#include <sliding_window_object_detector.h>

Inheritance diagram for jsk_perception::SlidingWindowObjectDetector:

[legend]

Public Member Functions
virtual void	computeHSHistogram (cv::Mat &, cv::Mat &, const int=64, const int=32, bool=true)

virtual void	concatenateCVMat (const cv::Mat &, const cv::Mat &, cv::Mat &, bool=true)

virtual void	configCallback (jsk_perception::SlidingWindowObjectDetectorConfig &, uint32_t)

void	convertCvRectToJSKRectArray (const std::vector< cv::Rect_< int > > &, jsk_recognition_msgs::RectArray &, const int, const cv::Size)

virtual void	loadTrainedDetectorModel ()

virtual std::vector< cv::Rect_< int > >	nonMaximumSuppression (std::multimap< float, cv::Rect_< int > > &, const float)

virtual void	objectRecognizer (const cv::Mat &, std::multimap< float, cv::Rect_< int > > &, const cv::Size, const int=16)

virtual void	pyramidialScaling (cv::Size &, const float)

virtual void	readTrainingManifestFromDirectory ()

virtual std::multimap< float, cv::Rect_< int > >	runSlidingWindowDetector (const cv::Mat &, const cv::Size, const float, const int, const int)

virtual void	setBoundingBoxLabel (cv::Mat &, cv::Rect_< int >, const std::string="object")

	SlidingWindowObjectDetector ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Public Member Functions inherited from HOGFeatureDescriptor
virtual cv::Mat	computeHOG (const cv::Mat &)

	HOGFeatureDescriptor (const int=8, const int=2, const int=9, const float=180.0f)

Protected Member Functions
virtual void	imageCb (const sensor_msgs::ImageConstPtr &)

virtual void	onInit ()

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
std::string	dataset_path_

int	downsize_

int	incrementor_

std::string	model_name_

boost::mutex	mutex_

std::string	ndataset_path_

ros::ServiceClient	nms_client_

std::string	nonobject_dataset_filename_

std::string	object_dataset_filename_

bool	override_manifest_

ros::Publisher	pub_image_

ros::Publisher	pub_rects_

boost::shared_ptr< rosbag::Bag >	rosbag_

std::string	run_type_

float	scale_

boost::shared_ptr< dynamic_reconfigure::Server< jsk_perception::SlidingWindowObjectDetectorConfig > >	srv_

int	stack_size_

ros::Subscriber	sub_image_

boost::shared_ptr< cv::SVM >	supportVectorMachine_

int	swindow_x

int	swindow_y

std::string	trainer_manifest_filename_

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Protected Attributes inherited from HOGFeatureDescriptor
int	ANGLE

int	BINS_ANGLE

int	BLOCK

int	CELL

int	N_BINS

Additional Inherited Members
Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Detailed Description

Definition at line 37 of file sliding_window_object_detector.h.

Constructor & Destructor Documentation

jsk_perception::SlidingWindowObjectDetector::SlidingWindowObjectDetector ( )

inline

Definition at line 41 of file sliding_window_object_detector.h.

Member Function Documentation

void jsk_perception::SlidingWindowObjectDetector::computeHSHistogram	(	cv::Mat &	src,
		cv::Mat &	hist,
		const int	hBin = `64`,
		const int	sBin = `32`,
		bool	is_norm = `true`
	)

virtual

color histogram temp placed here

Definition at line 219 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::concatenateCVMat	(	const cv::Mat &	mat_1,
		const cv::Mat &	mat_2,
		cv::Mat &	featureMD,
		bool	iscolwise = `true`
	)

virtual

Definition at line 287 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::configCallback	(	jsk_perception::SlidingWindowObjectDetectorConfig &	config,
		uint32_t	level
	)

virtual

Definition at line 409 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::convertCvRectToJSKRectArray	(	const std::vector< cv::Rect_< int > > &	bounding_boxes,
		jsk_recognition_msgs::RectArray &	jsk_rects,
		const int	downsize,
		const cv::Size	img_sz
	)

Definition at line 314 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::imageCb ( const sensor_msgs::ImageConstPtr & msg )

protectedvirtual

Definition at line 85 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::loadTrainedDetectorModel ( )

virtual

Definition at line 330 of file sliding_window_object_detector.cpp.

std::vector< cv::Rect_< int > > jsk_perception::SlidingWindowObjectDetector::nonMaximumSuppression	(	std::multimap< float, cv::Rect_< int > > &	detection_info,
		const float	nms_threshold
	)

virtual

Definition at line 250 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::objectRecognizer	(	const cv::Mat &	image,
		std::multimap< float, cv::Rect_< int > > &	detection_info,
		const cv::Size	wsize,
		const int	incrementor = `16`
	)

virtual

Definition at line 180 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::onInit ( )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 14 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::pyramidialScaling	(	cv::Size &	wsize,
		const float	scale
	)

virtual

Definition at line 239 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::readTrainingManifestFromDirectory ( )

virtual

Definition at line 348 of file sliding_window_object_detector.cpp.

std::multimap< float, cv::Rect_< int > > jsk_perception::SlidingWindowObjectDetector::runSlidingWindowDetector	(	const cv::Mat &	image,
		const cv::Size	wsize,
		const float	scale,
		const int	scale_counter,
		const int	incrementor
	)