Public Member Functions | Private Member Functions | Private Attributes | List of all members
ObjectDetectionVisualizer Class Reference

Public Member Functions

 ObjectDetectionVisualizer (ros::NodeHandle &nh)
 
 ~ObjectDetectionVisualizer ()
 

Private Member Functions

bool convertImageMessageToMat (const sensor_msgs::Image::ConstPtr &image_msg, cv_bridge::CvImageConstPtr &image_ptr, cv::Mat &image)
 
bool convertPclMessageToMat (const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg, pcl::PointCloud< pcl::PointXYZRGB > &pointcloud, cv::Mat &color_image)
 
void detectionImageCallback (const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg, const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg)
 
bool drawDetectedModel3D (cv::Mat image, const std::vector< cv::Point > &corners_2d, const cv::Scalar &color)
 
void objectDetectionArrayCallback (const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg)
 
void objectDetectionDisplayCallback (const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg)
 
void pointcloudCallback (const sensor_msgs::PointCloud2::ConstPtr &pointcloud_msg)
 
void pointcloudInfoCallback (const sensor_msgs::CameraInfoConstPtr &data)
 
cv::Point projectPoint (const cv::Vec3d &point_3d)
 
bool renderDetections (cv::Mat &image, const cob_object_detection_msgs::DetectionArray::ConstPtr &object_detection_msg)
 

Private Attributes

cv::Mat color_image_
 
boost::mutex color_image_mutex_
 
ros::Subscriber detection_array_sub_
 
bool display_detection_image_
 
bool display_rviz_markers_
 
int image_counter_
 
visualization_msgs::MarkerArray marker_array_msg_
 
ros::Publisher marker_array_publisher_
 
ros::NodeHandle node_handle_
 
std::map< std::string, cv::Scalar > object_name_to_color_map_
 
ros::Subscriber pointcloud_info_sub_
 
ros::Subscriber pointcloud_sub_
 
unsigned int prev_marker_array_size_
 
cv::Mat projection_matrix_
 
bool projection_matrix_received_
 

Detailed Description

Definition at line 55 of file object_detection_visualizer_node.cpp.

Constructor & Destructor Documentation

◆ ObjectDetectionVisualizer()

ObjectDetectionVisualizer::ObjectDetectionVisualizer ( ros::NodeHandle &  nh)
inline

Definition at line 58 of file object_detection_visualizer_node.cpp.

◆ ~ObjectDetectionVisualizer()

ObjectDetectionVisualizer::~ObjectDetectionVisualizer ( )
inline

Definition at line 95 of file object_detection_visualizer_node.cpp.

Member Function Documentation

◆ convertImageMessageToMat()

bool ObjectDetectionVisualizer::convertImageMessageToMat ( const sensor_msgs::Image::ConstPtr &  image_msg,
cv_bridge::CvImageConstPtr &  image_ptr,
cv::Mat &  image 
)
inlineprivate

Definition at line 191 of file object_detection_visualizer_node.cpp.

◆ convertPclMessageToMat()

bool ObjectDetectionVisualizer::convertPclMessageToMat ( const sensor_msgs::PointCloud2::ConstPtr &  pointcloud_msg,
pcl::PointCloud< pcl::PointXYZRGB > &  pointcloud,
cv::Mat &  color_image 
)
inlineprivate

Definition at line 207 of file object_detection_visualizer_node.cpp.

◆ detectionImageCallback()

void ObjectDetectionVisualizer::detectionImageCallback ( const cob_object_detection_msgs::DetectionArray::ConstPtr &  object_detection_msg,
const sensor_msgs::PointCloud2::ConstPtr &  pointcloud_msg 
)
inlineprivate

Definition at line 252 of file object_detection_visualizer_node.cpp.

◆ drawDetectedModel3D()

bool ObjectDetectionVisualizer::drawDetectedModel3D ( cv::Mat  image,
const std::vector< cv::Point > &  corners_2d,
const cv::Scalar &  color 
)
inlineprivate

Definition at line 360 of file object_detection_visualizer_node.cpp.

◆ objectDetectionArrayCallback()

void ObjectDetectionVisualizer::objectDetectionArrayCallback ( const cob_object_detection_msgs::DetectionArray::ConstPtr &  object_detection_msg)
inlineprivate

Definition at line 105 of file object_detection_visualizer_node.cpp.

◆ objectDetectionDisplayCallback()

void ObjectDetectionVisualizer::objectDetectionDisplayCallback ( const cob_object_detection_msgs::DetectionArray::ConstPtr &  object_detection_msg)
inlineprivate

Definition at line 231 of file object_detection_visualizer_node.cpp.

◆ pointcloudCallback()

void ObjectDetectionVisualizer::pointcloudCallback ( const sensor_msgs::PointCloud2::ConstPtr &  pointcloud_msg)
inlineprivate

Definition at line 222 of file object_detection_visualizer_node.cpp.

◆ pointcloudInfoCallback()

void ObjectDetectionVisualizer::pointcloudInfoCallback ( const sensor_msgs::CameraInfoConstPtr &  data)
inlineprivate

Definition at line 385 of file object_detection_visualizer_node.cpp.

◆ projectPoint()

cv::Point ObjectDetectionVisualizer::projectPoint ( const cv::Vec3d &  point_3d)
inlineprivate

Definition at line 349 of file object_detection_visualizer_node.cpp.

◆ renderDetections()

bool ObjectDetectionVisualizer::renderDetections ( cv::Mat &  image,
const cob_object_detection_msgs::DetectionArray::ConstPtr &  object_detection_msg 
)
inlineprivate

Definition at line 277 of file object_detection_visualizer_node.cpp.

Member Data Documentation

◆ color_image_

cv::Mat ObjectDetectionVisualizer::color_image_
private

Definition at line 424 of file object_detection_visualizer_node.cpp.

◆ color_image_mutex_

boost::mutex ObjectDetectionVisualizer::color_image_mutex_
private

Definition at line 423 of file object_detection_visualizer_node.cpp.

◆ detection_array_sub_

ros::Subscriber ObjectDetectionVisualizer::detection_array_sub_
private

Definition at line 407 of file object_detection_visualizer_node.cpp.

◆ display_detection_image_

bool ObjectDetectionVisualizer::display_detection_image_
private

Definition at line 431 of file object_detection_visualizer_node.cpp.

◆ display_rviz_markers_

bool ObjectDetectionVisualizer::display_rviz_markers_
private

Definition at line 430 of file object_detection_visualizer_node.cpp.

◆ image_counter_

int ObjectDetectionVisualizer::image_counter_
private

Definition at line 427 of file object_detection_visualizer_node.cpp.

◆ marker_array_msg_

visualization_msgs::MarkerArray ObjectDetectionVisualizer::marker_array_msg_
private

Definition at line 410 of file object_detection_visualizer_node.cpp.

◆ marker_array_publisher_

ros::Publisher ObjectDetectionVisualizer::marker_array_publisher_
private

Definition at line 408 of file object_detection_visualizer_node.cpp.

◆ node_handle_

ros::NodeHandle ObjectDetectionVisualizer::node_handle_
private

Definition at line 406 of file object_detection_visualizer_node.cpp.

◆ object_name_to_color_map_

std::map<std::string, cv::Scalar> ObjectDetectionVisualizer::object_name_to_color_map_
private

Definition at line 426 of file object_detection_visualizer_node.cpp.

◆ pointcloud_info_sub_

ros::Subscriber ObjectDetectionVisualizer::pointcloud_info_sub_
private

Definition at line 417 of file object_detection_visualizer_node.cpp.

◆ pointcloud_sub_

ros::Subscriber ObjectDetectionVisualizer::pointcloud_sub_
private

Definition at line 418 of file object_detection_visualizer_node.cpp.

◆ prev_marker_array_size_

unsigned int ObjectDetectionVisualizer::prev_marker_array_size_
private

Definition at line 409 of file object_detection_visualizer_node.cpp.

◆ projection_matrix_

cv::Mat ObjectDetectionVisualizer::projection_matrix_
private

Definition at line 421 of file object_detection_visualizer_node.cpp.

◆ projection_matrix_received_

bool ObjectDetectionVisualizer::projection_matrix_received_
private

Definition at line 420 of file object_detection_visualizer_node.cpp.

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

cob_object_detection_visualizer
Author(s): Richard Bormann
autogenerated on Tue Aug 2 2022 02:21:01