Public Member Functions | Private Types | Private Member Functions | Private Attributes
ORMatchingModule Class Reference

Default module template. More...

#include <ORMatchingModule.h>

List of all members.

Public Member Functions

void addObjectProperties (ObjectProperties *newProperties)
void callbackExtractKeyPoints (const or_msgs::ExtractKeyPoints::ConstPtr &msg)
void callbackImage (const sensor_msgs::Image::ConstPtr &message)
void callbackOrCommand (const or_msgs::OrCommand::ConstPtr &msg)
 ORMatchingModule (ros::NodeHandle *nh, std::string inputTopic)
 The constructor.
void processImageMessage (const sensor_msgs::Image::ConstPtr &message)
virtual ~ORMatchingModule ()
 The destructor.

Private Types

enum  Stage1MatcherT { NearestNeighbor = 1, Flann = 2 }
enum  Stage2MatcherT { SimpleHoughClustering = 1, HoughClustering = 2 }

Private Member Functions

std::vector< KeyPointgetSceneKeyPointsWithinOutline (std::vector< KeyPoint > *sceneKeyPoints, Homography &homography, std::list< KeyPointMatch > &stage3Matches)
bool matchObject (std::vector< KeyPoint > *sceneKeyPoints, ObjectProperties &objectProperties, MatchResult &matchResult)
 try to match keypoints to one specific object
std::list< KeyPointMatchmatchStage1 (std::vector< KeyPoint > *sceneKeyPoints, ImagePropertiesCV *objectImageProperties)
std::list< KeyPointMatchmatchStage1Flan (ImagePropertiesCV *objectImageProperties)
std::vector< std::list
< KeyPointMatch > > 
matchStage2 (std::vector< KeyPoint > *sceneKeyPoints, ImagePropertiesCV *objectImageProperties, std::list< KeyPointMatch > &stage1Matches)
std::list< KeyPointMatchmatchStage3 (std::vector< KeyPoint > *sceneKeyPoints, ImagePropertiesCV *objImageProperties, std::vector< std::list< KeyPointMatch > > &stage2Matches, Homography &homography)
void processImages (cv::Mat *image, int seqNum, std::vector< Box2D< int > > boundingBoxes=std::vector< Box2D< int > >())
 extract all keypoints, then do object recognition on all bounding boxes separately
void processKeyPoints (cv::Mat *image, std::vector< KeyPoint > *rawKeyPoints, std::vector< Box2D< int > > boundingBoxes, unsigned seqNum)
 search for objects on all given keypoints
void removeObjectProperties (std::string name)
void sendObjectNames ()

Private Attributes

std::vector< Box2D< double > > m_BoundingBoxes
ros::Publisher m_DebugImagePublisherColor
ros::Subscriber m_ExtractKeyPointsSubscriber
KeyPointExtractorm_Extractor
FLANNMatcherm_FlannMatcher
int m_ImageHeight
int m_ImagesRequested
ros::Subscriber m_ImageSubscriber
int m_ImageWidth
std::deque< ObjectPropertiesm_ObjectList
ros::Subscriber m_OrCommandSubscriber
ros::Publisher m_ORMatchResultPublisher
ros::Publisher m_ORObjectNamesPublisher
std::list< double > m_ProcessingTimes
Stage1MatcherT m_Stage1Matcher
Stage2MatcherT m_Stage2Matcher

Detailed Description

Default module template.

Author:
David Gossow (RX), Viktor Seib (R20)

Definition at line 37 of file ORMatchingModule.h.


Member Enumeration Documentation

Enumerator:
NearestNeighbor 
Flann 

Definition at line 57 of file ORMatchingModule.h.

Enumerator:
SimpleHoughClustering 
HoughClustering 

Definition at line 63 of file ORMatchingModule.h.


Constructor & Destructor Documentation

ORMatchingModule::ORMatchingModule ( ros::NodeHandle nh,
std::string  inputTopic 
)

The constructor.

virtual ORMatchingModule::~ORMatchingModule ( ) [virtual]

The destructor.


Member Function Documentation

void ORMatchingModule::callbackExtractKeyPoints ( const or_msgs::ExtractKeyPoints::ConstPtr &  msg)
void ORMatchingModule::callbackImage ( const sensor_msgs::Image::ConstPtr &  message)
void ORMatchingModule::callbackOrCommand ( const or_msgs::OrCommand::ConstPtr &  msg)
std::vector<KeyPoint> ORMatchingModule::getSceneKeyPointsWithinOutline ( std::vector< KeyPoint > *  sceneKeyPoints,
Homography homography,
std::list< KeyPointMatch > &  stage3Matches 
) [private]
bool ORMatchingModule::matchObject ( std::vector< KeyPoint > *  sceneKeyPoints,
ObjectProperties objectProperties,
MatchResult matchResult 
) [private]

try to match keypoints to one specific object

std::list< KeyPointMatch > ORMatchingModule::matchStage1 ( std::vector< KeyPoint > *  sceneKeyPoints,
ImagePropertiesCV objectImageProperties 
) [private]
std::list< KeyPointMatch > ORMatchingModule::matchStage1Flan ( ImagePropertiesCV objectImageProperties) [private]
std::vector< std::list< KeyPointMatch> > ORMatchingModule::matchStage2 ( std::vector< KeyPoint > *  sceneKeyPoints,
ImagePropertiesCV objectImageProperties,
std::list< KeyPointMatch > &  stage1Matches 
) [private]
std::list< KeyPointMatch > ORMatchingModule::matchStage3 ( std::vector< KeyPoint > *  sceneKeyPoints,
ImagePropertiesCV objImageProperties,
std::vector< std::list< KeyPointMatch > > &  stage2Matches,
Homography homography 
) [private]
void ORMatchingModule::processImageMessage ( const sensor_msgs::Image::ConstPtr &  message)
void ORMatchingModule::processImages ( cv::Mat *  image,
int  seqNum,
std::vector< Box2D< int > >  boundingBoxes = std::vector< Box2D< int > >() 
) [private]

extract all keypoints, then do object recognition on all bounding boxes separately

Parameters:
boundingBoxesbounding boxes to use. if empty, the full image is used.
void ORMatchingModule::processKeyPoints ( cv::Mat *  image,
std::vector< KeyPoint > *  rawKeyPoints,
std::vector< Box2D< int > >  boundingBoxes,
unsigned  seqNum 
) [private]

search for objects on all given keypoints

void ORMatchingModule::removeObjectProperties ( std::string  name) [private]

Member Data Documentation

std::vector< Box2D<double> > ORMatchingModule::m_BoundingBoxes [private]

Definition at line 103 of file ORMatchingModule.h.

Definition at line 123 of file ORMatchingModule.h.

Definition at line 118 of file ORMatchingModule.h.

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Definition at line 102 of file ORMatchingModule.h.

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Definition at line 122 of file ORMatchingModule.h.

std::list<double> ORMatchingModule::m_ProcessingTimes [private]

Definition at line 113 of file ORMatchingModule.h.

Definition at line 105 of file ORMatchingModule.h.

Definition at line 106 of file ORMatchingModule.h.


The documentation for this class was generated from the following file:


or_nodes
Author(s): raphael
autogenerated on Mon Oct 6 2014 02:53:36