Public Member Functions | Private Member Functions | Private Attributes
tabletop_object_detector::TabletopObjectRecognizer Class Reference

List of all members.

Public Member Functions

 TabletopObjectRecognizer (ros::NodeHandle nh)
 Subscribes to and advertises topics; initializes fitter.
 ~TabletopObjectRecognizer ()
 Empty stub.

Private Member Functions

bool addExclusionCB (AddModelExclusion::Request &request, AddModelExclusion::Response &response)
bool clearExclusionsCB (ClearExclusionsList::Request &request, ClearExclusionsList::Response &response)
void clearOldMarkers (std::string frame_id)
 Clears old published markers and remembers the current number of published markers.
template<class PointCloudType >
double fitClusterDistance (const ModelFitInfo &m, const PointCloudType &cluster)
 Helper function that returns the distance along the plane between a fit model and a cluster.
double fitDistance (const ModelFitInfo &m1, const ModelFitInfo &m2)
 Helper function that returns the distance along the plane between two fit models.
bool negateExclusionsCB (NegateExclusions::Request &request, NegateExclusions::Response &response)
template<class PointCloudType >
void objectDetection (std::vector< PointCloudType > &clusters, int num_models, const Table &table, bool perform_fit_merge, TabletopObjectRecognition::Response &response)
 Performs object detection on the given clusters, can also merge clusters based on detection result.
void publishFitMarkers (const std::vector< household_objects_database_msgs::DatabaseModelPoseList > &potential_models, const Table &table)
 Publishes markers for all fits.
bool serviceCallback (TabletopObjectRecognition::Request &request, TabletopObjectRecognition::Response &response)
 Callback for service calls.

Private Attributes

ros::ServiceServer add_model_exclusion_srv_
 Service server for adding to the model exclusion set.
ros::ServiceServer clear_model_exclusions_srv_
 Service server for clearing the exclusion set.
ros::Subscriber cloud_new_sub_
 Listener for incoming new-style point clouds.
int current_marker_id_
 The current marker being published.
ExhaustiveFitDetector
< IterativeTranslationFitter
detector_
 The instance of the detector used for all detecting tasks.
double fit_merge_threshold_
 The threshold for merging two models that were fit very close to each other.
ros::ServiceClient get_model_mesh_srv_
 Service client for getting a mesh from the database.
tf::TransformListener listener_
 A tf transform listener.
ros::Publisher marker_pub_
 Publisher for markers.
double min_marker_quality_
 Fit results below this quality are not published as markers.
std::string model_set_
 Whether to use a reduced model set from the database.
ros::ServiceServer negate_exclusions_srv_
 Service server for negating the exclusion set.
ros::NodeHandle nh_
 The node handle.
int num_markers_published_
 Used to remember the number of markers we publish so we can delete them later.
ros::ServiceServer object_recognition_srv_
 Service server for object detection.
ros::NodeHandle priv_nh_
 Node handle in the private namespace.

Detailed Description

Definition at line 62 of file tabletop_object_recognition.cpp.


Constructor & Destructor Documentation

Subscribes to and advertises topics; initializes fitter.

Definition at line 144 of file tabletop_object_recognition.cpp.

Empty stub.

Definition at line 141 of file tabletop_object_recognition.cpp.


Member Function Documentation

Definition at line 186 of file tabletop_object_recognition.cpp.

Definition at line 178 of file tabletop_object_recognition.cpp.

Clears old published markers and remembers the current number of published markers.

Definition at line 387 of file tabletop_object_recognition.cpp.

template<class PointCloudType >
double tabletop_object_detector::TabletopObjectRecognizer::fitClusterDistance ( const ModelFitInfo m,
const PointCloudType &  cluster 
) [private]

Helper function that returns the distance along the plane between a fit model and a cluster.

Definition at line 416 of file tabletop_object_recognition.cpp.

Helper function that returns the distance along the plane between two fit models.

Definition at line 407 of file tabletop_object_recognition.cpp.

Definition at line 194 of file tabletop_object_recognition.cpp.

template<class PointCloudType >
void tabletop_object_detector::TabletopObjectRecognizer::objectDetection ( std::vector< PointCloudType > &  clusters,
int  num_models,
const Table table,
bool  perform_fit_merge,
TabletopObjectRecognition::Response response 
) [private]

Performs object detection on the given clusters, can also merge clusters based on detection result.

Performs the detection on each of the clusters, and populates the returned message.

Definition at line 247 of file tabletop_object_recognition.cpp.

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

Publishes markers for all fits.

Definition at line 356 of file tabletop_object_recognition.cpp.

Callback for service calls.

Processes the latest point cloud and gives back the resulting array of models.

Definition at line 204 of file tabletop_object_recognition.cpp.


Member Data Documentation

Service server for adding to the model exclusion set.

Definition at line 77 of file tabletop_object_recognition.cpp.

Service server for clearing the exclusion set.

Definition at line 80 of file tabletop_object_recognition.cpp.

Listener for incoming new-style point clouds.

Definition at line 70 of file tabletop_object_recognition.cpp.

The current marker being published.

Definition at line 91 of file tabletop_object_recognition.cpp.

The instance of the detector used for all detecting tasks.

Definition at line 94 of file tabletop_object_recognition.cpp.

The threshold for merging two models that were fit very close to each other.

Definition at line 100 of file tabletop_object_recognition.cpp.

Service client for getting a mesh from the database.

Definition at line 84 of file tabletop_object_recognition.cpp.

A tf transform listener.

Definition at line 103 of file tabletop_object_recognition.cpp.

Publisher for markers.

Definition at line 72 of file tabletop_object_recognition.cpp.

Fit results below this quality are not published as markers.

Definition at line 87 of file tabletop_object_recognition.cpp.

Whether to use a reduced model set from the database.

Definition at line 97 of file tabletop_object_recognition.cpp.

Service server for negating the exclusion set.

Definition at line 82 of file tabletop_object_recognition.cpp.

The node handle.

Definition at line 66 of file tabletop_object_recognition.cpp.

Used to remember the number of markers we publish so we can delete them later.

Definition at line 89 of file tabletop_object_recognition.cpp.

Service server for object detection.

Definition at line 74 of file tabletop_object_recognition.cpp.

Node handle in the private namespace.

Definition at line 68 of file tabletop_object_recognition.cpp.


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


tabletop_object_detector
Author(s): Marius Muja and Matei Ciocarlie
autogenerated on Mon Oct 6 2014 11:45:35