#include <descriptor_surface_based_recognition.h>

Public Member Functions
	DescriptorSurfaceBasedRecognition ()
	The constructor of this class.
Private Member Functions
void	clearMarkers ()
	Clears the visualized markers of the last frame.
void	configCallback (DescriptorSurfaceBasedRecognitionConfig &config_, uint32_t level)
	The callback function which is called when the configuration file has changed.
asr_msgs::AsrObjectPtr	createAsrMessage (PoseRecognition *pose_rec, int results_index, std_msgs::Header header)
	Creates a Asr-Object-Message containing the results of a found object instance.
void	createBoxMarker (RecognitionResult *result, std_msgs::Header header, rgb color, bool drawCompleteBoxes)
	Adds a bounding box marker which indicates the size of the reduced point cloud used to recognize the given object instance to the array of bounding box markers (msgs_box_markerArray)
void	createMarker (asr_msgs::AsrObjectPtr &object, std::string &mesh_path)
	Adds a marker which indicates the pose of the found object to the array containing all found markers of this frame (msgs_markerArray)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	createVisualizationCloud (std::vector< PoseRecognition * > &pose_recs, std_msgs::Header header)
	Creates a single, colored point cloud from the reduced point clouds which were used to recognize the found objects.
void	initializeMeshes ()
	Loads all available object meshes so they can be used later.
void	overlaySceneWith2DResults (PoseRecognition pose_rec, HalconCpp::HImage scene_image)
	Paints the results of the 2D recognition (bounding box, feature points & orientation triangle) to the given scene image.
bool	processClearAllRecognizersRequest (ClearAllRecognizers::Request &req, ClearAllRecognizers::Response &res)
bool	processGetObjectListRequest (GetObjectList::Request &req, GetObjectList::Response &res)
bool	processGetRecognizerRequest (GetRecognizer::Request &req, GetRecognizer::Response &res)
bool	processReleaseRecognizerRequest (ReleaseRecognizer::Request &req, ReleaseRecognizer::Response &res)
void	rosCallback (const sensor_msgs::ImageConstPtr &input_image_guppy, const sensor_msgs::ImageConstPtr &input_image_guppy_mono, const sensor_msgs::PointCloud2ConstPtr &input_point_cloud_with_guppy)
	The callback function for the ros subscriptions (images and point cloud; called for every new frame)
bool	startObjectRecognition (std::string name, int count, bool use_pose_val)
	Adds an object to the list of searchable objects.
void	stopObjectRecognition (std::string name)
	Removes an object from the list of searchable objects.
void	threadTask (PoseRecognition *pose_rec)
	The task given to each thread in the threadpool (=> Search a specific object)
Private Attributes
ros::Publisher	boxes_pub_
ros::ServiceServer	clear_all_recognizers_service_
ros::Publisher	cloud_pub_
DescriptorSurfaceBasedRecognitionConfig	config_
int	frame_counter_
ros::ServiceServer	get_object_list_service_
ros::ServiceServer	get_recognizer_service_
std::string	image_color_topic_
message_filters::Subscriber < sensor_msgs::Image >	image_mono_sub_
std::string	image_mono_topic_
ros::Publisher	image_pub_
message_filters::Subscriber < sensor_msgs::Image >	image_sub_
std::vector< Object2DPositions >	last_frame_positions_
ros::Publisher	marker_pub_
std::vector< Ogre::MeshPtr >	meshes_
visualization_msgs::MarkerArrayPtr	msgs_box_marker_array_
visualization_msgs::MarkerArrayPtr	msgs_marker_array_
ros::NodeHandle	nh_
ros::ServiceClient	object_db_meshes_service_client_
ros::ServiceClient	object_db_service_client_
std::vector< ObjectDescriptor >	objects_
ros::Publisher	objects_pub_
std::string	output_cloud_topic_
std::string	output_image_topic_
std::string	output_marker_bounding_box_topic_
std::string	output_marker_topic_
std::string	output_objects_topic_
std::ofstream	outstream_poses_
std::ofstream	outstream_times_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	pc_with_guppy_sub_
std::string	point_cloud_topic_
PoseValidation	pose_val_
dynamic_reconfigure::Server < DescriptorSurfaceBasedRecognitionConfig >	reconfigure_server_
ros::ServiceServer	release_recognizer_service_
boost::shared_ptr < ApproximateSync >	sync_policy_
boost::threadpool::pool	thread_pool_

Detailed Description

The central class of the recognition system used for managing the ros subscriptions, configuration changes, loading of the objects, the search tasks and the visualisation of the results

Definition at line 90 of file descriptor_surface_based_recognition.h.

Constructor & Destructor Documentation

descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::DescriptorSurfaceBasedRecognition ( )

The constructor of this class.

Definition at line 59 of file descriptor_surface_based_recognition.cpp.

Member Function Documentation

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::clearMarkers ( ) [private]

Clears the visualized markers of the last frame.

Definition at line 581 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::configCallback	(	DescriptorSurfaceBasedRecognitionConfig &	config_,
		uint32_t	level
	)		`[private]`

The callback function which is called when the configuration file has changed.

Parameters:

config	The updated configuration
level	The level which is the result of ORing together all of level values of the parameters that have changed

Definition at line 481 of file descriptor_surface_based_recognition.cpp.

asr_msgs::AsrObjectPtr descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createAsrMessage	(	PoseRecognition *	pose_rec,
		int	results_index,
		std_msgs::Header	header
	)		`[private]`

Creates a Asr-Object-Message containing the results of a found object instance.

Parameters:

pose_rec	A pointer to the recognition class containing the results for a specific object
results_index	The index of the found instance of the given object class (in pose_rec)
header	Contains information about the frame the found pose is relative to

Returns:: The Asr-Object-Message containing meta-data of the found object instance and its recognition results (e.g. its pose)

Definition at line 493 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createBoxMarker	(	RecognitionResult *	result,
		std_msgs::Header	header,
		rgb	color,
		bool	drawCompleteBoxes
	)		`[private]`

Adds a bounding box marker which indicates the size of the reduced point cloud used to recognize the given object instance to the array of bounding box markers (msgs_box_markerArray)

Parameters:

result	The result of the object recognition (contains information about one specific found object instance)
header	Contains information about the frame the found pose is relative to
color	The (rgb-) color of the bounding box
drawCompleteBoxes	If false only the side of the box which faces the camera is drawn, the complete box otherwise

Definition at line 596 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createMarker	(	asr_msgs::AsrObjectPtr &	object,
		std::string &	mesh_path
	)		`[private]`

Adds a marker which indicates the pose of the found object to the array containing all found markers of this frame (msgs_markerArray)

Parameters:

object	The found object instance containing the pose and frame information
mesh_path	Path to the (visualisation-) mesh of the given object instance

Definition at line 552 of file descriptor_surface_based_recognition.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createVisualizationCloud	(	std::vector< PoseRecognition * > &	pose_recs,
		std_msgs::Header	header
	)		`[private]`

Creates a single, colored point cloud from the reduced point clouds which were used to recognize the found objects.

Parameters:

pose_recs	The list of the classes used for searching the objects (contain the search results)
input_point_cloud	The point cloud the recuced clouds are based on

Definition at line 848 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::initializeMeshes ( ) [private]

Loads all available object meshes so they can be used later.

Definition at line 192 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::overlaySceneWith2DResults	(	PoseRecognition *	pose_rec,
		HalconCpp::HImage *	scene_image
	)		`[private]`

Paints the results of the 2D recognition (bounding box, feature points & orientation triangle) to the given scene image.

Parameters:

pose_rec	A pointer to the recognition class containing the results for a specific object
scene_image	A pointer to the scene image the results are painted on

Definition at line 708 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processClearAllRecognizersRequest	(	ClearAllRecognizers::Request &	req,
		ClearAllRecognizers::Response &	res
	)		`[private]`

Processes the request to clear all recognizers

Parameters:

req	the request message
res	the correlated response message.

Definition at line 186 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processGetObjectListRequest	(	GetObjectList::Request &	req,
		GetObjectList::Response &	res
	)		`[private]`

Processes the request to get a list of all objects it is searched for

Parameters:

req	the request message
res	the correlated response message.

Definition at line 177 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processGetRecognizerRequest	(	GetRecognizer::Request &	req,
		GetRecognizer::Response &	res
	)		`[private]`

Processes the request to recognize the given object

Parameters:

req	the request message
res	the correlated response message.

Definition at line 157 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processReleaseRecognizerRequest	(	ReleaseRecognizer::Request &	req,
		ReleaseRecognizer::Response &	res
	)		`[private]`

Processes the request to release a previously created recognizer.

Parameters:

req	the request message
res	the correlated response message.

Definition at line 171 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::rosCallback	(	const sensor_msgs::ImageConstPtr &	input_image_guppy,
		const sensor_msgs::ImageConstPtr &	input_image_guppy_mono,
		const sensor_msgs::PointCloud2ConstPtr &	input_point_cloud_with_guppy
	)		`[private]`

The callback function for the ros subscriptions (images and point cloud; called for every new frame)

Parameters:

input_image_guppy	The colored image received by the camera the topic IMAGE_COLOR_TOPIC belongs to
input_image_guppy_mono	The greyscale image received by the camera the topic IMAGE_MONO_TOPIC belongs to
input_point_cloud_with_guppy	The point cloud received by the device the topic POINT_CLOUD_TOPIC belongs to

Definition at line 275 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::startObjectRecognition	(	std::string	name,
		int	count,
		bool	use_pose_val
	)		`[private]`