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

#include <fake_object_recognition.h>

Public Member Functions
	FakeObjectRecognition ()
	The constructor of this class.
Private Member Functions
std::array < geometry_msgs::Point, 8 >	calculateBB (const ObjectConfig &object)
	calculate approximated oriented bounding box of the object represented by its corner points
void	configCallback (FakeObjectRecognitionConfig &config, uint32_t level)
	The callback function which is called when the configuration has changed.
asr_msgs::AsrObjectPtr	createAsrMessage (const ObjectConfig &object_config, const geometry_msgs::Pose &pose, const std::string &frame_id)
	Creates a AsrObject-message for a found object.
visualization_msgs::Marker	createMarker (const asr_msgs::AsrObjectPtr &object, int id, int lifetime, bool use_col_init=false)
	Creates a visualization marker for a found object.
visualization_msgs::MarkerArray::Ptr	createNormalMarker (const ObjectConfig &object, int id, int lifetime)
	publishes normal markers (yellow arrows) for all objects in the configuration
geometry_msgs::Point	createPoint (double x, double y, double z)
	creates a Point geometry_msg with the given coordinates
void	doRecognition ()
	This function is called whenever objects shall be recognized.
bool	getBBfromFile (std::array< geometry_msgs::Point, 8 > &result, std::string object_type)
	try to get bounding box corner points from file.
std::vector< geometry_msgs::Point >	getNormals (const ObjectConfig &object)
	get Normals of the object through the object_database/object_meta_data service
void	loadObjects ()
	This function loads the objects of the object-config-file.
bool	objectIsVisible (const geometry_msgs::Pose &pose_left, const geometry_msgs::Pose &pose_right)
	Checks whether an object is currently visible.
bool	objectIsVisible (const std::array< geometry_msgs::Point, 8 > &bb_left, const std::array< geometry_msgs::Point, 8 > &bb_right, const geometry_msgs::Pose &pose_left, const geometry_msgs::Pose &pose_right, const std::vector< geometry_msgs::Point > &normals_left, const std::vector< geometry_msgs::Point > &normals_right)
	Checks whether an object is currently visible.
bool	parsePoseString (std::string pose_in, geometry_msgs::Pose &pose_out, std::string delim, std::string angles)
	This function parses the string containing the pose of an entry in the object-config-file.
bool	processClearAllRecognizers (ClearAllRecognizers::Request &req, ClearAllRecognizers::Response &res)
bool	processGetAllRecognizersRequest (GetAllRecognizers::Request &req, GetAllRecognizers::Response &res)
bool	processGetRecognizerRequest (GetRecognizer::Request &req, GetRecognizer::Response &res)
bool	processReleaseRecognizerRequest (ReleaseRecognizer::Request &req, ReleaseRecognizer::Response &res)
void	timerCallback (const ros::TimerEvent &event)
	The callback function of the timer.
geometry_msgs::Pose	transformFrame (const geometry_msgs::Pose &pose, const std::string &frame_from, const std::string &frame_to)
	Transforms a given pose from one frame to another.
std::vector< geometry_msgs::Point >	transformPoints (std::vector< geometry_msgs::Point > points_list, Eigen::Quaterniond rotation, Eigen::Vector3d translation)
	Transforms points locally (as opposed to via a ROS service call in transformFrame)
std::array < geometry_msgs::Point, 8 >	transformPoints (std::array< geometry_msgs::Point, 8 > points_list, Eigen::Quaterniond rotation, Eigen::Vector3d translation)
	Transforms points locally (as opposed to via a ROS service call in transformFrame)
Static Private Member Functions
static std_msgs::ColorRGBA	createColorRGBA (float red, float green, float blue, float alpha)
	Creates a std_msgs::ColorRGBA-message from the given values.
static std_msgs::ColorRGBA	getMeshColor (std::string observed_id)
	Returns the color of a mesh based on the object's id (Only creates a color if it is an object of the segmentable category.
Private Attributes
std::string	bb_corners_file_name_
std::map< std::string, std::array < geometry_msgs::Point, 8 > >	bounding_box_corners_
ros::ServiceServer	clear_all_recognizers_service_
FakeObjectRecognitionConfig	config_
bool	config_changed_
std::string	config_file_path_
ErrorSimulation	err_sim_
double	fcp_
double	fovx_
double	fovy_
std::string	frame_camera_left_
std::string	frame_camera_right_
std::string	frame_world_
ros::Publisher	generated_constellation_marker_pub_
ros::ServiceServer	get_all_recognizers_service_
ros::ServiceServer	get_recognizer_service_
tf::TransformListener	listener_
double	ncp_
ros::NodeHandle	nh_
std::map< std::string, std::vector < geometry_msgs::Point > >	normals_
std::string	object_database_name_
ros::ServiceClient	object_metadata_service_client_
ros::Publisher	object_normals_pub_
std::vector< ObjectConfig >	objects_
std::vector< std::string >	objects_to_rec_
std::string	output_constellation_marker_topic_
std::string	output_normals_topic_
std::string	output_rec_markers_topic_
std::string	output_rec_objects_topic_
double	rating_threshold_
double	rating_threshold_d_
double	rating_threshold_x_
double	rating_threshold_y_
bool	recognition_released_
ros::Publisher	recognized_objects_marker_pub_
ros::Publisher	recognized_objects_pub_
dynamic_reconfigure::Server < FakeObjectRecognitionConfig >	reconfigure_server_
ros::ServiceServer	release_recognizer_service_
ros::Timer	timer_
double	timer_duration_

