#include <sliding_window_object_detector.h>

Inheritance diagram for jsk_perception::SlidingWindowObjectDetector:

Public Member Functions
virtual void	computeHSHistogram (cv::Mat &, cv::Mat &, const int=64, const int=32, bool=true)
virtual void	concatenateCVMat (const cv::Mat &, const cv::Mat &, cv::Mat &, bool=true)
virtual void	configCallback (jsk_perception::SlidingWindowObjectDetectorConfig &, uint32_t)
void	convertCvRectToJSKRectArray (const std::vector< cv::Rect_< int > > &, jsk_recognition_msgs::RectArray &, const int, const cv::Size)
virtual void	loadTrainedDetectorModel ()
virtual std::vector< cv::Rect_ < int > >	nonMaximumSuppression (std::multimap< float, cv::Rect_< int > > &, const float)
virtual void	objectRecognizer (const cv::Mat &, std::multimap< float, cv::Rect_< int > > &, const cv::Size, const int=16)
virtual void	pyramidialScaling (cv::Size &, const float)
virtual void	readTrainingManifestFromDirectory ()
virtual std::multimap< float, cv::Rect_< int > >	runSlidingWindowDetector (const cv::Mat &, const cv::Size, const float, const int, const int)
virtual void	setBoundingBoxLabel (cv::Mat &, cv::Rect_< int >, const std::string="object")
	SlidingWindowObjectDetector ()
Protected Member Functions
virtual void	imageCb (const sensor_msgs::ImageConstPtr &)
virtual void	onInit ()
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
std::string	dataset_path_
int	downsize_
int	incrementor_
std::string	model_name_
boost::mutex	mutex_
std::string	ndataset_path_
ros::ServiceClient	nms_client_
std::string	nonobject_dataset_filename_
std::string	object_dataset_filename_
ros::Publisher	pub_image_
ros::Publisher	pub_rects_
boost::shared_ptr< rosbag::Bag >	rosbag_
std::string	run_type_
float	scale_
boost::shared_ptr < dynamic_reconfigure::Server < jsk_perception::SlidingWindowObjectDetectorConfig > >	srv_
int	stack_size_
ros::Subscriber	sub_image_
boost::shared_ptr< cv::SVM >	supportVectorMachine_
int	swindow_x
int	swindow_y
std::string	trainer_manifest_filename_

Detailed Description

Definition at line 37 of file sliding_window_object_detector.h.

Constructor & Destructor Documentation

jsk_perception::SlidingWindowObjectDetector::SlidingWindowObjectDetector ( ) [inline]

Definition at line 41 of file sliding_window_object_detector.h.

Member Function Documentation

void jsk_perception::SlidingWindowObjectDetector::computeHSHistogram	(	cv::Mat &	src,
		cv::Mat &	hist,
		const int	hBin = `64`,
		const int	sBin = `32`,
		bool	is_norm = `true`
	)		`[virtual]`

color histogram temp placed here

Definition at line 210 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::concatenateCVMat	(	const cv::Mat &	mat_1,
		const cv::Mat &	mat_2,
		cv::Mat &	featureMD,
		bool	iscolwise = `true`
	)		`[virtual]`

Definition at line 278 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::configCallback	(	jsk_perception::SlidingWindowObjectDetectorConfig &	config,
		uint32_t	level
	)		`[virtual]`

Definition at line 389 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::convertCvRectToJSKRectArray	(	const std::vector< cv::Rect_< int > > &	bounding_boxes,
		jsk_recognition_msgs::RectArray &	jsk_rects,
		const int	downsize,
		const cv::Size	img_sz
	)

Definition at line 305 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::imageCb ( const sensor_msgs::ImageConstPtr & msg ) [protected, virtual]

Definition at line 76 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::loadTrainedDetectorModel ( ) [virtual]

Definition at line 321 of file sliding_window_object_detector.cpp.

std::vector< cv::Rect_< int > > jsk_perception::SlidingWindowObjectDetector::nonMaximumSuppression	(	std::multimap< float, cv::Rect_< int > > &	detection_info,
		const float	nms_threshold
	)		`[virtual]`

Definition at line 241 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::objectRecognizer	(	const cv::Mat &	image,
		std::multimap< float, cv::Rect_< int > > &	detection_info,
		const cv::Size	wsize,
		const int	incrementor = `16`
	)		`[virtual]`

