Public Member Functions
bool	add_new_template (cv::Mat img, std::string typestr, tf::Transform relative_pose, double template_width, double template_height, double theta_step=5.0, double phi_step=5.0)

void	check_subscribers ()

void	dyn_conf_callback (jsk_perception::point_pose_extractorConfig &config, uint32_t level)

void	imagefeature_cb (const posedetection_msgs::ImageFeature0DConstPtr &msg)

void	initialize ()

cv::Mat	make_homography (cv::Mat src, cv::Mat rvec, cv::Mat tvec, double template_width, double template_height, cv::Size &size)

int	make_warped_images (cv::Mat src, std::vector< cv::Mat > &imgs, std::vector< cv::Mat > &Mvec, double template_width, double template_height, double th_step, double phi_step)

	PointPoseExtractor ()

bool	settemplate_cb (jsk_perception::SetTemplate::Request &req, jsk_perception::SetTemplate::Response &res)

virtual	~PointPoseExtractor ()

Static Public Member Functions
static void	cvmousecb (int event, int x, int y, int flags, void *param)

static void	make_template_from_mousecb (Matching_Template *mt)

Private Attributes
bool	_autosize

ros::ServiceClient	_client

image_transport::Publisher	_debug_pub

double	_distanceratio_threshold

double	_err_thr

bool	_initialized

ros::NodeHandle	_n

double	_phi_step

ros::Publisher	_pub

ros::Publisher	_pub_agg

ros::Publisher	_pub_pose

double	_reprojection_threshold

ros::ServiceServer	_server

ros::Subscriber	_sub

double	_th_step

bool	_viewer

image_transport::ImageTransport	it

image_geometry::PinholeCameraModel	pcam

bool	pnod

Static Private Attributes
static std::vector< Matching_Template * >	_templates

Detailed Description

Definition at line 551 of file point_pose_extractor.cpp.

Constructor & Destructor Documentation

PointPoseExtractor::PointPoseExtractor ( )

inline

Definition at line 573 of file point_pose_extractor.cpp.

virtual PointPoseExtractor::~PointPoseExtractor ( )

inlinevirtual

Definition at line 585 of file point_pose_extractor.cpp.

Member Function Documentation

bool PointPoseExtractor::add_new_template	(	cv::Mat	img,
		std::string	typestr,
		tf::Transform	relative_pose,
		double	template_width,
		double	template_height,
		double	theta_step = `5.0`,
		double	phi_step = `5.0`
	)

inline

Definition at line 844 of file point_pose_extractor.cpp.

void PointPoseExtractor::check_subscribers ( )

inline

Definition at line 969 of file point_pose_extractor.cpp.

static void PointPoseExtractor::cvmousecb	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)

inlinestatic

Definition at line 666 of file point_pose_extractor.cpp.

void PointPoseExtractor::dyn_conf_callback	(	jsk_perception::point_pose_extractorConfig &	config,
		uint32_t	level
	)

inline

Definition at line 986 of file point_pose_extractor.cpp.

void PointPoseExtractor::imagefeature_cb ( const posedetection_msgs::ImageFeature0DConstPtr & msg )

inline

Definition at line 900 of file point_pose_extractor.cpp.

void PointPoseExtractor::initialize ( )

inline

Definition at line 690 of file point_pose_extractor.cpp.

cv::Mat PointPoseExtractor::make_homography	(	cv::Mat	src,
		cv::Mat	rvec,
		cv::Mat	tvec,
		double	template_width,
		double	template_height,
		cv::Size &	size
	)

inline

Definition at line 763 of file point_pose_extractor.cpp.

static void PointPoseExtractor::make_template_from_mousecb ( Matching_Template * mt )

inlinestatic

Definition at line 592 of file point_pose_extractor.cpp.

int PointPoseExtractor::make_warped_images	(	cv::Mat	src,
		std::vector< cv::Mat > &	imgs,
		std::vector< cv::Mat > &	Mvec,
		double	template_width,
		double	template_height,
		double	th_step,
		double	phi_step
	)

inline

Definition at line 805 of file point_pose_extractor.cpp.

bool PointPoseExtractor::settemplate_cb	(	jsk_perception::SetTemplate::Request &	req,
		jsk_perception::SetTemplate::Response &	res
	)

inline

Definition at line 879 of file point_pose_extractor.cpp.

Member Data Documentation

bool PointPoseExtractor::_autosize

private

Definition at line 564 of file point_pose_extractor.cpp.

ros::ServiceClient PointPoseExtractor::_client

private

Definition at line 557 of file point_pose_extractor.cpp.

image_transport::Publisher PointPoseExtractor::_debug_pub

private

Definition at line 559 of file point_pose_extractor.cpp.

double PointPoseExtractor::_distanceratio_threshold

private

Definition at line 561 of file point_pose_extractor.cpp.

double PointPoseExtractor::_err_thr

private

Definition at line 565 of file point_pose_extractor.cpp.

bool PointPoseExtractor::_initialized

private

Definition at line 569 of file point_pose_extractor.cpp.

ros::NodeHandle PointPoseExtractor::_n

private

Definition at line 553 of file point_pose_extractor.cpp.

double PointPoseExtractor::_phi_step

private

Definition at line 563 of file point_pose_extractor.cpp.

ros::Publisher PointPoseExtractor::_pub

private

Definition at line 558 of file point_pose_extractor.cpp.

ros::Publisher PointPoseExtractor::_pub_agg

private

Definition at line 558 of file point_pose_extractor.cpp.

ros::Publisher PointPoseExtractor::_pub_pose

private

Definition at line 558 of file point_pose_extractor.cpp.

double PointPoseExtractor::_reprojection_threshold

private

Definition at line 560 of file point_pose_extractor.cpp.

ros::ServiceServer PointPoseExtractor::_server

private

Definition at line 556 of file point_pose_extractor.cpp.

ros::Subscriber PointPoseExtractor::_sub

private

Definition at line 555 of file point_pose_extractor.cpp.

std::vector< Matching_Template * > PointPoseExtractor::_templates

staticprivate

Definition at line 566 of file point_pose_extractor.cpp.

double PointPoseExtractor::_th_step

private

Definition at line 562 of file point_pose_extractor.cpp.

bool PointPoseExtractor::_viewer

private

Definition at line 570 of file point_pose_extractor.cpp.

image_transport::ImageTransport PointPoseExtractor::it

private

Definition at line 554 of file point_pose_extractor.cpp.

image_geometry::PinholeCameraModel PointPoseExtractor::pcam

private

Definition at line 567 of file point_pose_extractor.cpp.

bool PointPoseExtractor::pnod

private

Definition at line 568 of file point_pose_extractor.cpp.

The documentation for this class was generated from the following file:

point_pose_extractor.cpp

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation