#include <ShapeReconstruction.h>

Public Member Functions
ShapeReconstructionPtr	clone () const
virtual void	generateMesh ()
SRPointCloud::Ptr	getCurrentPointCloud () const
omip::RB_id_t	getId () const
SRPointCloud::Ptr	getMovedRigidBodyShapeExtDandC () const
SRPointCloud::Ptr	getRigidBodyShapeExtDandC () const
virtual void	getShapeModel (omip_msgs::ShapeModelsPtr shapes)
virtual void	initialize ()
virtual void	PublishMovedModelAndSegment (const ros::Time current_time, const geometry_msgs::TwistWithCovariance &rb_transformation, rosbag::Bag &bag, bool bagOpen)
virtual void	RemoveInconsistentPoints (const SRPointCloud::Ptr &pc_msg, const geometry_msgs::TwistWithCovariance &rb_transformation)
virtual void	setAccumulateChangeCandidates (bool b)
virtual void	setApproxVoxelGridLeafSize (double leaf_size)
virtual void	setCameraInfo (const sensor_msgs::CameraInfo &camera_info)
virtual void	setColorChangesErodeSize (double color_changes_erode_size)
virtual void	setDepthFilling (bool depth_filling)
virtual void	setDetectStaticEnvironment (bool b)
void	setEstimateSV (bool estimate_sv)
virtual void	setExtendToNeighborSV (bool extend_to_neighbor_sv)
virtual void	setFullRGBDPCandRBT (const SRPointCloud::Ptr &pc_msg, const geometry_msgs::TwistWithCovariance &rb_transformation)
virtual void	setInitialFullRGBDPCAndRBT (const SRPointCloud::Ptr &initial_pc_msg, const geometry_msgs::TwistWithCovariance &rb_transformation_initial)
virtual void	setKNNMinRadius (double knn_min_radius)
virtual void	setLiveStream (bool live_stream)
virtual void	setMinColorChange (int min_color_change)
virtual void	setMinDepthChange (double b)
virtual void	setRadiusOutRemovalMinNeighbors (int ror_min_neighbors)
virtual void	setRadiusOutRemovalSearch (double ror_radius_search)
virtual void	setRBId (omip::RB_id_t rb_id)
virtual void	setRecordVideos (bool record_videos)
virtual void	setRemoveInconsistentPoints (double b)
virtual void	setSimilarityInH (double similarity_in_h)
virtual void	setSimilarityInNormal (double similarity_in_normal)
virtual void	setSuperVoxelClustersPtr (std::map< uint32_t, pcl::Supervoxel< SRPoint >::Ptr > &supervoxel_clusters)
virtual void	setSuperVoxelizerPtr (boost::shared_ptr< pcl::SupervoxelClustering< SRPoint > > &supervoxelizer)
virtual void	setSupportingFeatures (pcl::PointCloud< pcl::PointXYZL >::Ptr supporting_features)
virtual void	setSVMinNumberModelPixels (int min_number_model_pixels_in_sv)
virtual void	setToInitial (bool to_initial)
	ShapeReconstruction ()
	ShapeReconstruction (const ShapeReconstruction &sr)
virtual void	useClusteredFeatures (bool use_clustered_features)
virtual	~ShapeReconstruction ()
Protected Member Functions
virtual void	_DetectImageLocationsWhereColorChanges ()
virtual void	_DetectImageLocationsWhereDepthChanges ()
virtual void	_EstimateTransformations ()
virtual void	_ExtendPointsToRegions ()
virtual void	_ExtendToNeighborSV (std::multimap< uint32_t, uint32_t > &supervoxel_adjacency, std::vector< uint32_t > &labels_extension)
virtual void	_FilterModel ()
virtual void	_FindCandidatesInCurrentPC (const FrameForSegmentation &_previous_ffs, FrameForSegmentation &_current_ffs, pcl::PointIndices::Ptr &_moving_pts_of_current_idx_depth, Eigen::Matrix4d &_previous_to_current_HTransform, std::vector< std::vector< int > > &_previous_k_indices_depth, std::vector< std::vector< float > > &_previous_sqrt_dist_depth)
virtual void	_FindCandidatesInPreviousPC (FrameForSegmentation &_previous_ffs, const FrameForSegmentation &_current_ffs, pcl::PointIndices::Ptr &_moving_pts_of_previous_idx_depth, Eigen::Matrix4d &_current_to_previous_HTransform, std::vector< std::vector< int > > &_current_k_indices_depth, std::vector< std::vector< float > > &_current_sqrt_dist_depth)
virtual void	_FindInconsistentPoints (const omip::SRPointCloud::Ptr &pc_source, const cv::Mat &dm_true, pcl::PointIndicesPtr &indices_to_remove, pcl::PointIndicesPtr &indices_matching_in_true, pcl::PointIndicesPtr &indices_matching_in_dm, const double min_depth_error=0.03)
virtual void	_GenerateMesh (const omip::SRPointCloud::Ptr &pc_source, std::string shape_file_prefix)
virtual void	_MergeValidPointsIntoModels ()
virtual void	_MergeValidPointsIntoModels (const std::string &logger_name, omip::SRPointCloud::Ptr &points_of_current_in_origin, omip::SRPointCloud::Ptr &points_of_previous_in_origin, omip::SRPointCloud::Ptr &rb_model, const std::vector< std::vector< int > > &current_k_indices, const std::vector< std::vector< int > > &previous_k_indices)
virtual void	_RemoveInconsistentPointsFromModelsAndExtendToRegions ()
virtual void	_RemoveInconsistentPointsFromRBModel (const std::string method, const Eigen::Matrix4d &HTransform, SRPointCloud::Ptr &rb_shape_depth, cv::Mat &current_dm, SRPointCloud::Ptr current_pc, SRPointCloud::Ptr &rb_segment_depth)
virtual void	_TestMotionCoherencyOfPointsInImageLocationsWhereColorChanged ()
virtual void	_TestMotionCoherencyOfPointsInImageLocationsWhereDepthChanged ()
virtual ShapeReconstruction *	doClone () const
	Clone function.
void	growSVRecursively (uint32_t label_sv_seed, std::vector< uint32_t > &labels_extension, std::multimap< uint32_t, uint32_t > &supervoxel_adjacency, std::vector< uint32_t > &sv_containing_supporting_features, int &distance_to_feature_sv, std::map< uint32_t, std::unordered_set< int > > &labels_of_segments_to_extend)
Protected Attributes
cv::Mat	_acc_candidates_of_current
bool	_accumulate_change_candidates
pcl::ApproximateVoxelGrid < SRPoint >	_approximate_voxel_grid_filter
SRPointCloud::Ptr	_candidates
SRPointCloud::Ptr	_candidates_in_current
cv::Mat	_candidates_of_current
cv::Mat	_candidates_of_current_8u
cv::Mat	_candidates_of_previous
cv::Mat	_candidates_of_previous_8u
sensor_msgs::CameraInfo	_ci
double	_color_changes_erode_size
cv::Mat	_current_depth_mask
FrameForSegmentation	_current_ffs
Eigen::Matrix4d	_current_HTransform
Eigen::Matrix4d	_current_HTransform_inv
std::vector< std::vector< int > >	_current_k_indices
Eigen::Matrix4d	_current_to_previous_HTransform
Eigen::Twistd	_current_twist
bool	_depth_filling
bool	_detect_static_environment
cv::Mat	_difference_in_depth
cv::Mat	_difference_in_depth_moved
bool	_estimate_supervoxels
bool	_extend_to_neighbor_sv
pcl::ExtractIndices< SRPoint >	_extractor
FrameForSegmentation	_initial_ffs
pcl::search::Search< SRPoint >::Ptr	_knn
double	_knn_min_radius
double	_leaf_size
bool	_live_stream
int	_min_color_change
double	_min_depth_change
int	_min_number_model_pixels_in_sv
pcl::PointIndices::Ptr	_moving_pts_of_current_idx_color
pcl::PointIndices::Ptr	_moving_pts_of_current_idx_depth
pcl::PointIndices::Ptr	_moving_pts_of_previous_idx_color
pcl::PointIndices::Ptr	_moving_pts_of_previous_idx_depth
ros::NodeHandle	_node_handle
pcl::PointIndices::Ptr	_occluded_pts_of_current_idx
ros::Publisher	_occlusions_pub
ros::Publisher	_occlusions_transformed_pub
pcl::PointIndices::Ptr	_out_of_view_pts_of_current_idx
cv::Mat	_previous_depth_mask
FrameForSegmentation	_previous_ffs
Eigen::Matrix4d	_previous_HTransform
Eigen::Matrix4d	_previous_HTransform_inv
std::vector< std::vector< int > >	_previous_k_indices
std::vector< std::vector< int > >	_previous_k_indices_previous
Eigen::Matrix4d	_previous_to_current_HTransform
Eigen::Twistd	_previous_twist
pcl::RadiusOutlierRemoval < SRPoint >	_radius_outlier_removal
pcl::PointCloud< pcl::Normal >::Ptr	_rb_estimated_normals_pc_ptr
pcl::GreedyProjectionTriangulation < pcl::PointXYZRGBNormal > ::Ptr	_rb_greedy_projection_triangulator_ptr
omip::RB_id_t	_rb_id
pcl::NormalEstimationOMP < omip::SRPoint, pcl::Normal > ::Ptr	_rb_normal_estimator_ptr
vtkSmartPointer< vtkPolyData >	_rb_polygon_data_ptr
vtkSmartPointer< vtkSTLWriter >	_rb_polygon_writer_ptr
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr	_rb_position_color_and_normals_pc_ptr
SRPointCloud::Ptr	_rb_segment
ros::Publisher	_rb_segment_pub
SRPointCloud::Ptr	_rb_shape
SRPointCloud::Ptr	_rb_shape_in_current_frame
ros::Publisher	_rb_shape_pub
pcl::search::KdTree < omip::SRPoint >::Ptr	_rb_tree_for_normal_estimation_ptr
pcl::search::KdTree < pcl::PointXYZRGBNormal > ::Ptr	_rb_tree_for_triangulation_ptr
pcl::PolygonMesh::Ptr	_rb_triangulated_mesh_ptr
bool	_record_videos
bool	_remove_inconsistent_points
pcl::RangeImagePlanar::Ptr	_rip_temp
int	_ror_min_neighbors
double	_ror_radius_search
double	_similarity_in_h
double	_similarity_in_normal
std::vector< std::vector< float > >	_sqrt_dist
std::map< uint32_t, pcl::Supervoxel< SRPoint > ::Ptr > *	_supervoxel_clusters_ptr
boost::shared_ptr < pcl::SupervoxelClustering < SRPoint > > *	_supervoxelizer_ptr_ptr
pcl::PointCloud < pcl::PointXYZL >::Ptr	_supporting_features
int	_t
double	_timestamp_color
bool	_to_initial
bool	_use_clustered_features
rosbag::Bag	_videos