Definition at line 171 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::onInit ( ) [protected, virtual]

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 9 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::pyramidialScaling	(	cv::Size &	wsize,
		const float	scale
	)		`[virtual]`

Definition at line 230 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::readTrainingManifestFromDirectory ( ) [virtual]

Definition at line 339 of file sliding_window_object_detector.cpp.

std::multimap< float, cv::Rect_< int > > jsk_perception::SlidingWindowObjectDetector::runSlidingWindowDetector	(	const cv::Mat &	image,
		const cv::Size	wsize,
		const float	scale,
		const int	scale_counter,
		const int	incrementor
	)		`[virtual]`

Definition at line 151 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::setBoundingBoxLabel	(	cv::Mat &	im,
		cv::Rect_< int >	rect,
		const std::string	label = `"object"`
	)		`[virtual]`

Definition at line 371 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::subscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 63 of file sliding_window_object_detector.cpp.

void jsk_perception::SlidingWindowObjectDetector::unsubscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 70 of file sliding_window_object_detector.cpp.

Member Data Documentation

std::string jsk_perception::SlidingWindowObjectDetector::dataset_path_ [protected]

Definition at line 97 of file sliding_window_object_detector.h.

int jsk_perception::SlidingWindowObjectDetector::downsize_ [protected]

Definition at line 88 of file sliding_window_object_detector.h.

int jsk_perception::SlidingWindowObjectDetector::incrementor_ [protected]

Definition at line 87 of file sliding_window_object_detector.h.

std::string jsk_perception::SlidingWindowObjectDetector::model_name_ [protected]

Definition at line 96 of file sliding_window_object_detector.h.

boost::mutex jsk_perception::SlidingWindowObjectDetector::mutex_ [protected]

Definition at line 77 of file sliding_window_object_detector.h.

std::string jsk_perception::SlidingWindowObjectDetector::ndataset_path_ [protected]

Definition at line 94 of file sliding_window_object_detector.h.

ros::ServiceClient jsk_perception::SlidingWindowObjectDetector::nms_client_ [protected]

Definition at line 81 of file sliding_window_object_detector.h.

std::string jsk_perception::SlidingWindowObjectDetector::nonobject_dataset_filename_ [protected]

Definition at line 93 of file sliding_window_object_detector.h.

std::string jsk_perception::SlidingWindowObjectDetector::object_dataset_filename_ [protected]

Definition at line 92 of file sliding_window_object_detector.h.

ros::Publisher jsk_perception::SlidingWindowObjectDetector::pub_image_ [protected]

Definition at line 79 of file sliding_window_object_detector.h.

ros::Publisher jsk_perception::SlidingWindowObjectDetector::pub_rects_ [protected]

Definition at line 80 of file sliding_window_object_detector.h.

boost::shared_ptr<rosbag::Bag> jsk_perception::SlidingWindowObjectDetector::rosbag_ [protected]

Definition at line 105 of file sliding_window_object_detector.h.

std::string jsk_perception::SlidingWindowObjectDetector::run_type_ [protected]

Definition at line 90 of file sliding_window_object_detector.h.

float jsk_perception::SlidingWindowObjectDetector::scale_ [protected]

Definition at line 85 of file sliding_window_object_detector.h.

boost::shared_ptr<dynamic_reconfigure::Server< jsk_perception::SlidingWindowObjectDetectorConfig> > jsk_perception::SlidingWindowObjectDetector::srv_ [protected]

Definition at line 104 of file sliding_window_object_detector.h.

int jsk_perception::SlidingWindowObjectDetector::stack_size_ [protected]

Definition at line 86 of file sliding_window_object_detector.h.

ros::Subscriber jsk_perception::SlidingWindowObjectDetector::sub_image_ [protected]

Definition at line 78 of file sliding_window_object_detector.h.

boost::shared_ptr<cv::SVM> jsk_perception::SlidingWindowObjectDetector::supportVectorMachine_ [protected]

Definition at line 101 of file sliding_window_object_detector.h.

int jsk_perception::SlidingWindowObjectDetector::swindow_x [protected]

Definition at line 83 of file sliding_window_object_detector.h.

int jsk_perception::SlidingWindowObjectDetector::swindow_y [protected]

Definition at line 84 of file sliding_window_object_detector.h.

std::string jsk_perception::SlidingWindowObjectDetector::trainer_manifest_filename_ [protected]