Public Member Functions
	TabletopObjectRecognizer (ros::NodeHandle nh)
	Subscribes to and advertises topics; initializes fitter.
	~TabletopObjectRecognizer ()
	Empty stub.
Private Member Functions
bool	addExclusionCB (AddModelExclusion::Request &request, AddModelExclusion::Response &response)
bool	clearExclusionsCB (ClearExclusionsList::Request &request, ClearExclusionsList::Response &response)
void	clearOldMarkers (std::string frame_id)
	Clears old published markers and remembers the current number of published markers.
template<class PointCloudType >
double	fitClusterDistance (const ModelFitInfo &m, const PointCloudType &cluster)
	Helper function that returns the distance along the plane between a fit model and a cluster.
double	fitDistance (const ModelFitInfo &m1, const ModelFitInfo &m2)
	Helper function that returns the distance along the plane between two fit models.
bool	negateExclusionsCB (NegateExclusions::Request &request, NegateExclusions::Response &response)
template<class PointCloudType >
void	objectDetection (std::vector< PointCloudType > &clusters, int num_models, const Table &table, bool perform_fit_merge, TabletopObjectRecognition::Response &response)
	Performs object detection on the given clusters, can also merge clusters based on detection result.
void	publishFitMarkers (const std::vector< household_objects_database_msgs::DatabaseModelPoseList > &potential_models, const Table &table)
	Publishes markers for all fits.
bool	serviceCallback (TabletopObjectRecognition::Request &request, TabletopObjectRecognition::Response &response)
	Callback for service calls.
Private Attributes
ros::ServiceServer	add_model_exclusion_srv_
	Service server for adding to the model exclusion set.
ros::ServiceServer	clear_model_exclusions_srv_
	Service server for clearing the exclusion set.
ros::Subscriber	cloud_new_sub_
	Listener for incoming new-style point clouds.
int	current_marker_id_
	The current marker being published.
ExhaustiveFitDetector < IterativeTranslationFitter >	detector_
	The instance of the detector used for all detecting tasks.
double	fit_merge_threshold_
	The threshold for merging two models that were fit very close to each other.
ros::ServiceClient	get_model_mesh_srv_
	Service client for getting a mesh from the database.
tf::TransformListener	listener_
	A tf transform listener.
ros::Publisher	marker_pub_
	Publisher for markers.
double	min_marker_quality_
	Fit results below this quality are not published as markers.
std::string	model_set_
	Whether to use a reduced model set from the database.
ros::ServiceServer	negate_exclusions_srv_
	Service server for negating the exclusion set.
ros::NodeHandle	nh_
	The node handle.
int	num_markers_published_
	Used to remember the number of markers we publish so we can delete them later.
ros::ServiceServer	object_recognition_srv_
	Service server for object detection.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.

Detailed Description

Definition at line 62 of file tabletop_object_recognition.cpp.

Constructor & Destructor Documentation

tabletop_object_detector::TabletopObjectRecognizer::TabletopObjectRecognizer ( ros::NodeHandle nh )

Subscribes to and advertises topics; initializes fitter.

Definition at line 144 of file tabletop_object_recognition.cpp.

tabletop_object_detector::TabletopObjectRecognizer::~TabletopObjectRecognizer ( ) [inline]

Empty stub.

Definition at line 141 of file tabletop_object_recognition.cpp.

Member Function Documentation

bool tabletop_object_detector::TabletopObjectRecognizer::addExclusionCB	(	AddModelExclusion::Request &	request,
		AddModelExclusion::Response &	response
	)		`[private]`

Definition at line 186 of file tabletop_object_recognition.cpp.

bool tabletop_object_detector::TabletopObjectRecognizer::clearExclusionsCB	(	ClearExclusionsList::Request &	request,
		ClearExclusionsList::Response &	response
	)		`[private]`

Definition at line 178 of file tabletop_object_recognition.cpp.

void tabletop_object_detector::TabletopObjectRecognizer::clearOldMarkers ( std::string frame_id ) [private]

Clears old published markers and remembers the current number of published markers.

Definition at line 387 of file tabletop_object_recognition.cpp.

template<class PointCloudType >

double tabletop_object_detector::TabletopObjectRecognizer::fitClusterDistance	(	const ModelFitInfo &	m,
		const PointCloudType &	cluster
	)		`[private]`

Helper function that returns the distance along the plane between a fit model and a cluster.

Definition at line 416 of file tabletop_object_recognition.cpp.

double tabletop_object_detector::TabletopObjectRecognizer::fitDistance	(	const ModelFitInfo &	m1,
		const ModelFitInfo &	m2
	)		`[private]`

Helper function that returns the distance along the plane between two fit models.

Definition at line 407 of file tabletop_object_recognition.cpp.

bool tabletop_object_detector::TabletopObjectRecognizer::negateExclusionsCB	(	NegateExclusions::Request &	request,
		NegateExclusions::Response &	response
	)		`[private]`

Definition at line 194 of file tabletop_object_recognition.cpp.

template<class PointCloudType >

void tabletop_object_detector::TabletopObjectRecognizer::objectDetection	(	std::vector< PointCloudType > &	clusters,
		int	num_models,
		const Table &	table,
		bool	perform_fit_merge,
		TabletopObjectRecognition::Response &	response
	)		`[private]`

Performs object detection on the given clusters, can also merge clusters based on detection result.

Performs the detection on each of the clusters, and populates the returned message.

Definition at line 247 of file tabletop_object_recognition.cpp.

void tabletop_object_detector::TabletopObjectRecognizer::publishFitMarkers	(	const std::vector< household_objects_database_msgs::DatabaseModelPoseList > &	potential_models,
		const Table &	table
	)		`[private]`

Publishes markers for all fits.

Definition at line 356 of file tabletop_object_recognition.cpp.

bool tabletop_object_detector::TabletopObjectRecognizer::serviceCallback	(	TabletopObjectRecognition::Request &	request,
		TabletopObjectRecognition::Response &	response
	)		`[private]`