The object recognition listener node object. More...

#include <ObjectRecognitionListener.h>

Public Member Functions
	ObjectRecognitionListener ()
	Creates a new ObjectRecognitionListener.
bool	okay () const
	A check for a valid ObjectRecognitionListener.
virtual	~ObjectRecognitionListener ()
	Cleans up a ObjectRecognitionListener.
Static Public Attributes
static const bool	DEFAULT_DEBUG = false
static const float	DOWNSAMPLE_LEAF_SIZE = 0.01
static const double	RECOGNITION_THRESHOLD = 0.5
static const double	SAME_OBJECT_DIST_THRESHOLD = 0.2
Private Member Functions
void	combineModels (const rail_manipulation_msgs::SegmentedObject &model1, const rail_manipulation_msgs::SegmentedObject &model2, rail_manipulation_msgs::SegmentedObject &combined) const
	Combine two models of the same type into a single model.
bool	comparePointClouds (const sensor_msgs::PointCloud2 &pc1, const sensor_msgs::PointCloud2 &pc2) const
	Check if the two point clouds are the same.
bool	removeObjectCallback (rail_pick_and_place_msgs::RemoveObject::Request &req, rail_pick_and_place_msgs::RemoveObject::Response &res)
	Callback for the remove object request.
void	segmentedObjectsCallback (const rail_manipulation_msgs::SegmentedObjectList::ConstPtr &objects)
	The segmented objects callback.
Private Attributes
bool	debug_
ros::Publisher	debug_pub_
graspdb::Client *	graspdb_
ImageRecognizer	image_recognizer_
boost::mutex	mutex_
ros::NodeHandle	node_
rail_manipulation_msgs::SegmentedObjectList	object_list_
bool	okay_
ros::NodeHandle	private_node_
ros::Publisher	recognized_objects_pub_
ros::ServiceServer	remove_object_srv_
ros::Subscriber	segmented_objects_sub_
bool	use_image_recognition_

Detailed Description

The object recognition listener node object.

The object recognition listener will listen to a specified SegmentedObjectsArray topic and attempt to recognize all segmented objects. The new list are republished on a separate topic.

Definition at line 43 of file ObjectRecognitionListener.h.

Constructor & Destructor Documentation

ObjectRecognitionListener::ObjectRecognitionListener ( )

Creates a new ObjectRecognitionListener.

Creates a new ObjectRecognitionListener with the associated topics.

Definition at line 26 of file ObjectRecognitionListener.cpp.

ObjectRecognitionListener::~ObjectRecognitionListener ( ) [virtual]

Cleans up a ObjectRecognitionListener.

Cleans up any connections used by the ObjectRecognitionListener.

Definition at line 77 of file ObjectRecognitionListener.cpp.

Member Function Documentation

void ObjectRecognitionListener::combineModels	(	const rail_manipulation_msgs::SegmentedObject &	model1,
		const rail_manipulation_msgs::SegmentedObject &	model2,
		rail_manipulation_msgs::SegmentedObject &	combined
	)		const `[private]`

Combine two models of the same type into a single model.

Take the two segmented object models and combine them into a single model. This is useful for when a single object has mistakenly been split into two models.

Parameters:

model1	The first object model.
model2	The second object model.
out	The combined model to set.

Definition at line 297 of file ObjectRecognitionListener.cpp.

bool ObjectRecognitionListener::comparePointClouds	(	const sensor_msgs::PointCloud2 &	pc1,
		const sensor_msgs::PointCloud2 &	pc2
	)		const `[private]`

Check if the two point clouds are the same.

Checks if the data in the two point clouds are the same.

Parameters:

pc1	The first point cloud.
pc2	The second point cloud.

Returns:: Returns true if the data in pc1 is equal to the data in pc2.

Definition at line 290 of file ObjectRecognitionListener.cpp.

bool ObjectRecognitionListener::okay ( ) const

A check for a valid ObjectRecognitionListener.

This function will return true if the appropriate connections were created successfully during initialization.

Returns:: True if the appropriate connections were created successfully during initialization.

Definition at line 84 of file ObjectRecognitionListener.cpp.

bool ObjectRecognitionListener::removeObjectCallback	(	rail_pick_and_place_msgs::RemoveObject::Request &	req,
		rail_pick_and_place_msgs::RemoveObject::Response &	res
	)		`[private]`