ObjectPoseDetectionAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <object_pose_detection_alg.h>

List of all members.

Public Types
typedef iri_object_pose_detection::ObjectPoseDetectionConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
	ObjectPoseDetectionAlgorithm (void)
	constructor
void	ortk_detect ()
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~ObjectPoseDetectionAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Types
enum	{ NONE_FILTER = 0, CROSS_CHECK_FILTER = 1 }
Protected Member Functions
void	compute_train_set ()
bool	init_config (const std::string &initfile)
void	load_train_set ()
std::string	parse_param (const std::vector< std::string > &init, std::string req)
Protected Attributes
CMutex	alg_mutex_
	define config type
std::string	basepath_
cv::Ptr< cv::DescriptorExtractor >	descriptorExtractor
cv::Ptr< cv::DescriptorMatcher >	descriptorMatcher
cv::Ptr< cv::FeatureDetector >	detector
float	distance_ratio_
std::string	feats_dir_
int	matcherFilterType
uint	min_matches_
std::string	test_image_
std::vector< cv::Mat >	train_desc_
std::vector< std::string >	train_files_
std::vector< cv::Mat >	train_imas_
std::string	train_imas_dir_
std::vector< std::vector < cv::KeyPoint > >	train_kpoints_

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 41 of file object_pose_detection_alg.h.

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Member Typedef Documentation

typedef iri_object_pose_detection::ObjectPoseDetectionConfig ObjectPoseDetectionAlgorithm::Config

define config type

Define a Config type with the ObjectPoseDetectionConfig. All driver implementations will then use the same variable type Config.

Definition at line 91 of file object_pose_detection_alg.h.

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Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

NONE_FILTER
CROSS_CHECK_FILTER

Definition at line 81 of file object_pose_detection_alg.h.

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Constructor & Destructor Documentation

ObjectPoseDetectionAlgorithm::ObjectPoseDetectionAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 22 of file object_pose_detection_alg.cpp.

ObjectPoseDetectionAlgorithm::~ObjectPoseDetectionAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 26 of file object_pose_detection_alg.cpp.

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Member Function Documentation

void ObjectPoseDetectionAlgorithm::compute_train_set

(

)

[protected]

Definition at line 194 of file object_pose_detection_alg.cpp.

void ObjectPoseDetectionAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 30 of file object_pose_detection_alg.cpp.

bool ObjectPoseDetectionAlgorithm::init_config

(

const std::string &

initfile

)

[protected]

Definition at line 146 of file object_pose_detection_alg.cpp.

void ObjectPoseDetectionAlgorithm::load_train_set

(

)

[protected]

Definition at line 246 of file object_pose_detection_alg.cpp.

void ObjectPoseDetectionAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 116 of file object_pose_detection_alg.h.

void ObjectPoseDetectionAlgorithm::ortk_detect

(

)

Definition at line 283 of file object_pose_detection_alg.cpp.

std::string ObjectPoseDetectionAlgorithm::parse_param	(	const std::vector< std::string > &	init,
		std::string	req
	)		[protected]

Definition at line 123 of file object_pose_detection_alg.cpp.

bool ObjectPoseDetectionAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 132 of file object_pose_detection_alg.h.

void ObjectPoseDetectionAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 123 of file object_pose_detection_alg.h.

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Member Data Documentation

CMutex ObjectPoseDetectionAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the ObjectPoseDetectionConfig. All driver implementations will then use the same variable type Config.

Definition at line 50 of file object_pose_detection_alg.h.

std::string ObjectPoseDetectionAlgorithm::basepath_ [protected]

Definition at line 65 of file object_pose_detection_alg.h.

Config ObjectPoseDetectionAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 99 of file object_pose_detection_alg.h.

cv::Ptr<cv::DescriptorExtractor> ObjectPoseDetectionAlgorithm::descriptorExtractor [protected]

Definition at line 57 of file object_pose_detection_alg.h.

cv::Ptr<cv::DescriptorMatcher> ObjectPoseDetectionAlgorithm::descriptorMatcher [protected]

Definition at line 58 of file object_pose_detection_alg.h.

cv::Ptr<cv::FeatureDetector> ObjectPoseDetectionAlgorithm::detector [protected]

private attributes and methods

Definition at line 56 of file object_pose_detection_alg.h.

float ObjectPoseDetectionAlgorithm::distance_ratio_ [protected]

Definition at line 61 of file object_pose_detection_alg.h.

std::string ObjectPoseDetectionAlgorithm::feats_dir_ [protected]

Definition at line 66 of file object_pose_detection_alg.h.

int ObjectPoseDetectionAlgorithm::matcherFilterType [protected]

Definition at line 59 of file object_pose_detection_alg.h.

uint ObjectPoseDetectionAlgorithm::min_matches_ [protected]

Definition at line 62 of file object_pose_detection_alg.h.

std::string ObjectPoseDetectionAlgorithm::test_image_ [protected]

Definition at line 68 of file object_pose_detection_alg.h.

std::vector<cv::Mat> ObjectPoseDetectionAlgorithm::train_desc_ [protected]

Definition at line 74 of file object_pose_detection_alg.h.

std::vector<std::string> ObjectPoseDetectionAlgorithm::train_files_ [protected]

Definition at line 71 of file object_pose_detection_alg.h.

std::vector<cv::Mat> ObjectPoseDetectionAlgorithm::train_imas_ [protected]

Definition at line 72 of file object_pose_detection_alg.h.

std::string ObjectPoseDetectionAlgorithm::train_imas_dir_ [protected]

Definition at line 67 of file object_pose_detection_alg.h.

std::vector<std::vector<cv::KeyPoint> > ObjectPoseDetectionAlgorithm::train_kpoints_ [protected]

Definition at line 73 of file object_pose_detection_alg.h.

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

• object_pose_detection_alg.h
• object_pose_detection_alg.cpp