Public Member Functions
	ObjectDetectionVisualizer (ros::NodeHandle &nh)
	~ObjectDetectionVisualizer ()
Private Member Functions
bool	convertImageMessageToMat (const sensor_msgs::Image::ConstPtr &image_msg, cv_bridge::CvImageConstPtr &image_ptr, cv::Mat &image)
bool	convertPclMessageToMat (const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg, pcl::PointCloud< pcl::PointXYZRGB > &pointcloud, cv::Mat &color_image)
void	detectionImageCallback (const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg, const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg)
bool	drawDetectedModel3D (cv::Mat image, const std::vector< cv::Point > &corners_2d, const cv::Scalar &color)
void	objectDetectionArrayCallback (const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg)
void	objectDetectionDisplayCallback (const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg)
void	pointcloudCallback (const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg)
void	pointcloudInfoCallback (const sensor_msgs::CameraInfoConstPtr &data)
cv::Point	projectPoint (const cv::Vec3d &point_3d)
bool	renderDetections (cv::Mat &image, const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg)
Private Attributes
cv::Mat	color_image_
boost::mutex	color_image_mutex_
ros::Subscriber	detection_array_sub_
bool	display_detection_image_
bool	display_rviz_markers_
int	image_counter_
visualization_msgs::MarkerArray	marker_array_msg_
ros::Publisher	marker_array_publisher_
ros::NodeHandle	node_handle_
std::map< std::string, cv::Scalar >	object_name_to_color_map_
ros::Subscriber	pointcloud_info_sub_
ros::Subscriber	pointcloud_sub_
unsigned int	prev_marker_array_size_
cv::Mat	projection_matrix_
bool	projection_matrix_received_

Detailed Description

Definition at line 55 of file object_detection_visualizer_node.cpp.

Constructor & Destructor Documentation

ObjectDetectionVisualizer::ObjectDetectionVisualizer ( ros::NodeHandle & nh ) [inline]

Definition at line 58 of file object_detection_visualizer_node.cpp.

ObjectDetectionVisualizer::~ObjectDetectionVisualizer ( ) [inline]

Definition at line 95 of file object_detection_visualizer_node.cpp.

Member Function Documentation

bool ObjectDetectionVisualizer::convertImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	image_msg,
		cv_bridge::CvImageConstPtr &	image_ptr,
		cv::Mat &	image
	)		`[inline, private]`

Definition at line 191 of file object_detection_visualizer_node.cpp.

bool ObjectDetectionVisualizer::convertPclMessageToMat	(	const sensor_msgs::PointCloud2::ConstPtr &	pointcloud_msg,
		pcl::PointCloud< pcl::PointXYZRGB > &	pointcloud,
		cv::Mat &	color_image
	)		`[inline, private]`

Definition at line 207 of file object_detection_visualizer_node.cpp.

void ObjectDetectionVisualizer::detectionImageCallback	(	const cob_object_detection_msgs::DetectionArray::ConstPtr &	object_detection_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	pointcloud_msg
	)		`[inline, private]`

Definition at line 252 of file object_detection_visualizer_node.cpp.

bool ObjectDetectionVisualizer::drawDetectedModel3D	(	cv::Mat	image,
		const std::vector< cv::Point > &	corners_2d,
		const cv::Scalar &	color
	)		`[inline, private]`

Definition at line 360 of file object_detection_visualizer_node.cpp.

void ObjectDetectionVisualizer::objectDetectionArrayCallback ( const cob_object_detection_msgs::DetectionArray::ConstPtr & object_detection_msg ) [inline, private]

Definition at line 105 of file object_detection_visualizer_node.cpp.

void ObjectDetectionVisualizer::objectDetectionDisplayCallback ( const cob_object_detection_msgs::DetectionArray::ConstPtr & object_detection_msg ) [inline, private]

Definition at line 231 of file object_detection_visualizer_node.cpp.

void ObjectDetectionVisualizer::pointcloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & pointcloud_msg ) [inline, private]

Definition at line 222 of file object_detection_visualizer_node.cpp.

void ObjectDetectionVisualizer::pointcloudInfoCallback ( const sensor_msgs::CameraInfoConstPtr & data ) [inline, private]

Definition at line 385 of file object_detection_visualizer_node.cpp.

cv::Point ObjectDetectionVisualizer::projectPoint ( const cv::Vec3d & point_3d ) [inline, private]

Definition at line 349 of file object_detection_visualizer_node.cpp.

bool ObjectDetectionVisualizer::renderDetections	(	cv::Mat &	image,
		const cob_object_detection_msgs::DetectionArray::ConstPtr &	object_detection_msg
	)		`[inline, private]`