Public Member Functions
cv::Mat	colorSegment (cv::Mat color_frame, int hue, int threshold)
cv::Mat	colorSegment (cv::Mat color_frame, int _hue_n, int _hue_p, int _sat_n, int _sat_p, int _value_n, int _value_p)
std::vector< cv::Moments >	findMoments (cv::Mat in, cv::Mat &color_frame, unsigned int max_num=3)
visual_servo::VisualServoPose	formPoseService (float px, float py, float pz)
float	getError (PoseStamped a, PoseStamped b)
std::vector< cv::Point >	getMomentCoordinates (std::vector< cv::Moments > ms)
void	goalCB ()
bool	isExpired ()
void	printMatrix (cv::Mat_< double > in)
bool	sendZeroVelocity ()
void	sensorCallback (const sensor_msgs::ImageConstPtr &img_msg, const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	setTimer (float time)
bool	updateGripperFeatures ()
	VisualServoAction (ros::NodeHandle &n, std::string which_arm)
	~VisualServoAction ()
Protected Attributes
std::string	action_name_
actionlib::SimpleActionServer < visual_servo::VisualServoAction >	as_
sensor_msgs::CameraInfo	cam_info_
std::string	cam_info_topic_
bool	camera_initialized_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	cloud_sub_
std_msgs::Header	cur_camera_header_
cv::Mat	cur_color_frame_
cv::Mat	cur_depth_frame_
std::vector< VSXYZ >	cur_goal_
cv::Mat	cur_orig_color_frame_
XYZPointCloud	cur_point_cloud_
cv::Mat	cur_workspace_mask_
int	default_sat_bot_value_
int	default_sat_top_value_
int	default_val_value_
message_filters::Subscriber < sensor_msgs::Image >	depth_sub_
bool	desire_points_initialized_
VSXYZ	desired_
cv::Mat	desired_jacobian_
int	display_wait_ms_
visual_servo::VisualServoFeedback	feedback_
std::vector< VSXYZ >	goal_
PoseStamped	goal_p_
bool	gripper_pose_estimated_
GripperTape	gripper_tape_
int	gripper_tape_hue_threshold_
int	gripper_tape_hue_value_
message_filters::Subscriber < sensor_msgs::Image >	image_sub_
bool	is_gripper_initialized_
image_transport::ImageTransport	it_
int	jacobian_type_
cv::Mat	K
double	max_exec_time_
double	min_contour_size_
ros::NodeHandle	n_
ros::NodeHandle	n_private_
int	num_downsamples_
std::string	optical_frame_
double	place_z_velocity_
double	pose_servo_z_offset_
visual_servo::VisualServoResult	result_
message_filters::Synchronizer < MySyncPolicy >	sync_
double	tape1_offset_x_
double	tape1_offset_y_
double	tape1_offset_z_
std::vector< VSXYZ >	tape_features_
PoseStamped	tape_features_p_
int	target_hue_threshold_
int	target_hue_value_
shared_ptr< tf::TransformListener >	tf_
ros::Time	timer_
ros::ServiceClient	v_client_
std::vector< pcl::PointXYZ >	v_fk_diff_
shared_ptr< VisualServo >	vs_
double	vs_err_term_threshold_
std::string	which_arm_
std::string	workspace_frame_

Detailed Description

Definition at line 169 of file vs_action.cpp.

Constructor & Destructor Documentation

VisualServoAction::VisualServoAction	(	ros::NodeHandle &	n,
		std::string	which_arm
	)		`[inline]`

Definition at line 172 of file vs_action.cpp.

VisualServoAction::~VisualServoAction ( ) [inline]

Definition at line 231 of file vs_action.cpp.

Member Function Documentation

cv::Mat VisualServoAction::colorSegment	(	cv::Mat	color_frame,
		int	hue,
		int	threshold
	)		`[inline]`

Definition at line 540 of file vs_action.cpp.

cv::Mat VisualServoAction::colorSegment	(	cv::Mat	color_frame,
		int	_hue_n,
		int	_hue_p,
		int	_sat_n,
		int	_sat_p,
		int	_value_n,
		int	_value_p
	)		`[inline]`

Very Basic Color Segmentation done in HSV space Takes in Hue value and threshold as input to compute the distance in color space

Parameters:

color_frame color input from image

Returns:: mask from the color segmentation

Definition at line 560 of file vs_action.cpp.

std::vector<cv::Moments> VisualServoAction::findMoments	(	cv::Mat	in,
		cv::Mat &	color_frame,
		unsigned int	max_num = `3`
	)		`[inline]`

Parameters:

in	single channel image input
color_frame	need the original image for debugging and imshow

Returns:: returns ALL moment of specific color in the image

Definition at line 511 of file vs_action.cpp.

visual_servo::VisualServoPose VisualServoAction::formPoseService	(	float	px,
		float	py,
		float	pz
	)		`[inline]`

Definition at line 607 of file vs_action.cpp.

float VisualServoAction::getError	(	PoseStamped	a,
		PoseStamped	b
	)		`[inline]`

Definition at line 413 of file vs_action.cpp.

std::vector<cv::Point> VisualServoAction::getMomentCoordinates ( std::vector< cv::Moments > ms ) [inline]

Take three biggest moments of specific color and returns the three biggest blobs or moments. This method assumes that the features are in QR code like configuration

Parameters:

ms	All moments of color segmented

Returns:: returns vectors of cv::Point. Ordered in specific way (1. top left, 2. top right, and 3. bottom left)

Definition at line 434 of file vs_action.cpp.

void VisualServoAction::goalCB ( ) [inline]

Definition at line 235 of file vs_action.cpp.

bool VisualServoAction::isExpired ( ) [inline]

Definition at line 319 of file vs_action.cpp.

void VisualServoAction::printMatrix ( cv::Mat_< double > in ) [inline]

Definition at line 615 of file vs_action.cpp.

bool VisualServoAction::sendZeroVelocity ( ) [inline]

Definition at line 596 of file vs_action.cpp.

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