Detailed Description

Definition at line 164 of file ShapeReconstruction.h.

Constructor & Destructor Documentation

ShapeReconstruction::ShapeReconstruction ( )

Mesh generation and storage as STL file

For RB shape

Definition at line 47 of file ShapeReconstruction.cpp.

ShapeReconstruction::ShapeReconstruction ( const ShapeReconstruction & sr )

Definition at line 198 of file ShapeReconstruction.cpp.

ShapeReconstruction::~ShapeReconstruction ( ) [virtual]

Definition at line 220 of file ShapeReconstruction.cpp.

Member Function Documentation

void ShapeReconstruction::_DetectImageLocationsWhereColorChanges ( ) [protected, virtual]

Definition at line 461 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_DetectImageLocationsWhereDepthChanges ( ) [protected, virtual]

Definition at line 340 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_EstimateTransformations ( ) [protected, virtual]

Definition at line 1155 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_ExtendPointsToRegions ( ) [protected, virtual]

Definition at line 933 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_ExtendToNeighborSV	(	std::multimap< uint32_t, uint32_t > &	supervoxel_adjacency,
		std::vector< uint32_t > &	labels_extension
	)		`[protected, virtual]`

Definition at line 1062 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_FilterModel ( ) [protected, virtual]

Definition at line 740 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_FindCandidatesInCurrentPC	(	const FrameForSegmentation &	_previous_ffs,
		FrameForSegmentation &	_current_ffs,
		pcl::PointIndices::Ptr &	_moving_pts_of_current_idx_depth,
		Eigen::Matrix4d &	_previous_to_current_HTransform,
		std::vector< std::vector< int > > &	_previous_k_indices_depth,
		std::vector< std::vector< float > > &	_previous_sqrt_dist_depth
	)		`[protected, virtual]`

Definition at line 639 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_FindCandidatesInPreviousPC	(	FrameForSegmentation &	_previous_ffs,
		const FrameForSegmentation &	_current_ffs,
		pcl::PointIndices::Ptr &	_moving_pts_of_previous_idx_depth,
		Eigen::Matrix4d &	_current_to_previous_HTransform,
		std::vector< std::vector< int > > &	_current_k_indices_depth,
		std::vector< std::vector< float > > &	_current_sqrt_dist_depth
	)		`[protected, virtual]`

Definition at line 608 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_FindInconsistentPoints	(	const omip::SRPointCloud::Ptr &	pc_source,
		const cv::Mat &	dm_true,
		pcl::PointIndicesPtr &	indices_to_remove,
		pcl::PointIndicesPtr &	indices_matching_in_true,
		pcl::PointIndicesPtr &	indices_matching_in_dm,
		const double	min_depth_error = `0.03`
	)		`[protected, virtual]`

Definition at line 840 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_GenerateMesh	(	const omip::SRPointCloud::Ptr &	pc_source,
		std::string	shape_file_prefix
	)		`[protected, virtual]`

Definition at line 1176 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_MergeValidPointsIntoModels ( ) [protected, virtual]

Definition at line 670 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_MergeValidPointsIntoModels	(	const std::string &	logger_name,
		omip::SRPointCloud::Ptr &	points_of_current_in_origin,
		omip::SRPointCloud::Ptr &	points_of_previous_in_origin,
		omip::SRPointCloud::Ptr &	rb_model,
		const std::vector< std::vector< int > > &	current_k_indices,
		const std::vector< std::vector< int > > &	previous_k_indices
	)		`[protected, virtual]`

Definition at line 694 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_RemoveInconsistentPointsFromModelsAndExtendToRegions ( ) [protected, virtual]

Definition at line 724 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_RemoveInconsistentPointsFromRBModel	(	const std::string	method,
		const Eigen::Matrix4d &	HTransform,
		SRPointCloud::Ptr &	rb_shape_depth,
		cv::Mat &	current_dm,
		SRPointCloud::Ptr	current_pc,
		SRPointCloud::Ptr &	rb_segment_depth
	)		`[protected, virtual]`

Definition at line 759 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_TestMotionCoherencyOfPointsInImageLocationsWhereColorChanged ( ) [protected, virtual]

Definition at line 586 of file ShapeReconstruction.cpp.

void ShapeReconstruction::_TestMotionCoherencyOfPointsInImageLocationsWhereDepthChanged ( ) [protected, virtual]

Definition at line 418 of file ShapeReconstruction.cpp.

ShapeReconstructionPtr omip::ShapeReconstruction::clone ( ) const [inline]

Definition at line 330 of file ShapeReconstruction.h.

virtual ShapeReconstruction* omip::ShapeReconstruction::doClone ( ) const [inline, protected, virtual]

Clone function.

Definition at line 343 of file ShapeReconstruction.h.

void ShapeReconstruction::generateMesh ( ) [virtual]

Definition at line 1218 of file ShapeReconstruction.cpp.

SRPointCloud::Ptr omip::ShapeReconstruction::getCurrentPointCloud ( ) const [inline]

Definition at line 200 of file ShapeReconstruction.h.

omip::RB_id_t omip::ShapeReconstruction::getId ( ) const [inline]

Definition at line 195 of file ShapeReconstruction.h.

SRPointCloud::Ptr omip::ShapeReconstruction::getMovedRigidBodyShapeExtDandC ( ) const [inline]

Definition at line 210 of file ShapeReconstruction.h.

SRPointCloud::Ptr omip::ShapeReconstruction::getRigidBodyShapeExtDandC ( ) const [inline]

Definition at line 205 of file ShapeReconstruction.h.

void ShapeReconstruction::getShapeModel ( omip_msgs::ShapeModelsPtr shapes ) [virtual]

Definition at line 1229 of file ShapeReconstruction.cpp.

void ShapeReconstruction::growSVRecursively	(	uint32_t	label_sv_seed,
		std::vector< uint32_t > &	labels_extension,
		std::multimap< uint32_t, uint32_t > &	supervoxel_adjacency,
		std::vector< uint32_t > &	sv_containing_supporting_features,
		int &	distance_to_feature_sv,
		std::map< uint32_t, std::unordered_set< int > > &	labels_of_segments_to_extend
	)		`[protected]`

Definition at line 876 of file ShapeReconstruction.cpp.

void ShapeReconstruction::initialize ( ) [virtual]

Definition at line 140 of file ShapeReconstruction.cpp.

