Public Member Functions
bool	add_new_template (cv::Mat img, std::string typestr, tf::Transform relative_pose, double template_width, double template_height, double theta_step=5.0, double phi_step=5.0)
void	check_subscribers ()
void	dyn_conf_callback (jsk_perception::point_pose_extractorConfig &config, uint32_t level)
void	imagefeature_cb (const posedetection_msgs::ImageFeature0DConstPtr &msg)
void	initialize ()
cv::Mat	make_homography (cv::Mat src, cv::Mat rvec, cv::Mat tvec, double template_width, double template_height, cv::Size &size)
int	make_warped_images (cv::Mat src, std::vector< cv::Mat > &imgs, std::vector< cv::Mat > &Mvec, double template_width, double template_height, double th_step, double phi_step)
	PointPoseExtractor ()
bool	settemplate_cb (jsk_perception::SetTemplate::Request &req, jsk_perception::SetTemplate::Response &res)
virtual	~PointPoseExtractor ()
Static Public Member Functions
static void	cvmousecb (int event, int x, int y, int flags, void *param)
static void	make_template_from_mousecb (Matching_Template *mt)
Private Attributes
bool	_autosize
ros::ServiceClient	_client
image_transport::Publisher	_debug_pub
double	_distanceratio_threshold
double	_err_thr
bool	_initialized
ros::NodeHandle	_n
double	_phi_step
ros::Publisher	_pub
ros::Publisher	_pub_agg
ros::Publisher	_pub_pose
double	_reprojection_threshold
ros::ServiceServer	_server
ros::Subscriber	_sub
double	_th_step
bool	_viewer
image_transport::ImageTransport	it
image_geometry::PinholeCameraModel	pcam
bool	pnod
Static Private Attributes
static std::vector < Matching_Template * >	_templates

Detailed Description

Definition at line 545 of file point_pose_extractor.cpp.

Constructor & Destructor Documentation

PointPoseExtractor::PointPoseExtractor ( ) [inline]

Definition at line 567 of file point_pose_extractor.cpp.

virtual PointPoseExtractor::~PointPoseExtractor ( ) [inline, virtual]

Definition at line 579 of file point_pose_extractor.cpp.

Member Function Documentation

bool PointPoseExtractor::add_new_template	(	cv::Mat	img,
		std::string	typestr,
		tf::Transform	relative_pose,
		double	template_width,
		double	template_height,
		double	theta_step = `5.0`,
		double	phi_step = `5.0`
	)		`[inline]`

Definition at line 838 of file point_pose_extractor.cpp.

void PointPoseExtractor::check_subscribers ( ) [inline]

Definition at line 963 of file point_pose_extractor.cpp.

static void PointPoseExtractor::cvmousecb	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)		`[inline, static]`

Definition at line 660 of file point_pose_extractor.cpp.

void PointPoseExtractor::dyn_conf_callback	(	jsk_perception::point_pose_extractorConfig &	config,
		uint32_t	level
	)		`[inline]`

Definition at line 980 of file point_pose_extractor.cpp.

void PointPoseExtractor::imagefeature_cb ( const posedetection_msgs::ImageFeature0DConstPtr & msg ) [inline]

Definition at line 894 of file point_pose_extractor.cpp.

void PointPoseExtractor::initialize ( ) [inline]

Definition at line 684 of file point_pose_extractor.cpp.

cv::Mat PointPoseExtractor::make_homography	(	cv::Mat	src,
		cv::Mat	rvec,
		cv::Mat	tvec,
		double	template_width,
		double	template_height,
		cv::Size &	size
	)		`[inline]`

Definition at line 757 of file point_pose_extractor.cpp.

static void PointPoseExtractor::make_template_from_mousecb ( Matching_Template * mt ) [inline, static]

Definition at line 586 of file point_pose_extractor.cpp.

int PointPoseExtractor::make_warped_images	(	cv::Mat	src,
		std::vector< cv::Mat > &	imgs,
		std::vector< cv::Mat > &	Mvec,
		double	template_width,
		double	template_height,
		double	th_step,
		double	phi_step
	)		`[inline]`