Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
recognizer_prediction_ism::SceneRecognition Class Reference

#include <scene_recognition.h>

Public Member Functions

bool processFindScenesServiceCall (asr_recognizer_prediction_ism::FindScenes::Request &request, asr_recognizer_prediction_ism::FindScenes::Response &response)
 processFindScenesServiceCall Receives service call with detected AsrObjects. More...
 
bool processResetServiceCall (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
 processResetServiceCall Clears the old recognition results. More...
 
bool processToggleVisualizationServiceCall (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
 processToggleVisualizationServiceCall Toggle the visualization via service call. More...
 
 SceneRecognition (std::vector< ISM::RecognitionResultPtr > &results_already_shared, SharedRecognitionResultsManagerPtr shared_recognition_results_ptr)
 SceneRecognitionNode Constructor. More...
 
bool setLogFilePathServiceCall (asr_recognizer_prediction_ism::SetLogDir::Request &request, asr_recognizer_prediction_ism::SetLogDir::Response &response)
 processSetLogDirServiceCall Receives service call where to write object constellations, used for scene recognition. More...
 
 ~SceneRecognition ()
 

Private Member Functions

void constructPatternObjectMapping ()
 
void createObjectSetsFromPoseSamples (std::vector< asr_msgs::AsrObject >::iterator object_it, std::vector< asr_msgs::AsrObject >::iterator end_it, ISM::ObjectSetPtr temp_set_ptr, std::vector< ISM::ObjectSetPtr > &object_sets, bool measured_value_only)
 
void deleteAllNewRR ()
 
std::vector< ISM::ObjectPtr > extractRealObjects (ISM::RecognitionResultPtr result_ptr)
 
void filterIncompleteRR (std::vector< ISM::RecognitionResultPtr > &recognition_results)
 
void sortBestRRperScene (std::stringstream &output)
 
void writeObjectConstellationToXML (std::vector< ISM::ObjectPtr > &objects, int sceneRecogCount, int constellation_count)
 

Static Private Member Functions

static bool compareConfidence (ISM::RecognitionResultPtr i, ISM::RecognitionResultPtr j)
 
static bool isCompleteSubset (std::set< std::pair< std::string, std::string > > set_a, std::set< std::pair< std::string, std::string > > set_b)
 

Private Attributes

std::string base_frame_
 
double bin_size_
 
IH::ObjectConverterPtr converter
 
std::string database_filename_
 
int enable_rotation_mode_
 
ros::ServiceServer find_scenes_server_
 
std::vector< ISM::RecognitionResultPtr > incomplete_recognition_results_
 
bool is_visualization_active_
 
unsigned int last_object_set_size_
 
double marker_life_time_
 
double max_projection_angle_deviation_
 
ros::Publisher my_publisher_
 
ros::NodeHandle node_handle_
 
int object_constellation_file_counter_
 
std::string object_constellation_folder_path_
 
VIZ::ObjectModelVisualizerRVIZ * object_model_visualizer_
 
unsigned int object_set_max_count_
 
std::set< std::pair< std::string, std::string > > object_types_and_ids_set_
 
std::map< std::string, std::set< std::pair< std::string, std::string > > > pattern_object_map_
 
std::string push_complete_patterns_name_
 
ros::ServiceClient push_complete_patterns_server_
 
unsigned int rater_type_
 
ISM::RecognizerPtr recognizer_
 
VIZ::ISMResultVisualizerRVIZPtr res_visualizer_
 
ros::ServiceServer reset_server_
 
std::vector< ISM::RecognitionResultPtr > & results_already_shared_
 
std::vector< ISM::RecognitionResultPtr > results_for_visualization_
 
std::string rotation_frame_
 
std::string rotation_object_id_
 
std::string rotation_object_type_
 
std::string scene_markers_publisher_name_
 
ros::ServiceServer set_log_dir_server_
 
SharedRecognitionResultsManagerPtr shared_recognition_results_ptr_
 
double step_
 
ISM::TableHelperPtr table_helper_
 
ros::ServiceServer toggle_visualization_server_
 
std::set< std::string > unique_pattern_names_
 
ros::Publisher visualization_publisher_
 
ros::ServiceClient viz_samples_client_
 
std::string viz_samples_client_name_
 

Detailed Description

Definition at line 53 of file scene_recognition.h.

Constructor & Destructor Documentation

◆ SceneRecognition()

recognizer_prediction_ism::SceneRecognition::SceneRecognition ( std::vector< ISM::RecognitionResultPtr > &  results_already_shared,
SharedRecognitionResultsManagerPtr  shared_recognition_results_ptr 
)

SceneRecognitionNode Constructor.

Definition at line 53 of file scene_recognition.cpp.

◆ ~SceneRecognition()

recognizer_prediction_ism::SceneRecognition::~SceneRecognition ( )
inline

Definition at line 131 of file scene_recognition.h.

Member Function Documentation

◆ compareConfidence()

bool recognizer_prediction_ism::SceneRecognition::compareConfidence ( ISM::RecognitionResultPtr  i,
ISM::RecognitionResultPtr  j 
)
staticprivate

Definition at line 586 of file scene_recognition.cpp.

◆ constructPatternObjectMapping()

void recognizer_prediction_ism::SceneRecognition::constructPatternObjectMapping ( )
private

Definition at line 116 of file scene_recognition.cpp.

◆ createObjectSetsFromPoseSamples()

void recognizer_prediction_ism::SceneRecognition::createObjectSetsFromPoseSamples ( std::vector< asr_msgs::AsrObject >::iterator  object_it,
std::vector< asr_msgs::AsrObject >::iterator  end_it,
ISM::ObjectSetPtr  temp_set_ptr,
std::vector< ISM::ObjectSetPtr > &  object_sets,
bool  measured_value_only 
)
private

Definition at line 168 of file scene_recognition.cpp.

◆ deleteAllNewRR()

void recognizer_prediction_ism::SceneRecognition::deleteAllNewRR ( )
private

Definition at line 471 of file scene_recognition.cpp.

◆ extractRealObjects()

vector< ObjectPtr > recognizer_prediction_ism::SceneRecognition::extractRealObjects ( ISM::RecognitionResultPtr  result_ptr)
private

Definition at line 566 of file scene_recognition.cpp.

◆ filterIncompleteRR()

void recognizer_prediction_ism::SceneRecognition::filterIncompleteRR ( std::vector< ISM::RecognitionResultPtr > &  recognition_results)
private

Definition at line 395 of file scene_recognition.cpp.

◆ isCompleteSubset()

bool recognizer_prediction_ism::SceneRecognition::isCompleteSubset ( std::set< std::pair< std::string, std::string > >  set_a,
std::set< std::pair< std::string, std::string > >  set_b 
)
staticprivate

Definition at line 590 of file scene_recognition.cpp.

◆ processFindScenesServiceCall()

bool recognizer_prediction_ism::SceneRecognition::processFindScenesServiceCall ( asr_recognizer_prediction_ism::FindScenes::Request &  request,
asr_recognizer_prediction_ism::FindScenes::Response &  response 
)

processFindScenesServiceCall Receives service call with detected AsrObjects.

Parameters
request
responseReturns whether scenes are found.
Returns

Definition at line 217 of file scene_recognition.cpp.

◆ processResetServiceCall()

bool recognizer_prediction_ism::SceneRecognition::processResetServiceCall ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

processResetServiceCall Clears the old recognition results.

Parameters
request
response
Returns

Definition at line 514 of file scene_recognition.cpp.

◆ processToggleVisualizationServiceCall()

bool recognizer_prediction_ism::SceneRecognition::processToggleVisualizationServiceCall ( std_srvs::Empty::Request &  request,
std_srvs::Empty::Response &  response 
)

processToggleVisualizationServiceCall Toggle the visualization via service call.

Parameters
request
response
Returns

Definition at line 504 of file scene_recognition.cpp.

◆ setLogFilePathServiceCall()

bool recognizer_prediction_ism::SceneRecognition::setLogFilePathServiceCall ( asr_recognizer_prediction_ism::SetLogDir::Request &  request,
asr_recognizer_prediction_ism::SetLogDir::Response &  response 
)

processSetLogDirServiceCall Receives service call where to write object constellations, used for scene recognition.

Parameters
requestThe path to the folder, where xml files are written.
response
Returns

Definition at line 493 of file scene_recognition.cpp.

◆ sortBestRRperScene()

void recognizer_prediction_ism::SceneRecognition::sortBestRRperScene ( std::stringstream &  output)
private

Definition at line 443 of file scene_recognition.cpp.

◆ writeObjectConstellationToXML()

void recognizer_prediction_ism::SceneRecognition::writeObjectConstellationToXML ( std::vector< ISM::ObjectPtr > &  objects,
int  sceneRecogCount,
int  constellation_count 
)
private

Definition at line 528 of file scene_recognition.cpp.

Member Data Documentation

◆ base_frame_

std::string recognizer_prediction_ism::SceneRecognition::base_frame_
private

Definition at line 104 of file scene_recognition.h.

◆ bin_size_

double recognizer_prediction_ism::SceneRecognition::bin_size_
private

Definition at line 68 of file scene_recognition.h.

◆ converter

IH::ObjectConverterPtr recognizer_prediction_ism::SceneRecognition::converter
private

Definition at line 78 of file scene_recognition.h.

◆ database_filename_

std::string recognizer_prediction_ism::SceneRecognition::database_filename_
private

Definition at line 70 of file scene_recognition.h.

◆ enable_rotation_mode_

int recognizer_prediction_ism::SceneRecognition::enable_rotation_mode_
private

Definition at line 81 of file scene_recognition.h.

◆ find_scenes_server_

ros::ServiceServer recognizer_prediction_ism::SceneRecognition::find_scenes_server_
private

Definition at line 57 of file scene_recognition.h.

◆ incomplete_recognition_results_

std::vector<ISM::RecognitionResultPtr> recognizer_prediction_ism::SceneRecognition::incomplete_recognition_results_
private

Definition at line 112 of file scene_recognition.h.

◆ is_visualization_active_

bool recognizer_prediction_ism::SceneRecognition::is_visualization_active_
private

Definition at line 105 of file scene_recognition.h.

◆ last_object_set_size_

unsigned int recognizer_prediction_ism::SceneRecognition::last_object_set_size_
private

Definition at line 87 of file scene_recognition.h.

◆ marker_life_time_

double recognizer_prediction_ism::SceneRecognition::marker_life_time_
private

Definition at line 102 of file scene_recognition.h.

◆ max_projection_angle_deviation_

double recognizer_prediction_ism::SceneRecognition::max_projection_angle_deviation_
private

Definition at line 69 of file scene_recognition.h.

◆ my_publisher_

ros::Publisher recognizer_prediction_ism::SceneRecognition::my_publisher_
private

Definition at line 109 of file scene_recognition.h.

◆ node_handle_

ros::NodeHandle recognizer_prediction_ism::SceneRecognition::node_handle_
private

Definition at line 56 of file scene_recognition.h.

◆ object_constellation_file_counter_

int recognizer_prediction_ism::SceneRecognition::object_constellation_file_counter_
private

Definition at line 74 of file scene_recognition.h.

◆ object_constellation_folder_path_

std::string recognizer_prediction_ism::SceneRecognition::object_constellation_folder_path_
private

Definition at line 73 of file scene_recognition.h.

◆ object_model_visualizer_

VIZ::ObjectModelVisualizerRVIZ* recognizer_prediction_ism::SceneRecognition::object_model_visualizer_
private

Definition at line 107 of file scene_recognition.h.

◆ object_set_max_count_

unsigned int recognizer_prediction_ism::SceneRecognition::object_set_max_count_
private

Definition at line 76 of file scene_recognition.h.

◆ object_types_and_ids_set_

std::set<std::pair<std::string, std::string> > recognizer_prediction_ism::SceneRecognition::object_types_and_ids_set_
private

Definition at line 114 of file scene_recognition.h.

◆ pattern_object_map_

std::map<std::string, std::set<std::pair<std::string, std::string> > > recognizer_prediction_ism::SceneRecognition::pattern_object_map_
private

Definition at line 94 of file scene_recognition.h.

◆ push_complete_patterns_name_

std::string recognizer_prediction_ism::SceneRecognition::push_complete_patterns_name_
private

Definition at line 100 of file scene_recognition.h.

◆ push_complete_patterns_server_

ros::ServiceClient recognizer_prediction_ism::SceneRecognition::push_complete_patterns_server_
private

Definition at line 63 of file scene_recognition.h.

◆ rater_type_

unsigned int recognizer_prediction_ism::SceneRecognition::rater_type_
private

Definition at line 71 of file scene_recognition.h.

◆ recognizer_

ISM::RecognizerPtr recognizer_prediction_ism::SceneRecognition::recognizer_
private

Definition at line 66 of file scene_recognition.h.

◆ res_visualizer_

VIZ::ISMResultVisualizerRVIZPtr recognizer_prediction_ism::SceneRecognition::res_visualizer_
private

Definition at line 106 of file scene_recognition.h.

◆ reset_server_

ros::ServiceServer recognizer_prediction_ism::SceneRecognition::reset_server_
private

Definition at line 60 of file scene_recognition.h.

◆ results_already_shared_

std::vector<ISM::RecognitionResultPtr>& recognizer_prediction_ism::SceneRecognition::results_already_shared_
private

Definition at line 89 of file scene_recognition.h.

◆ results_for_visualization_

std::vector<ISM::RecognitionResultPtr> recognizer_prediction_ism::SceneRecognition::results_for_visualization_
private

Definition at line 113 of file scene_recognition.h.

◆ rotation_frame_

std::string recognizer_prediction_ism::SceneRecognition::rotation_frame_
private

Definition at line 82 of file scene_recognition.h.

◆ rotation_object_id_

std::string recognizer_prediction_ism::SceneRecognition::rotation_object_id_
private

Definition at line 84 of file scene_recognition.h.

◆ rotation_object_type_

std::string recognizer_prediction_ism::SceneRecognition::rotation_object_type_
private

Definition at line 83 of file scene_recognition.h.

◆ scene_markers_publisher_name_

std::string recognizer_prediction_ism::SceneRecognition::scene_markers_publisher_name_
private

Definition at line 98 of file scene_recognition.h.

◆ set_log_dir_server_

ros::ServiceServer recognizer_prediction_ism::SceneRecognition::set_log_dir_server_
private

Definition at line 58 of file scene_recognition.h.

◆ shared_recognition_results_ptr_

SharedRecognitionResultsManagerPtr recognizer_prediction_ism::SceneRecognition::shared_recognition_results_ptr_
private

Definition at line 110 of file scene_recognition.h.

◆ step_

double recognizer_prediction_ism::SceneRecognition::step_
private

Definition at line 103 of file scene_recognition.h.

◆ table_helper_

ISM::TableHelperPtr recognizer_prediction_ism::SceneRecognition::table_helper_
private

Definition at line 67 of file scene_recognition.h.

◆ toggle_visualization_server_

ros::ServiceServer recognizer_prediction_ism::SceneRecognition::toggle_visualization_server_
private

Definition at line 59 of file scene_recognition.h.

◆ unique_pattern_names_

std::set<std::string> recognizer_prediction_ism::SceneRecognition::unique_pattern_names_
private

Definition at line 95 of file scene_recognition.h.

◆ visualization_publisher_

ros::Publisher recognizer_prediction_ism::SceneRecognition::visualization_publisher_
private

Definition at line 108 of file scene_recognition.h.

◆ viz_samples_client_

ros::ServiceClient recognizer_prediction_ism::SceneRecognition::viz_samples_client_
private

Definition at line 62 of file scene_recognition.h.

◆ viz_samples_client_name_

std::string recognizer_prediction_ism::SceneRecognition::viz_samples_client_name_
private

Definition at line 99 of file scene_recognition.h.

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

asr_recognizer_prediction_ism
Author(s): Aumann Florian, Heller Florian, Hutmacher Robin, Meißner Pascal, Stöckle Patrick, Stroh Daniel
autogenerated on Mon Feb 28 2022 21:50:20