void ShapeReconstruction::PublishMovedModelAndSegment	(	const ros::Time	current_time,
		const geometry_msgs::TwistWithCovariance &	rb_transformation,
		rosbag::Bag &	bag,
		bool	bagOpen
	)		`[virtual]`

Definition at line 1243 of file ShapeReconstruction.cpp.

void ShapeReconstruction::RemoveInconsistentPoints	(	const SRPointCloud::Ptr &	pc_msg,
		const geometry_msgs::TwistWithCovariance &	rb_transformation
	)		`[virtual]`

Definition at line 1283 of file ShapeReconstruction.cpp.

virtual void omip::ShapeReconstruction::setAccumulateChangeCandidates ( bool b ) [inline, virtual]

Definition at line 220 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setApproxVoxelGridLeafSize ( double leaf_size ) [inline, virtual]

Definition at line 315 of file ShapeReconstruction.h.

void ShapeReconstruction::setCameraInfo ( const sensor_msgs::CameraInfo & camera_info ) [virtual]

Definition at line 228 of file ShapeReconstruction.cpp.

virtual void omip::ShapeReconstruction::setColorChangesErodeSize ( double color_changes_erode_size ) [inline, virtual]

Definition at line 290 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setDepthFilling ( bool depth_filling ) [inline, virtual]

Definition at line 285 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setDetectStaticEnvironment ( bool b ) [inline, virtual]

Definition at line 215 of file ShapeReconstruction.h.

void omip::ShapeReconstruction::setEstimateSV ( bool estimate_sv ) [inline]

Definition at line 335 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setExtendToNeighborSV ( bool extend_to_neighbor_sv ) [inline, virtual]

Definition at line 260 of file ShapeReconstruction.h.

void ShapeReconstruction::setFullRGBDPCandRBT	(	const SRPointCloud::Ptr &	pc_msg,
		const geometry_msgs::TwistWithCovariance &	rb_transformation
	)		`[virtual]`

Definition at line 233 of file ShapeReconstruction.cpp.

void ShapeReconstruction::setInitialFullRGBDPCAndRBT	(	const SRPointCloud::Ptr &	initial_pc_msg,
		const geometry_msgs::TwistWithCovariance &	rb_transformation_initial
	)		`[virtual]`

Definition at line 113 of file ShapeReconstruction.cpp.

virtual void omip::ShapeReconstruction::setKNNMinRadius ( double knn_min_radius ) [inline, virtual]

Definition at line 240 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setLiveStream ( bool live_stream ) [inline, virtual]

Definition at line 305 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setMinColorChange ( int min_color_change ) [inline, virtual]

Definition at line 235 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setMinDepthChange ( double b ) [inline, virtual]

Definition at line 225 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setRadiusOutRemovalMinNeighbors ( int ror_min_neighbors ) [inline, virtual]

Definition at line 325 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setRadiusOutRemovalSearch ( double ror_radius_search ) [inline, virtual]

Definition at line 320 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setRBId ( omip::RB_id_t rb_id ) [inline, virtual]

Definition at line 310 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setRecordVideos ( bool record_videos ) [inline, virtual]

Definition at line 300 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setRemoveInconsistentPoints ( double b ) [inline, virtual]

Definition at line 230 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setSimilarityInH ( double similarity_in_h ) [inline, virtual]

Definition at line 265 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setSimilarityInNormal ( double similarity_in_normal ) [inline, virtual]

Definition at line 270 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setSuperVoxelClustersPtr ( std::map< uint32_t, pcl::Supervoxel< SRPoint >::Ptr > & supervoxel_clusters ) [inline, virtual]

Definition at line 255 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setSuperVoxelizerPtr ( boost::shared_ptr< pcl::SupervoxelClustering< SRPoint > > & supervoxelizer ) [inline, virtual]

Definition at line 250 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setSupportingFeatures ( pcl::PointCloud< pcl::PointXYZL >::Ptr supporting_features ) [inline, virtual]

Definition at line 275 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setSVMinNumberModelPixels ( int min_number_model_pixels_in_sv ) [inline, virtual]

Definition at line 245 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::setToInitial ( bool to_initial ) [inline, virtual]

Definition at line 295 of file ShapeReconstruction.h.

virtual void omip::ShapeReconstruction::useClusteredFeatures ( bool use_clustered_features ) [inline, virtual]

Definition at line 280 of file ShapeReconstruction.h.