detector.cpp File Reference

#include <ros/ros.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <tf/transform_datatypes.h>
#include <articulation_msgs/TrackMsg.h>

Include dependency graph for detector.cpp:

Go to the source code of this file.

Classes
struct	Observation
struct	Track
Functions
void	addToTrack (Observation &percept)
bool	checkPercept (Observation &percept, int plane)
void	CountConvexPoly (cv::Mat &img, const cv::Point *v, int npts, int &pixel_value, int &pixel_size, int &pixel_occ)
float	evalPercept (Observation &percept, int plane, bool draw=false)
bool	extractPlanes ()
void	imageCallback (const sensor_msgs::Image::ConstPtr &msg)
void	infoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
int	main (int argc, char **argv)
int	openChannel (articulation_msgs::TrackMsg &track, std::string name, bool autocreate)
float	optimizePercept (Observation &percept, int plane)
bool	sameObject (Observation &a, Observation &b)
cv::Point	samplePoint (int step)
void	sendTracks (std_msgs::Header header)
cv::Point	to2D (cv::Point3f pt)
cv::Point3f	to3D (cv::Point a)
Variables
sensor_msgs::CameraInfo::ConstPtr	cameraInfo_
int	CLIP_BOTTOM = 16
int	CLIP_LEFT = 16
int	CLIP_RIGHT = 16
int	CLIP_TOP = 40
int	COST_FREE = 255
int	COST_INPLANE = 0
int	COST_OCCLUDED = 20
int	COST_UNKNOWN = 20
cv_bridge::CvImagePtr	cv_ptr
cv::Mat	debugImage_
double	FILTER_Z = 2
double	MAX_DIFF_ROT = M_PI/180*20
double	MAX_DIFF_SIZE = 0.05
double	MAX_DIFF_TRANS = 0.10
const int	MAX_PLANES = 10
cv::Vec3f	planeCenter [MAX_PLANES]
cv::Mat	planeImage [MAX_PLANES]
cv::Vec3f	planeNormal [MAX_PLANES]
int	PLANES = 1
int	planeSize [MAX_PLANES]
double	PRIOR_HEIGHT = 0.1
double	PRIOR_WIDTH = 0.1
double	RANSAC_DISTANCE = 0.01
int	RANSAC_DOWNSAMPLE = 15
int	RANSAC_FITTING_ITERATIONS = 200
int	RANSAC_ITERATIONS = 200
bool	SHOW_IMAGES = true
int	STEP_FACTOR [] = {8,4,2,1}
double	STEP_ROT = M_PI/180*0.5
double	STEP_TRANS = 0.005
double	THRESHOLD_PRECISION = 0.7
double	THRESHOLD_RECALL = 0.7
cv::Mat	tmpImage_
ros::Publisher	track_pub_
std::vector< Track >	tracks
ros::Publisher	visualization_array_pub_
ros::Publisher	visualization_pub_

---

Function Documentation

void addToTrack

(

Observation &

percept

)

Definition at line 568 of file detector.cpp.

bool checkPercept	(	Observation &	percept,
		int	plane
	)

Definition at line 458 of file detector.cpp.

void CountConvexPoly	(	cv::Mat &	img,
		const cv::Point *	v,
		int	npts,
		int &	pixel_value,
		int &	pixel_size,
		int &	pixel_occ
	)

Definition at line 84 of file detector.cpp.

float evalPercept	(	Observation &	percept,
		int	plane,
		bool	draw = false
	)

Definition at line 405 of file detector.cpp.

bool extractPlanes

(

)

Definition at line 268 of file detector.cpp.

void imageCallback

(

const sensor_msgs::Image::ConstPtr &

msg

)

Definition at line 647 of file detector.cpp.

void infoCallback

(

const sensor_msgs::CameraInfo::ConstPtr &

msg

)

Definition at line 642 of file detector.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 716 of file detector.cpp.

int openChannel	(	articulation_msgs::TrackMsg &	track,
		std::string	name,
		bool	autocreate
	)

Definition at line 592 of file detector.cpp.

float optimizePercept	(	Observation &	percept,
		int	plane
	)

Definition at line 480 of file detector.cpp.

bool sameObject	(	Observation &	a,
		Observation &	b
	)

Definition at line 556 of file detector.cpp.

cv::Point samplePoint

(

int

step

)

Definition at line 240 of file detector.cpp.

void sendTracks

(

std_msgs::Header

header

)

Definition at line 613 of file detector.cpp.

cv::Point to2D

(

cv::Point3f

pt

)

[inline]

Definition at line 261 of file detector.cpp.

cv::Point3f to3D

(

cv::Point

a

)

[inline]

Definition at line 249 of file detector.cpp.

---

Variable Documentation

sensor_msgs::CameraInfo::ConstPtr cameraInfo_

Definition at line 69 of file detector.cpp.

int CLIP_BOTTOM = 16

Definition at line 50 of file detector.cpp.

int CLIP_LEFT = 16

Definition at line 47 of file detector.cpp.

int CLIP_RIGHT = 16

Definition at line 48 of file detector.cpp.

int CLIP_TOP = 40

Definition at line 49 of file detector.cpp.

int COST_FREE = 255

Definition at line 33 of file detector.cpp.

int COST_INPLANE = 0

Definition at line 32 of file detector.cpp.

int COST_OCCLUDED = 20

Definition at line 34 of file detector.cpp.

int COST_UNKNOWN = 20

Definition at line 35 of file detector.cpp.

cv_bridge::CvImagePtr cv_ptr

Definition at line 70 of file detector.cpp.

cv::Mat debugImage_

Definition at line 71 of file detector.cpp.

double FILTER_Z = 2

Definition at line 30 of file detector.cpp.

double MAX_DIFF_ROT = M_PI/180*20

Definition at line 53 of file detector.cpp.

double MAX_DIFF_SIZE = 0.05

Definition at line 54 of file detector.cpp.

double MAX_DIFF_TRANS = 0.10

Definition at line 52 of file detector.cpp.

const int MAX_PLANES = 10

Definition at line 20 of file detector.cpp.

cv::Vec3f planeCenter[MAX_PLANES]

Definition at line 75 of file detector.cpp.

cv::Mat planeImage[MAX_PLANES]

Definition at line 73 of file detector.cpp.

cv::Vec3f planeNormal[MAX_PLANES]

Definition at line 76 of file detector.cpp.

int PLANES = 1

Definition at line 22 of file detector.cpp.

int planeSize[MAX_PLANES]

Definition at line 74 of file detector.cpp.

double PRIOR_HEIGHT = 0.1

Definition at line 38 of file detector.cpp.

double PRIOR_WIDTH = 0.1

Definition at line 37 of file detector.cpp.

double RANSAC_DISTANCE = 0.01

Definition at line 26 of file detector.cpp.

int RANSAC_DOWNSAMPLE = 15

Definition at line 27 of file detector.cpp.

int RANSAC_FITTING_ITERATIONS = 200

Definition at line 28 of file detector.cpp.

int RANSAC_ITERATIONS = 200

Definition at line 25 of file detector.cpp.

bool SHOW_IMAGES = true

Definition at line 23 of file detector.cpp.

int STEP_FACTOR[] = {8,4,2,1}

Definition at line 42 of file detector.cpp.

double STEP_ROT = M_PI/180*0.5

Definition at line 41 of file detector.cpp.

double STEP_TRANS = 0.005

Definition at line 40 of file detector.cpp.

double THRESHOLD_PRECISION = 0.7

Definition at line 44 of file detector.cpp.

double THRESHOLD_RECALL = 0.7

Definition at line 45 of file detector.cpp.

cv::Mat tmpImage_

Definition at line 72 of file detector.cpp.

ros::Publisher track_pub_

Definition at line 80 of file detector.cpp.

std::vector<Track > tracks

Definition at line 82 of file detector.cpp.

ros::Publisher visualization_array_pub_

Definition at line 79 of file detector.cpp.

ros::Publisher visualization_pub_

Definition at line 78 of file detector.cpp.