#include <ObjectDetectorMethod.h>

Inheritance diagram for ObjectDetectorMethod:

Classes
class	DetectionData
Public Member Functions
virtual bool	debugMode () const
virtual void	detect (ObjectDetectorMethod::DetectionData &data, ObjectModel &model, re_msgs::DetectedObject &detection)=0
virtual void	setDebugMode (bool onoff, const std::string &dir)
virtual void	setVisualizationManager (VisualizationManager *vis)
virtual bool	visualizationMode () const
Protected Member Functions
void	calculatePose (const ObjectModel::Face &face, const std::vector< int > &face_indices, const DVision::SurfSet &scene_surfset, const std::vector< int > &scene_indices, const CameraBridge &camera, cv::Mat &cTo) const
	Functions for several algorithms.
void	changeOrientation (const cv::Mat &cTo, cv::Mat &rTo) const
void	convert3DPoints (const ObjectModel::Face &face, const std::vector< int > &indices, const cv::Mat &cTo, std::vector< geometry_msgs::Point > &points3d) const
void	convert3DPoints (const ObjectModel::Face &face, const cv::Mat &cTo, std::vector< geometry_msgs::Point > &points3d) const
void	convertPose (const cv::Mat &T, geometry_msgs::Pose &pose) const
void	get3DModelPoints (const ObjectModel::Face &face, const std::vector< int > &indices, std::vector< geometry_msgs::Point > &points3d) const
void	get3DModelPoints (const ObjectModel::Face &face, std::vector< geometry_msgs::Point > &points3d) const
void	getPointsOctave (const ObjectModel::Face &face, const std::vector< int > &indices, std::vector< int > &octave) const
void	getPointsOctave (const ObjectModel::Face &face, std::vector< int > &octave) const
	ObjectDetectorMethod (VisualizationManager *vis=NULL)
	Visualization functions.
void	project2DPoints (const ObjectModel::Face &face, const cv::Mat &cTo, const CameraBridge &camera, const std::vector< int > &indices, std::vector< re_msgs::Pixel > &points2d) const
void	project2DPoints (const ObjectModel::Face &face, const cv::Mat &cTo, const CameraBridge &camera, std::vector< re_msgs::Pixel > &points2d) const
void	visualize (const cv::Mat &image, const std::string &text="", bool hold=false)
Protected Attributes
bool	m_debug
std::string	m_debug_dir
	debug mode
VisualizationManager *	m_visualizer
	debug dir

Detailed Description

Definition at line 46 of file ObjectDetectorMethod.h.

Constructor & Destructor Documentation

ObjectDetectorMethod::ObjectDetectorMethod ( VisualizationManager * vis = NULL ) [inline, protected]

Visualization functions.

Creates the detection method with a visualization manager

Parameters:

vis

Definition at line 139 of file ObjectDetectorMethod.h.

Member Function Documentation

void ObjectDetectorMethod::calculatePose	(	const ObjectModel::Face &	face,
		const std::vector< int > &	face_indices,
		const DVision::SurfSet &	scene_surfset,
		const std::vector< int > &	scene_indices,
		const CameraBridge &	camera,
		cv::Mat &	cTo
	)		const `[protected]`

Functions for several algorithms.

Calculates the 3D pose of the model face in the image. Assumes that the keypoints come from a rectified image

Parameters:

face	model face
face_indices	indices of correspondences in face
scene_surfset	features in the scene image
scene_indices	indices of correspondences in the scene
camera	camera intrinsic parameters
cTo	(out) returned 4x4 matrix transformation from camera to object

Definition at line 52 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::changeOrientation	(	const cv::Mat &	cTo,
		cv::Mat &	rTo
	)		const `[protected]`

Changes the orientation of a transformation from the vision reference system to the robotics reference system. In vision: x right, y down, z forward In robotics: x forward, y left, z up

Parameters:

cTo	a transformation in vision orientaiton
rTo	same transformation in robotics orientation

Definition at line 452 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::convert3DPoints	(	const ObjectModel::Face &	face,
		const std::vector< int > &	indices,
		const cv::Mat &	cTo,
		std::vector< geometry_msgs::Point > &	points3d
	)		const `[protected]`

Converts 3D points of a face into the camera reference

Parameters:

face
indices	indices of face points involved in
cTo	transformation from camera to object
points3d	returning points3d in the camera reference

Definition at line 235 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::convert3DPoints	(	const ObjectModel::Face &	face,
		const cv::Mat &	cTo,
		std::vector< geometry_msgs::Point > &	points3d
	)		const `[protected]`

Converts all the 3D points of a face into the camera reference

Parameters:

face
cTo	transformation from camera to object
points3d	returning pointsd in the camera reference

Definition at line 268 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::convertPose	(	const cv::Mat &	T,
		geometry_msgs::Pose &	pose
	)		const `[protected]`

Converts a 4x4 transformation matrix into a ROS pose data structure

Parameters:

T	transformation matrix
pose	ROS pose

Definition at line 155 of file ObjectDetectorMethod.cpp.

virtual bool ObjectDetectorMethod::debugMode ( ) const [inline, virtual]

Says whether the debug mode is on

Returns:: true iif debug mode is on

Definition at line 116 of file ObjectDetectorMethod.h.

virtual void ObjectDetectorMethod::detect	(	ObjectDetectorMethod::DetectionData &	data,
		ObjectModel &	model,
		re_msgs::DetectedObject &	detection
	)		`[pure virtual]`

Tries to detect in the given data the given model. Results are stored in detection

Parameters:

data
model	model to search for
detection	results

Implemented in Surf3DDetector, and SurfPlanarDetector.

void ObjectDetectorMethod::get3DModelPoints	(	const ObjectModel::Face &	face,
		const std::vector< int > &	indices,
		std::vector< geometry_msgs::Point > &	points3d
	)		const `[protected]`

Copies all the model 3d points from the given face

Parameters:

face
indices	indices of face points involved in cTo transformation estimate
points3d,:	points in the object reference

Definition at line 319 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::get3DModelPoints	(	const ObjectModel::Face &	face,
		std::vector< geometry_msgs::Point > &	points3d
	)		const `[protected]`

Copies all the model 3d points from the given face

Parameters:

face
points3d,:	points in the object reference

Definition at line 301 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::getPointsOctave	(	const ObjectModel::Face &	face,
		const std::vector< int > &	indices,
		std::vector< int > &	octave
	)		const `[protected]`

Returns the octave of all 3d points from the given face

Parameters:

face
indices	indices of face points involved in cTo transformation estimate
octave,:	scale-space octave in which the feature has been found

Definition at line 337 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::getPointsOctave	(	const ObjectModel::Face &	face,
		std::vector< int > &	octave
	)		const `[protected]`

Returns the octave of all 3d points from the given face

Parameters:

face
octave,:	scale-space octave in which the feature has been found

Definition at line 352 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::project2DPoints	(	const ObjectModel::Face &	face,
		const cv::Mat &	cTo,
		const CameraBridge &	camera,
		const std::vector< int > &	indices,
		std::vector< re_msgs::Pixel > &	points2d
	)		const `[protected]`

Projects the 3D points involved in cTo transformation of the face into the image given the pose of the object and the parameters of the camera Note: this function does not check if the 2d points are within the bounds of the image Note: that is done in ObjectDetectorProvider::rectifyDetections

Parameters:

face	detected face of the object
cTo	transformation from camera to object
camera	intrinsic camera parameters
indices	indices of face points involved in cTo transformation estimate
points2d	all the 3d points of the face projected into the camera

Definition at line 408 of file ObjectDetectorMethod.cpp.

void ObjectDetectorMethod::project2DPoints	(	const ObjectModel::Face &	face,
		const cv::Mat &	cTo,
		const CameraBridge &	camera,
		std::vector< re_msgs::Pixel > &	points2d
	)		const `[protected]`

Projects all the 3D points of the face into the image given the pose of the object and the parameters of the camera Note: this function does not check if the 2d points are within the bounds of the image Note: that is done in ObjectDetectorProvider::rectifyDetections

Parameters:

face	detected face of the object
cTo	transformation from camera to object
camera	intrinsic camera parameters
points2d	all the 3d points of the face projected into the camera

Definition at line 365 of file ObjectDetectorMethod.cpp.

virtual void ObjectDetectorMethod::setDebugMode	(	bool	onoff,
		const std::string &	dir
	)		`[inline, virtual]`

Sets a flag to say if debug information should be generated

Parameters:

onoff debug mode iif true

Definition at line 106 of file ObjectDetectorMethod.h.

virtual void ObjectDetectorMethod::setVisualizationManager ( VisualizationManager * vis ) [inline, virtual]

Sets a visualization manager for this method

Parameters:

vis

Definition at line 122 of file ObjectDetectorMethod.h.

virtual bool ObjectDetectorMethod::visualizationMode ( ) const [inline, virtual]

Returns whether visualization must be done

Definition at line 130 of file ObjectDetectorMethod.h.

void ObjectDetectorMethod::visualize	(	const cv::Mat &	image,
		const std::string &	text = `""`,
		bool	hold = `false`
	)		`[inline, protected]`

Visualizes an image

Parameters:

image

Definition at line 146 of file ObjectDetectorMethod.h.

Member Data Documentation

bool ObjectDetectorMethod::m_debug [protected]

Definition at line 280 of file ObjectDetectorMethod.h.

std::string ObjectDetectorMethod::m_debug_dir [protected]

debug mode

Definition at line 281 of file ObjectDetectorMethod.h.

VisualizationManager* ObjectDetectorMethod::m_visualizer [protected]

debug dir

Definition at line 283 of file ObjectDetectorMethod.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation