linemod.cpp File Reference

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc_c.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iterator>
#include <set>
#include <cstdio>
#include <iostream>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

Include dependency graph for linemod.cpp:

Go to the source code of this file.

Classes
class	Mouse
class	Timer

Typedefs
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	SyncPolicy

Functions
void	callback (const sensor_msgs::Image::ConstPtr &rgb_image, const sensor_msgs::Image::ConstPtr &depth_image, const sensor_msgs::CameraInfo::ConstPtr &rgb_camera_info, const sensor_msgs::CameraInfo::ConstPtr &depth_camera_info)
cv::Mat	displayQuantized (const cv::Mat &quantized)
void	drawResponse (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Mat &dst, cv::Point offset, int T)
static void	filterPlane (IplImage *ap_depth, std::vector< IplImage * > &a_masks, std::vector< CvPoint > &a_chain, double f)
static void	help ()
int	main (int argc, char **argv)
std::vector< CvPoint >	maskFromTemplate (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Point offset, cv::Size size, cv::Mat &mask, cv::Mat &dst)
static cv::Ptr< cv::linemod::Detector >	readLinemod (const std::string &filename)
static void	reprojectPoints (const std::vector< cv::Point3d > &proj, std::vector< cv::Point3d > &real, double f)
void	subtractPlane (const cv::Mat &depth, cv::Mat &mask, std::vector< CvPoint > &chain, double f)
void	templateConvexHull (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Point offset, cv::Size size, cv::Mat &dst)
static void	writeLinemod (const cv::Ptr< cv::linemod::Detector > &detector, const std::string &filename)

Variables
cv::Ptr< cv::linemod::Detector >	detector
std::string	filename
int	matching_threshold = 80
int	num_classes = 0

Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo > SyncPolicy

Definition at line 404 of file linemod.cpp.

Function Documentation

void callback	(	const sensor_msgs::Image::ConstPtr &	rgb_image,
		const sensor_msgs::Image::ConstPtr &	depth_image,
		const sensor_msgs::CameraInfo::ConstPtr &	rgb_camera_info,
		const sensor_msgs::CameraInfo::ConstPtr &	depth_camera_info
	)

Todo:

Keys for changing these?

Todo:

Online learning possibly broken by new gradient feature extraction, which assumes an accurate object outline.

Definition at line 201 of file linemod.cpp.

cv::Mat displayQuantized

(

const cv::Mat &

quantized

)

Definition at line 712 of file linemod.cpp.

void drawResponse	(	const std::vector< cv::linemod::Template > &	templates,
		int	num_modalities,
		cv::Mat &	dst,
		cv::Point	offset,
		int	T
	)

Definition at line 767 of file linemod.cpp.

static void filterPlane ( IplImage *  ap_depth, std::vector< IplImage * > &  a_masks, std::vector< CvPoint > &  a_chain, double  f  )

static

Definition at line 480 of file linemod.cpp.

static void help ( )

static

Definition at line 119 of file linemod.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 407 of file linemod.cpp.

std::vector< CvPoint > maskFromTemplate	(	const std::vector< cv::linemod::Template > &	templates,
		int	num_modalities,
		cv::Point	offset,
		cv::Size	size,
		cv::Mat &	mask,
		cv::Mat &	dst
	)

Todo:

Really need dst at all? Can just as well do this outside

Definition at line 666 of file linemod.cpp.

static cv::Ptr<cv::linemod::Detector> readLinemod ( const std::string &  filename )

static

Definition at line 167 of file linemod.cpp.

static void reprojectPoints ( const std::vector< cv::Point3d > &  proj, std::vector< cv::Point3d > &  real, double  f  )

static

Definition at line 466 of file linemod.cpp.

void subtractPlane	(	const cv::Mat &	depth,
		cv::Mat &	mask,
		std::vector< CvPoint > &	chain,
		double	f
	)

Definition at line 656 of file linemod.cpp.

void templateConvexHull	(	const std::vector< cv::linemod::Template > &	templates,
		int	num_modalities,
		cv::Point	offset,
		cv::Size	size,
		cv::Mat &	dst
	)

Definition at line 744 of file linemod.cpp.

static void writeLinemod ( const cv::Ptr< cv::linemod::Detector > &  detector, const std::string &  filename  )

static

Definition at line 180 of file linemod.cpp.

Variable Documentation

cv::Ptr<cv::linemod::Detector> detector

Definition at line 197 of file linemod.cpp.

std::string filename

Definition at line 198 of file linemod.cpp.

int matching_threshold = 80

Definition at line 200 of file linemod.cpp.

int num_classes = 0

Definition at line 199 of file linemod.cpp.