_0, XYZPointCloud &cloud_t_1, cpl_visual_features::Path p, Eigen::Matrix4f &transform, double max_dist=0.3) |
| void | extractBoundingBoxFeatures (XYZPointCloud &samples, cpl_visual_features::ShapeDescriptor &sd) |
| ShapeDescriptor | extractGlobalShapeFeatures (XYZPointCloud &hull, ProtoObject &cur_obj, pcl16::PointXYZ sample_pt, int sample_pt_idx, double sample_spread) |
| cpl_visual_features::ShapeDescriptors | extractLocalAndGlobalShapeFeatures (XYZPointCloud &hull, ProtoObject &cur_obj, double sample_spread, double hull_alpha, double hist_res) |
| cpl_visual_features::ShapeDescriptor | extractLocalAndGlobalShapeFeatures (XYZPointCloud &hull, ProtoObject &cur_obj, pcl16::PointXYZ sample_pt, int sample_pt_idx, double sample_spread, double hull_alpha, double hist_res) |
| cpl_visual_features::ShapeDescriptor | extractLocalShapeFeatures (XYZPointCloud &samples_pcl, ProtoObject &cur_obj, pcl16::PointXYZ sample_loc, double s, double hull_alpha, double hist_res) |
| ShapeLocations | extractObjectShapeContext (ProtoObject &cur_obj, bool use_center=true) |
| void | extractPCAFeaturesXY (XYZPointCloud &samples, cpl_visual_features::ShapeDescriptor &sd) |
| cpl_visual_features::ShapeDescriptor | extractPointHistogramXY (XYZPointCloud &samples, double x_res, double y_res, double x_range, double y_range) |
| ShapeLocations | extractShapeContextFromSamples (XYZPointCloud &samples_pcl, ProtoObject &cur_obj, bool use_center) |
| void | getCovarianceXYFromPoints (XYZPointCloud &pts, cpl_visual_features::ShapeDescriptor &sd) |
| int | getHistBinIdx (int x_idx, int y_idx, int n_x_bins, int n_y_bins) |
| std::vector< int > | getJumpIndices (XYZPointCloud &concave_hull, double alpha) |
| XYZPointCloud | getLocalSamples (XYZPointCloud &samples_pcl, ProtoObject &cur_obj, pcl16::PointXYZ sample_loc, double s, double hull_alpha) |
| XYZPointCloud | getLocalSamplesNew (XYZPointCloud &hull, ProtoObject &cur_obj, pcl16::PointXYZ sample_pt, double sample_spread, double alpha) |
| void | getMaskedPointCloud (XYZPointCloud &input_cloud, cv::Mat &mask, XYZPointCloud &masked_cloud) |
| XYZPointCloud | getObjectBoundarySamples (ProtoObject &cur_obj, double hull_alpha=0.01) |
| cv::Mat | getObjectFootprint (cv::Mat obj_mask, XYZPointCloud &cloud) |
| void | getPointRangesXY (XYZPointCloud &samples, cpl_visual_features::ShapeDescriptor &sd) |
| cpl_visual_features::ShapeDescriptors | loadSVRTrainingFeatures (std::string feature_path, int feat_length) |
| cv::Mat | makeHistogramImage (ShapeDescriptor histogram, int n_x_bins, int n_y_bins, int bin_width_pixels) |
| int | objLocToIdx (double val, double min_val, double max_val) |
| double | shapeFeatureChiSquareDist (cpl_visual_features::ShapeDescriptor &a, cpl_visual_features::ShapeDescriptor &b, double gamma=0.0) |
| double | shapeFeatureSquaredEuclideanDist (cpl_visual_features::ShapeDescriptor &a, cpl_visual_features::ShapeDescriptor &b) |
| XYZPointCloud | transformSamplesIntoSampleLocFrame (XYZPointCloud &samples, ProtoObject &cur_obj, pcl16::PointXYZ sample_pt) |
| cv::Mat | visualizeObjectBoundaryMatches (XYZPointCloud &hull_a, XYZPointCloud &hull_b, tabletop_pushing::VisFeedbackPushTrackingFeedback &cur_state, cpl_visual_features::Path &path) |
| cv::Mat | visualizeObjectBoundarySamples (XYZPointCloud &hull_cloud, tabletop_pushing::VisFeedbackPushTrackingFeedback &cur_state) |
| cv::Mat | visualizeObjectContactLocation (XYZPointCloud &hull_cloud, tabletop_pushing::VisFeedbackPushTrackingFeedback &cur_state, pcl16::PointXYZ &contact_pt, pcl16::PointXYZ &forward_pt) |
| int | worldLocToIdx (double val, double min_val, double max_val) |
| pcl16::PointXYZ | worldPointInObjectFrame (pcl16::PointXYZ world_pt, PushTrackerState &cur_state) |
| cv::Point | worldPtToImgPt (pcl16::PointXYZ world_pt, double min_x, double max_x, double min_y, double max_y) |
| typedef Graph<float, float, float> tabletop_pushing::GraphType |
Definition at line 11 of file arm_obj_segmentation.h.
