Public Member Functions
Keypoint	extract_keypoints (cv::Mat &image, bool frames_only)
cv::Mat	extract_roi (cv::Mat &image, Keypoint &camera_keypoints, Rect rect)
cv::Mat	extract_roi (std::vector< int > inliers, cv::Mat query, cv::Mat &output_image)
void	Imagecallback (const sensor_msgs::ImageConstPtr &image)
void	knnSearch (Mat &query, Mat &indices, Mat &dists, int knn)
	LatestMatchingTFMessage (ros::NodeHandle &nh, const std::string &source_frame)
void	radiusSearch (Mat &query, Mat &indices, Mat &dists, double radius)
void	TFcallback (const tf::tfMessageConstPtr &msg)
void	visualize (cv::Mat camera_image_in, Keypoint &camera_keypoints)
void	visualize (std::vector< int > inliers, cv::Mat query, cv::Mat &output_image)
Public Attributes
sensor_msgs::CvBridge	bridge_
ros::ServiceClient	client
cv::Mat	final_image_
cv::Mat	image_
cv::Mat	image_roi2_
cv::Mat	image_roi_
std::string	image_topic_
int	knn_
tf::tfMessageConstPtr	last_matching_tf
cv::Mat	mask_
int	min_nn_
std::string	mode_
cv::Mat	original_image_
double	radius_
Rect	rect_
robot_mask::GetMask	srv
tf::tfMessageConstPtr	tf_state
std::string	tf_topic_
Private Attributes
std::string	camera_frame_
int	count_
int	fovy_
int	height_
ros::Subscriber	image_sub_
ros::NodeHandle	nh_
bool	save_images_
std::string	source_frame_
ros::Subscriber	tf_sub_
bool	valid_
int	width_

Detailed Description

Constructor & Destructor Documentation

LatestMatchingTFMessage::LatestMatchingTFMessage	(	ros::NodeHandle &	nh,
		const std::string &	source_frame
	)		`[inline]`

Keypoint LatestMatchingTFMessage::extract_keypoints	(	cv::Mat &	image,
		bool	frames_only
	)		`[inline]`

SIFT keypoints

Parameters:

image	input image
frames_only	GetKeypointFrames when is true

cv::Mat LatestMatchingTFMessage::extract_roi	(	cv::Mat &	image,
		Keypoint &	camera_keypoints,
		Rect	rect
	)		`[inline]`

Manual ROI extraction Extracts a sub-image from another one given the top-left and bottom-right points

Parameters:

image	input image
camera_keypoints	is a pointer to the vector containing the keypoints
rect	top-left and bottom-right points

cv::Mat LatestMatchingTFMessage::extract_roi	(	std::vector< int >	inliers,
		cv::Mat	query,
		cv::Mat &	output_image
	)		`[inline]`

Automatically extracts ROI Returns a sub-image defined by bounding box around the inlier features

Parameters:

inliers	inlier features as found by either radiusSearch or knnSearch
query	matrix with all keypoints

void LatestMatchingTFMessage::Imagecallback ( const sensor_msgs::ImageConstPtr & image ) [inline]

Image callback - main function of the program"

establishes the connection with the robot_mask service server.
converts the ros::image to cv::image
masks out robot hand
calls the functions in order to get rid of outlier features: Options are: "manual", "radius_search", "knn_search"
Parameters:

image camera image

void LatestMatchingTFMessage::knnSearch	(	Mat &	query,
		Mat &	indices,
		Mat &	dists,
		int	knn
	)		`[inline]`

Performs a K-nearest neighbor search for multiple query points.

Parameters:

query	– The query points with the keypoints coordinates
indices	– Indices of the nearest neighbors found
dists	– Distances to the nearest neighbors found
knn	– Number of nearest neighbors to search for

void LatestMatchingTFMessage::radiusSearch	(	Mat &	query,
		Mat &	indices,
		Mat &	dists,
		double	radius
	)		`[inline]`

Performs a radius nearest neighbor search for multiple query points.

Parameters:

query	– The query points with the keypoints coordinates
indices	– Indices of the nearest neighbors found
dists	– Distances to the nearest neighbors found
radius	– The search radius in pixels

void LatestMatchingTFMessage::TFcallback ( const tf::tfMessageConstPtr & msg ) [inline]

TF callback

Parameters: