Does all the work for the Interactive Object Recognition GUI. More...

#include <pr2_interactive_object_detection_backend.h>

Public Member Functions
	InteractiveObjDetBackend ()
	~InteractiveObjDetBackend ()
Private Member Functions
void	abortAction (std::string error)
bool	addTableToCollisionMap (tabletop_object_detector::Table table)
	add the segmented table to the collision map
void	clearOldMarkers (std::string frame_id)
template<class ServiceType >
bool	connectService (ros::ServiceClient &service_client, std::string topic)
	repeatedly try to connect to the given service
bool	doAutoDetection ()
	call the TabletopObjectDetection service
bool	doAutoRecognition ()
	call automatic recognition service
bool	doAutoSegmentation ()
	call the automatic tabletop segmentation
bool	doDetection (bool interactive)
	do all steps for object recognition without segmentation by calling an external service
bool	doInteractiveRecognition ()
	call a popup window, letting the user decide on the recognition results
bool	doInteractiveSegmentation ()
	call a popup window to let the user do the segmentation
bool	doRecognition (bool interactive)
	do all steps for object recognition, based on segmentation
bool	doSegmentation (bool interactive)
	do all steps for segmentation
void	finishAction (std::string result)
bool	getModelInfo (const household_objects_database_msgs::DatabaseModelPose &model_pose, std::string &name, std::string &all_tags)
	retrieve info from model database
bool	getModelMesh (int model_id, shape_msgs::Mesh &mesh)
	retrieve mesh from model database
bool	getPose (geometry_msgs::Pose &pose, std::string from_frame, std::string to_frame)
	get pose of from_frame relative to to_frame
bool	getSensorData (ros::Duration time_out)
	assemble all the basic sensor data needed for the detection process
void	preemptAction ()
int	printObjects (const std::vector< manipulation_msgs::GraspableObject > &objects)
	model info console output
void	processUserCommand (const pr2_interactive_object_detection::UserCommandGoal::ConstPtr &goal)
	react to a request by the user
void	publishFitMarkers (const std::vector< household_objects_database_msgs::DatabaseModelPoseList > &potential_models, const tabletop_object_detector::Table &table)
bool	publishResult (int &num_recognized)
	publish a list of graspable objects
void	resetMarkers ()
	delete fit markers and publish an empty result (kills interactive markers)
void	statusFeedback (std::string status)
bool	transformPose (geometry_msgs::PoseStamped &pose, std::string target_frame)
	modify the given given pose in-place to be relative to target_frame
Private Attributes
ros::ServiceClient	auto_obj_rec_client_
ros::ServiceClient	auto_seg_client_
sensor_msgs::CameraInfo	camera_info_
tabletop_collision_map_processing::CollisionMapInterface	collision_map_interface_
int	current_marker_id_
	The current marker being published.
std::vector < visualization_msgs::Marker >	delete_markers_
stereo_msgs::DisparityImage	disparity_image_
ros::ServiceClient	get_model_description_client_
ros::ServiceClient	get_model_mesh_client_
sensor_msgs::Image	image_
ros::Publisher	marker_pub_
	Publisher for markers.
double	min_marker_quality_
actionlib::SimpleActionClient < interactive_perception_msgs::ObjectRecognitionGuiAction > *	obj_rec_popup_client_
sensor_msgs::PointCloud2	point_cloud_
ros::NodeHandle	priv_nh_
tabletop_object_detector::TabletopObjectRecognitionResponse	recognition_result_
ros::Publisher	result_publisher_
ros::ServiceClient	rgbd_assembler_client_
rgbd_assembler::RgbdAssembly	rgbd_assembler_srv_
std::string	robot_reference_frame_id_
ros::NodeHandle	root_nh_
tabletop_object_detector::TabletopSegmentationResponse	segmentation_result_
bool	segmentation_was_interactive_
double	table_x_
double	table_y_
double	table_z_
ros::ServiceClient	tabletop_detection_client_
tf::TransformListener	tf_listener_
actionlib::SimpleActionServer < pr2_interactive_object_detection::UserCommandAction > *	user_command_server_

Detailed Description

Does all the work for the Interactive Object Recognition GUI.

Definition at line 58 of file pr2_interactive_object_detection_backend.h.

Constructor & Destructor Documentation

InteractiveObjDetBackend::InteractiveObjDetBackend ( )

Definition at line 58 of file pr2_interactive_object_detection_backend.cpp.

InteractiveObjDetBackend::~InteractiveObjDetBackend ( )

Definition at line 100 of file pr2_interactive_object_detection_backend.cpp.

Member Function Documentation

void InteractiveObjDetBackend::abortAction ( std::string error ) [private]

Definition at line 163 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::addTableToCollisionMap ( tabletop_object_detector::Table table ) [private]

add the segmented table to the collision map

Definition at line 1025 of file pr2_interactive_object_detection_backend.cpp.

void InteractiveObjDetBackend::clearOldMarkers ( std::string frame_id ) [private]

template<class ServiceType >

bool InteractiveObjDetBackend::connectService	(	ros::ServiceClient &	service_client,
		std::string	topic
	)		`[private]`

repeatedly try to connect to the given service

Definition at line 108 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doAutoDetection ( ) [private]

call the TabletopObjectDetection service

Definition at line 527 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doAutoRecognition ( ) [private]

call automatic recognition service

Definition at line 452 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doAutoSegmentation ( ) [private]

call the automatic tabletop segmentation

Definition at line 271 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doDetection ( bool interactive ) [private]

do all steps for object recognition without segmentation by calling an external service

Definition at line 582 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doInteractiveRecognition ( ) [private]

call a popup window, letting the user decide on the recognition results

Definition at line 326 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doInteractiveSegmentation ( ) [private]

call a popup window to let the user do the segmentation

Definition at line 214 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doRecognition ( bool interactive ) [private]

do all steps for object recognition, based on segmentation

Definition at line 488 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::doSegmentation ( bool interactive ) [private]

do all steps for segmentation

Definition at line 295 of file pr2_interactive_object_detection_backend.cpp.

void InteractiveObjDetBackend::finishAction ( std::string result ) [private]

Definition at line 170 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::getModelInfo	(	const household_objects_database_msgs::DatabaseModelPose &	model_pose,
		std::string &	name,
		std::string &	all_tags
	)		`[private]`

retrieve info from model database

Definition at line 971 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::getModelMesh	(	int	model_id,
		shape_msgs::Mesh &	mesh
	)		`[private]`

retrieve mesh from model database

Definition at line 949 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::getPose	(	geometry_msgs::Pose &	pose,
		std::string	from_frame,
		std::string	to_frame
	)		`[private]`

get pose of from_frame relative to to_frame

Definition at line 872 of file pr2_interactive_object_detection_backend.cpp.

bool InteractiveObjDetBackend::getSensorData ( ros::Duration time_out ) [private]

assemble all the basic sensor data needed for the detection process

Definition at line 189 of file pr2_interactive_object_detection_backend.cpp.

void InteractiveObjDetBackend::preemptAction ( ) [private]

Definition at line 182 of file pr2_interactive_object_detection_backend.cpp.

int InteractiveObjDetBackend::printObjects ( const std::vector< manipulation_msgs::GraspableObject > & objects ) [private]

model info console output

Definition at line 997 of file pr2_interactive_object_detection_backend.cpp.

void InteractiveObjDetBackend::processUserCommand ( const pr2_interactive_object_detection::UserCommandGoal::ConstPtr & goal ) [private]

react to a request by the user

Definition at line 127 of file pr2_interactive_object_detection_backend.cpp.

void InteractiveObjDetBackend::publishFitMarkers	(	const std::vector< household_objects_database_msgs::DatabaseModelPoseList > &	potential_models,
		const tabletop_object_detector::Table &	table
	)		`[private]`