| typedef pcl16::PointCloud<pcl16::Normal> tabletop_pushing::NormalCloud |
Definition at line 68 of file point_cloud_segmentation.h.
| typedef std::deque<ProtoObject> tabletop_pushing::ProtoObjects |
Definition at line 83 of file point_cloud_segmentation.h.
Definition at line 31 of file shape_features.h.
| typedef pcl16::PointCloud<pcl16::PointXYZ> tabletop_pushing::XYZPointCloud |
Definition at line 67 of file point_cloud_segmentation.h.
| int tabletop_pushing::closestShapeFeatureCluster | ( | ShapeDescriptor & | descriptor, |
| ShapeDescriptors & | centers, | ||
| double & | min_dist | ||
| ) |
Find the nearest cluster center to the given descriptor
| descriptor | The query descriptor |
| centers | The set of cluster centers |
Definition at line 1375 of file shape_features.cpp.
| void tabletop_pushing::clusterShapeFeatures | ( | ShapeLocations & | locs, |
| int | k, | ||
| std::vector< int > & | cluster_ids, | ||
| cpl_visual_features::ShapeDescriptors & | centers, | ||
| double | min_err_change, | ||
| int | max_iter, | ||
| int | num_retries = 5 |
||
| ) |
Definition at line 1327 of file shape_features.cpp.
| cpl_visual_features::Path tabletop_pushing::compareBoundaryShapes | ( | XYZPointCloud & | hull_a, |
| XYZPointCloud & | hull_b, | ||
| double & | min_cost, | ||
| double | epsilon_cost = 0.99 |
||
| ) |
Definition at line 100 of file shape_features.cpp.
| cv::Mat tabletop_pushing::computeChi2Kernel | ( | cpl_visual_features::ShapeDescriptors & | sds, |
| std::string | feat_path, | ||
| int | local_length, | ||
| int | global_length, | ||
| double | gamma_local, | ||
| double | gamma_global, | ||
| double | mixture_weight | ||
| ) |
Definition at line 1441 of file shape_features.cpp.
| cv::Mat tabletop_pushing::computeShapeFeatureAffinityMatrix | ( | ShapeLocations & | locs, |
| bool | use_center | ||
| ) |
Create an affinity matrix for a set of ShapeLocations
| locs | The vector of ShapeLocation descriptors to compare |
Definition at line 1227 of file shape_features.cpp.
| void tabletop_pushing::drawSamplePoints | ( | XYZPointCloud & | hull, |
| XYZPointCloud & | samples, | ||
| double | alpha, | ||
| pcl16::PointXYZ & | center_pt, | ||
| pcl16::PointXYZ & | sample_pt, | ||
| pcl16::PointXYZ & | approach_pt, | ||
| pcl16::PointXYZ | e_left, | ||
| pcl16::PointXYZ | e_right, | ||
| pcl16::PointXYZ | c_left, | ||
| pcl16::PointXYZ | c_right, | ||
| pcl16::PointXYZ | i_left, | ||
| pcl16::PointXYZ | i_right, | ||
| double | x_res, | ||
| double | y_res, | ||
| double | x_range, | ||
| double | y_range, | ||
| ProtoObject & | cur_obj | ||
| ) |
Definition at line 383 of file shape_features.cpp.
| void tabletop_pushing::estimateTransformFromMatches | ( | XYZPointCloud & | cloud_t_0, |
| XYZPointCloud & | cloud_t_1, | ||
| cpl_visual_features::Path | p, | ||
| Eigen::Matrix4f & | transform, | ||
| double | max_dist = 0.3 |
||
| ) |
Definition at line 129 of file shape_features.cpp.
