This class is used to rate an object's pose based on the current camera position. More...

#include <rating.h>

Public Member Functions
bool	rateBBandNormal (const geometry_msgs::Pose &object_pose, const std::array< geometry_msgs::Point, 8 > &bounding_box, const std::vector< geometry_msgs::Point > &normals, double threshold)
	Rates an objects visibility based on its bounding box and its normals.
bool	ratePose (const geometry_msgs::Pose &pose, double threshold_d, double threshold_x, double threshold_y)
	Return whether a pose is visible in the camera frustum based on the distance and angle rating.
	Rating (double fovx, double fovy, double ncp, double fcp)
	The constructor of the class.
Private Member Functions
double	getAngleRating (const geometry_msgs::Pose &object_pose, bool direction)
	Returns a rating of an object's pose based on the (azimut or elevation) angle between the camera's visual axis and the vector from the camera to the object's position.
bool	getBBRating (const std::array< geometry_msgs::Point, 8 > &bounding_box)
	Returns the amount of points of the bounding box inside the frustum divided by the amount of all points.
double	getDistanceRating (const geometry_msgs::Pose &object_pose)
	Returns a rating of an object's pose based on the distance to the camera.
double	getNormalRating (const geometry_msgs::Pose &object_pose, const std::vector< geometry_msgs::Point > &normals)
	Returns a rating for the angle between sight vector to object and object's normal. 1.0 is best, 0.0 worst.
Private Attributes
const Eigen::Vector3d	camera_orientation_
double	fcp_
double	fovx_
double	fovy_
double	ncp_

Detailed Description

This class is used to rate an object's pose based on the current camera position.

Definition at line 30 of file rating.h.

Constructor & Destructor Documentation

fake_object_recognition::Rating::Rating	(	double	fovx,
		double	fovy,
		double	ncp,
		double	fcp
	)

The constructor of the class.

Parameters:

fovx	The field of view in x-direction
fovy	The field of view in y-direction
ncp	The distance to the near-clip-plane
fcp	The distance to the far-clip-plane

Definition at line 30 of file rating.cpp.

Member Function Documentation

double fake_object_recognition::Rating::getAngleRating	(	const geometry_msgs::Pose &	object_pose,
		bool	direction
	)		`[private]`

Returns a rating of an object's pose based on the (azimut or elevation) angle between the camera's visual axis and the vector from the camera to the object's position.

Parameters:

object_pose	The pose of the object
direction	True == azimut, false == elevation.

Returns:: The calculated rating

Definition at line 64 of file rating.cpp.

bool fake_object_recognition::Rating::getBBRating ( const std::array< geometry_msgs::Point, 8 > & bounding_box ) [private]

Returns the amount of points of the bounding box inside the frustum divided by the amount of all points.

Parameters:

bounding_box Bounding Box, assumed (but momentarily not required) to be represented by its 8 corner points in the camera frame.

Returns:: whether all points are within the frustum

Definition at line 95 of file rating.cpp.

double fake_object_recognition::Rating::getDistanceRating ( const geometry_msgs::Pose & object_pose ) [private]

Returns a rating of an object's pose based on the distance to the camera.

Parameters:

object_pose The pose of the object

Returns:: The calculated rating

Definition at line 49 of file rating.cpp.

double fake_object_recognition::Rating::getNormalRating	(	const geometry_msgs::Pose &	object_pose,
		const std::vector< geometry_msgs::Point > &	normals
	)		`[private]`

Returns a rating for the angle between sight vector to object and object's normal. 1.0 is best, 0.0 worst.

Looks for the normal that will produce the best rating and returns that rating.

Parameters:

object_pose	Pose of the object relative to camera.
normals	List of normals of the object.

Returns:

Definition at line 126 of file rating.cpp.

bool fake_object_recognition::Rating::rateBBandNormal	(	const geometry_msgs::Pose &	object_pose,
		const std::array< geometry_msgs::Point, 8 > &	bounding_box,
		const std::vector< geometry_msgs::Point > &	normals,
		double	threshold
	)

Rates an objects visibility based on its bounding box and its normals.

If not all of the object's bounding box corner points are inside the frustum, returns false.

Parameters:

object_pose	Pose of the object in the camera frame.
bounding_box	Bounding box corner points.
normals	Normals. If vector ist empty, normals are not considered in rating.
threshold	The threshold above which a normal rating is accepted.

Returns:: True if the object is visible based on its rating, false otherwise.

Definition at line 159 of file rating.cpp.

bool fake_object_recognition::Rating::ratePose	(	const geometry_msgs::Pose &	pose,
		double	threshold_d,
		double	threshold_x,
		double	threshold_y
	)

Return whether a pose is visible in the camera frustum based on the distance and angle rating.

Parameters:

pose	The given object's pose
threshold_d	The minimum distance rating value this pose needs to have to be visible.
threshold_x	The minimum angle rating value in azimut this pose needs to have to be visible.
threshold_y	The minimum angle rating value in elevation this pose needs to have to be visible.