Detailed Description

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

Definition at line 65 of file fake_object_recognition.h.

Constructor & Destructor Documentation

fake_object_recognition::FakeObjectRecognition::FakeObjectRecognition ( )

The constructor of this class.

Definition at line 37 of file fake_object_recognition.cpp.

Member Function Documentation

std::array< geometry_msgs::Point, 8 > fake_object_recognition::FakeObjectRecognition::calculateBB ( const ObjectConfig & object ) [private]

calculate approximated oriented bounding box of the object represented by its corner points

Parameters:

object to calculate the bounding box corner points for

Returns:: the object's bounding box corner points

Definition at line 749 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::configCallback	(	FakeObjectRecognitionConfig &	config,
		uint32_t	level
	)		`[private]`

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

Parameters:

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

Definition at line 260 of file fake_object_recognition.cpp.

asr_msgs::AsrObjectPtr fake_object_recognition::FakeObjectRecognition::createAsrMessage	(	const ObjectConfig &	object_config,
		const geometry_msgs::Pose &	pose,
		const std::string &	frame_id
	)		`[private]`

Creates a AsrObject-message for a found object.

Parameters:

object_config	The configuration file of the found object
pose	The pose of the found object
frame_id	The frame the given pose belongs to

Returns:: The created AsrObject-message

Definition at line 455 of file fake_object_recognition.cpp.

std_msgs::ColorRGBA fake_object_recognition::FakeObjectRecognition::createColorRGBA	(	float	red,
		float	green,
		float	blue,
		float	alpha
	)		`[static, private]`

Creates a std_msgs::ColorRGBA-message from the given values.

Parameters:

red	The R-value of the RGBA-color
green	The G-value of the RGBA-color
blue	The B-value of the RGBA-color
alpha	The A-value of the RGBA-color

Returns:: The created color-message

Definition at line 561 of file fake_object_recognition.cpp.

visualization_msgs::Marker fake_object_recognition::FakeObjectRecognition::createMarker	(	const asr_msgs::AsrObjectPtr &	object,
		int	id,
		int	lifetime,
		bool	use_col_init = `false`
	)		`[private]`

Creates a visualization marker for a found object.

Parameters:

object	The AsrObject-message created for the found object
id	The id used to distinguish between multiple markers
lifetime	The lifetime of the marker
use_col_init	If this is true the marker has a special color indicating that this is a marker visualizing an available object

Returns:: The created marker

Definition at line 506 of file fake_object_recognition.cpp.

visualization_msgs::MarkerArray::Ptr fake_object_recognition::FakeObjectRecognition::createNormalMarker	(	const ObjectConfig &	object,
		int	id,
		int	lifetime
	)		`[private]`

publishes normal markers (yellow arrows) for all objects in the configuration

Parameters:

object	the ObjectConfig for which to show the normals
id	The id used to distinguish between multiple markers
lifetime	The lifetime of the marker

Returns:: The created marker

Definition at line 598 of file fake_object_recognition.cpp.

geometry_msgs::Point fake_object_recognition::FakeObjectRecognition::createPoint	(	double	x,
		double	y,
		double	z
	)		`[private]`

creates a Point geometry_msg with the given coordinates

Parameters:

x	coordinate
y	coordinate
z	coordinate

Returns:: geometry_msgs::Point with the given coordinates

Definition at line 951 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::doRecognition ( ) [private]

This function is called whenever objects shall be recognized.

Definition at line 265 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::getBBfromFile	(	std::array< geometry_msgs::Point, 8 > &	result,
		std::string	object_type
	)		`[private]`

try to get bounding box corner points from file.

Parameters:

result	the resulting list of corner points. Contents undefined if false is returned
object_type	Type of the ObjectConfig

Returns:: whether bounding box corner point were found (true) or not

Definition at line 682 of file fake_object_recognition.cpp.

std_msgs::ColorRGBA fake_object_recognition::FakeObjectRecognition::getMeshColor ( std::string observed_id ) [static, private]

Returns the color of a mesh based on the object's id (Only creates a color if it is an object of the segmentable category.