| void tabletop_pushing::extractBoundingBoxFeatures | ( | XYZPointCloud & | samples, |
| cpl_visual_features::ShapeDescriptor & | sd | ||
| ) |
Definition at line 1010 of file shape_features.cpp.
| ShapeDescriptor tabletop_pushing::extractGlobalShapeFeatures | ( | XYZPointCloud & | hull, |
| ProtoObject & | cur_obj, | ||
| pcl16::PointXYZ | sample_pt, | ||
| int | sample_pt_idx, | ||
| double | sample_spread | ||
| ) |
Definition at line 1052 of file shape_features.cpp.
| ShapeDescriptors tabletop_pushing::extractLocalAndGlobalShapeFeatures | ( | XYZPointCloud & | hull, |
| ProtoObject & | cur_obj, | ||
| double | sample_spread, | ||
| double | hull_alpha, | ||
| double | hist_res | ||
| ) |
Definition at line 1085 of file shape_features.cpp.
| ShapeDescriptor tabletop_pushing::extractLocalAndGlobalShapeFeatures | ( | XYZPointCloud & | hull, |
| ProtoObject & | cur_obj, | ||
| pcl16::PointXYZ | sample_pt, | ||
| int | sample_pt_idx, | ||
| double | sample_spread, | ||
| double | hull_alpha, | ||
| double | hist_res | ||
| ) |
Definition at line 1099 of file shape_features.cpp.
| ShapeDescriptor tabletop_pushing::extractLocalShapeFeatures | ( | XYZPointCloud & | samples_pcl, |
| ProtoObject & | cur_obj, | ||
| pcl16::PointXYZ | sample_loc, | ||
| double | s, | ||
| double | hull_alpha, | ||
| double | hist_res | ||
| ) |
Definition at line 1026 of file shape_features.cpp.
| ShapeLocations tabletop_pushing::extractObjectShapeContext | ( | ProtoObject & | cur_obj, |
| bool | use_center = true |
||
| ) |
Definition at line 313 of file shape_features.cpp.
| void tabletop_pushing::extractPCAFeaturesXY | ( | XYZPointCloud & | samples, |
| cpl_visual_features::ShapeDescriptor & | sd | ||
| ) |
Definition at line 986 of file shape_features.cpp.
| ShapeDescriptor tabletop_pushing::extractPointHistogramXY | ( | XYZPointCloud & | samples, |
| double | x_res, | ||
| double | y_res, | ||
| double | x_range, | ||
| double | y_range | ||
| ) |
Definition at line 878 of file shape_features.cpp.
| ShapeLocations tabletop_pushing::extractShapeContextFromSamples | ( | XYZPointCloud & | samples_pcl, |
| ProtoObject & | cur_obj, | ||
| bool | use_center | ||
| ) |
Definition at line 319 of file shape_features.cpp.
| void tabletop_pushing::getCovarianceXYFromPoints | ( | XYZPointCloud & | pts, |
| cpl_visual_features::ShapeDescriptor & | sd | ||
| ) |
Definition at line 948 of file shape_features.cpp.
| int tabletop_pushing::getHistBinIdx | ( | int | x_idx, |
| int | y_idx, | ||
| int | n_x_bins, | ||
| int | n_y_bins | ||
| ) | [inline] |
Definition at line 26 of file shape_features.cpp.
| std::vector<int> tabletop_pushing::getJumpIndices | ( | XYZPointCloud & | concave_hull, |
| double | alpha | ||
| ) |
Definition at line 66 of file shape_features.cpp.
| XYZPointCloud tabletop_pushing::getLocalSamples | ( | XYZPointCloud & | samples_pcl, |
| ProtoObject & | cur_obj, | ||
| pcl16::PointXYZ | sample_loc, | ||
| double | s, | ||
| double | hull_alpha | ||
| ) |
Definition at line 623 of file shape_features.cpp.
| XYZPointCloud tabletop_pushing::getLocalSamplesNew | ( | XYZPointCloud & | hull, |
| ProtoObject & | cur_obj, | ||
| pcl16::PointXYZ | sample_pt, | ||
| double | sample_spread, | ||
| double | alpha | ||
| ) |
Definition at line 526 of file shape_features.cpp.
| void tabletop_pushing::getMaskedPointCloud | ( | XYZPointCloud & | input_cloud, |
| cv::Mat & | mask, | ||
| XYZPointCloud & | masked_cloud | ||
| ) |
Definition at line 372 of file point_cloud_segmentation.h.
