#include <soft_obstacle_detection.h>

Public Member Functions
	SoftObstacleDetection ()
	~SoftObstacleDetection ()
Private Member Functions
bool	checkFrequencyMatching (const std::vector< double > &edges, const std::vector< double > &centers, double lambda, double min_segments, double max_segments) const
bool	checkSegmentsMatching (const std::vector< double > &edges, const std::vector< double > &centers, double veil_segment_size, double min_segments, double max_segments) const
void	dynRecParamCallback (SoftObstacleDetectionConfig &config, uint32_t level)
void	edgeDetection (const cv::Mat &signal, std::vector< double > &edges, std::vector< double > &centers) const
double	evalModel (const std::vector< double > &edges, const std::vector< double > &centers, double lambda) const
void	getLine (const cv::Mat &img, const cv::Vec4i &line, cv::Mat &out) const
uchar	getMaxAtLine (const cv::Mat &img, const cv::Point &p1, const cv::Point &p2) const
void	houghTransform (const cv::Mat &img, std::vector< cv::Vec4i > &lines) const
void	laserScanCallback (const sensor_msgs::LaserScanConstPtr &scan)
void	lineToPointCloud (const cv::Vec4i &line, const cv::Point2i &scan_center, pcl::PointCloud< pcl::PointXYZ > &out) const
void	transformScanToImage (const sensor_msgs::LaserScanConstPtr scan, cv::Mat &img, cv::Point2i &scan_center) const
void	update (const ros::TimerEvent &event)
Private Attributes
int	border_size
dynamic_reconfigure::Server < SoftObstacleDetectionConfig >	dyn_rec_server_
ros::Subscriber	laser_scan_sub_
sensor_msgs::LaserScanConstPtr	last_scan
double	max_curtain_length_sq_
double	max_frequency_
double	max_frequency_mse_
double	max_segment_dist_var_
double	max_segment_size_mse_
double	max_segment_size_var_
int	max_segments_
double	min_frequency_
unsigned int	min_hole_size_
int	min_segments_
std::string	percept_class_id_
double	size_dist_ratio_
tf::TransformListener	tf_listener
double	unit_scale
ros::Timer	update_timer
ros::Publisher	veil_percept_pose_pub_
ros::Publisher	veil_percept_pub_
ros::Publisher	veil_point_cloud_pub_
double	veil_segment_size_

Detailed Description

Definition at line 25 of file soft_obstacle_detection.h.

Constructor & Destructor Documentation

SoftObstacleDetection::SoftObstacleDetection ( )

Definition at line 17 of file soft_obstacle_detection.cpp.

SoftObstacleDetection::~SoftObstacleDetection ( )

Definition at line 38 of file soft_obstacle_detection.cpp.

Member Function Documentation

bool SoftObstacleDetection::checkFrequencyMatching	(	const std::vector< double > &	edges,
		const std::vector< double > &	centers,
		double	lambda,
		double	min_segments,
		double	max_segments
	)		const `[private]`

Definition at line 309 of file soft_obstacle_detection.cpp.

bool SoftObstacleDetection::checkSegmentsMatching	(	const std::vector< double > &	edges,
		const std::vector< double > &	centers,
		double	veil_segment_size,
		double	min_segments,
		double	max_segments
	)		const `[private]`

Definition at line 217 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::dynRecParamCallback	(	SoftObstacleDetectionConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 605 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::edgeDetection	(	const cv::Mat &	signal,
		std::vector< double > &	edges,
		std::vector< double > &	centers
	)		const `[private]`

Definition at line 157 of file soft_obstacle_detection.cpp.

double SoftObstacleDetection::evalModel	(	const std::vector< double > &	edges,
		const std::vector< double > &	centers,
		double	lambda
	)		const `[private]`

Definition at line 277 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::getLine	(	const cv::Mat &	img,
		const cv::Vec4i &	line,
		cv::Mat &	out
	)		const `[private]`

Definition at line 132 of file soft_obstacle_detection.cpp.

uchar SoftObstacleDetection::getMaxAtLine	(	const cv::Mat &	img,
		const cv::Point &	p1,
		const cv::Point &	p2
	)		const `[private]`

Definition at line 116 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::houghTransform	(	const cv::Mat &	img,
		std::vector< cv::Vec4i > &	lines
	)		const `[private]`

Definition at line 95 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::laserScanCallback ( const sensor_msgs::LaserScanConstPtr & scan ) [private]

Definition at line 600 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::lineToPointCloud	(	const cv::Vec4i &	line,
		const cv::Point2i &	scan_center,
		pcl::PointCloud< pcl::PointXYZ > &	out
	)		const `[private]`

Definition at line 430 of file soft_obstacle_detection.cpp.

void SoftObstacleDetection::transformScanToImage	(	const sensor_msgs::LaserScanConstPtr	scan,
		cv::Mat &	img,
		cv::Point2i &	scan_center
	)		const `[private]`