Parameters:

observed_id The id of an object

Returns:: The correlating color

Definition at line 536 of file fake_object_recognition.cpp.

std::vector< geometry_msgs::Point > fake_object_recognition::FakeObjectRecognition::getNormals ( const ObjectConfig & object ) [private]

get Normals of the object through the object_database/object_meta_data service

Parameters:

object to get the normals for

Returns:: vector of the object normals

Definition at line 655 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::loadObjects ( ) [private]

This function loads the objects of the object-config-file.

Definition at line 103 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::objectIsVisible	(	const geometry_msgs::Pose &	pose_left,
		const geometry_msgs::Pose &	pose_right
	)		`[private]`

Checks whether an object is currently visible.

Parameters:

pose_left	The pose of the object in the left camera frame
pose_right	The pose of the object in the right camera frame

Returns:: True if the object is visible, false otherwise

Definition at line 404 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::objectIsVisible	(	const std::array< geometry_msgs::Point, 8 > &	bb_left,
		const std::array< geometry_msgs::Point, 8 > &	bb_right,
		const geometry_msgs::Pose &	pose_left,
		const geometry_msgs::Pose &	pose_right,
		const std::vector< geometry_msgs::Point > &	normals_left,
		const std::vector< geometry_msgs::Point > &	normals_right
	)		`[private]`

Checks whether an object is currently visible.

Parameters:

bb_left	Bounding box corner points in left camera frame
bb_right	Bounding box corner points in right camera frame
pose_left	Object pose in left camera frame
pose_right	Object pose in right camera frame
normals_left	Object sight normals in left camer frame
normals_right	Object sight normals in left camer frame

Returns:: True if the object is visible, false otherwise

Definition at line 429 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::parsePoseString	(	std::string	pose_in,
		geometry_msgs::Pose &	pose_out,
		std::string	delim,
		std::string	angles
	)		`[private]`

This function parses the string containing the pose of an entry in the object-config-file.

Parameters:

pose_in	The given pose string
pose_out	The parsed pose
delim	The string used to split the input pose-string

Definition at line 153 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::processClearAllRecognizers	(	ClearAllRecognizers::Request &	req,
		ClearAllRecognizers::Response &	res
	)		`[private]`

Processes the request to release all recognizer

Parameters:

req	The request message
res	The correlated response message.

Definition at line 239 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::processGetAllRecognizersRequest	(	GetAllRecognizers::Request &	req,
		GetAllRecognizers::Response &	res
	)		`[private]`

Processes the request to recognize all objects loaded from config.xml

Parameters:

req	The request message
res	The correlated response message.

Definition at line 224 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::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 203 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::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 215 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::timerCallback ( const ros::TimerEvent & event ) [private]

The callback function of the timer.

Parameters:

event Structure passed as a parameter to the callback invoked by a ros::Timer

Definition at line 246 of file fake_object_recognition.cpp.

geometry_msgs::Pose fake_object_recognition::FakeObjectRecognition::transformFrame	(	const geometry_msgs::Pose &	pose,
		const std::string &	frame_from,
		const std::string &	frame_to
	)		`[private]`

Transforms a given pose from one frame to another.

Parameters:

pose	The given pose
frame_from	The frame the given pose belongs to
frame_to	The frame the pose is transformed to

Returns:: The transformed pose

Definition at line 383 of file fake_object_recognition.cpp.

std::vector< geometry_msgs::Point > fake_object_recognition::FakeObjectRecognition::transformPoints	(	std::vector< geometry_msgs::Point >	points_list,
		Eigen::Quaterniond	rotation,
		Eigen::Vector3d	translation
	)		`[private]`

Transforms points locally (as opposed to via a ROS service call in transformFrame)

Parameters:

points_list	List of Points to transform as a std::vector
rot_mat	Rotation quaternion to transform with (gets normalized in fuction)
translation	Translation vector

Returns:: list of transformed points

Definition at line 572 of file fake_object_recognition.cpp.

std::array< geometry_msgs::Point, 8 > fake_object_recognition::FakeObjectRecognition::transformPoints	(	std::array< geometry_msgs::Point, 8 >	points_list,
		Eigen::Quaterniond	rotation,
		Eigen::Vector3d	translation
	)		`[private]`

Transforms points locally (as opposed to via a ROS service call in transformFrame)

Parameters:

points_list	List of Points to transform as a std::array<geometry_msgs::Point, 8> (specifically for bounding box corners)
rot_mat	Rotation quaternion to transform with (gets normalized in fuction)
translation	Translation vector