| XYZPointCloud tabletop_pushing::getObjectBoundarySamples | ( | ProtoObject & | cur_obj, |
| double | hull_alpha = 0.01 |
||
| ) |
Definition at line 79 of file shape_features.cpp.
| cv::Mat tabletop_pushing::getObjectFootprint | ( | cv::Mat | obj_mask, |
| XYZPointCloud & | cloud | ||
| ) |
Definition at line 249 of file shape_features.cpp.
| void tabletop_pushing::getPointRangesXY | ( | XYZPointCloud & | samples, |
| cpl_visual_features::ShapeDescriptor & | sd | ||
| ) |
Definition at line 915 of file shape_features.cpp.
| ShapeDescriptors tabletop_pushing::loadSVRTrainingFeatures | ( | std::string | feature_path, |
| int | feat_length | ||
| ) |
Definition at line 1401 of file shape_features.cpp.
| cv::Mat tabletop_pushing::makeHistogramImage | ( | ShapeDescriptor | histogram, |
| int | n_x_bins, | ||
| int | n_y_bins, | ||
| int | bin_width_pixels | ||
| ) |
Definition at line 342 of file shape_features.cpp.
| int tabletop_pushing::objLocToIdx | ( | double | val, |
| double | min_val, | ||
| double | max_val | ||
| ) | [inline] |
Definition at line 36 of file shape_features.cpp.
| double tabletop_pushing::shapeFeatureChiSquareDist | ( | ShapeDescriptor & | a, |
| ShapeDescriptor & | b, | ||
| double | gamma | ||
| ) |
Compute the (chi-squared) distance between two ShapeLocation descriptors
| a | The first descriptor |
| b | The second descriptor |
| gamma | Optional scaling value for exponential chi-square kernel |
Definition at line 1286 of file shape_features.cpp.
| double tabletop_pushing::shapeFeatureSquaredEuclideanDist | ( | ShapeDescriptor & | a, |
| ShapeDescriptor & | b | ||
| ) |
Compute the squared euclidean distance between two ShapeLocation descriptors
| a | The first descriptor |
| b | The second descriptor |
Definition at line 1316 of file shape_features.cpp.
| XYZPointCloud tabletop_pushing::transformSamplesIntoSampleLocFrame | ( | XYZPointCloud & | samples, |
| ProtoObject & | cur_obj, | ||
| pcl16::PointXYZ | sample_pt | ||
| ) |
Definition at line 859 of file shape_features.cpp.
| cv::Mat tabletop_pushing::visualizeObjectBoundaryMatches | ( | XYZPointCloud & | hull_a, |
| XYZPointCloud & | hull_b, | ||
| tabletop_pushing::VisFeedbackPushTrackingFeedback & | cur_state, | ||
| cpl_visual_features::Path & | path | ||
| ) |
Definition at line 177 of file shape_features.cpp.
| cv::Mat tabletop_pushing::visualizeObjectBoundarySamples | ( | XYZPointCloud & | hull_cloud, |
| tabletop_pushing::VisFeedbackPushTrackingFeedback & | cur_state | ||
| ) |
Definition at line 156 of file shape_features.cpp.
| cv::Mat tabletop_pushing::visualizeObjectContactLocation | ( | XYZPointCloud & | hull_cloud, |
| tabletop_pushing::VisFeedbackPushTrackingFeedback & | cur_state, | ||
| pcl16::PointXYZ & | contact_pt, | ||
| pcl16::PointXYZ & | forward_pt | ||
| ) |
Definition at line 221 of file shape_features.cpp.
| int tabletop_pushing::worldLocToIdx | ( | double | val, |
| double | min_val, | ||
| double | max_val | ||
| ) | [inline] |
Definition at line 31 of file shape_features.cpp.
| pcl16::PointXYZ tabletop_pushing::worldPointInObjectFrame | ( | pcl16::PointXYZ | world_pt, |
| PushTrackerState & | cur_state | ||
| ) |
Definition at line 49 of file shape_features.cpp.
| cv::Point tabletop_pushing::worldPtToImgPt | ( | pcl16::PointXYZ | world_pt, |
| double | min_x, | ||
| double | max_x, | ||
| double | min_y, | ||
| double | max_y | ||
| ) |
Definition at line 41 of file shape_features.cpp.