Classes | Typedefs | Functions | Variables
linemod.cpp File Reference
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc_c.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iterator>
#include <set>
#include <cstdio>
#include <iostream>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
Include dependency graph for linemod.cpp:

Go to the source code of this file.

Classes

class  Mouse
class  Timer

Typedefs

typedef
message_filters::sync_policies::ApproximateTime
< sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo > 
SyncPolicy

Functions

void callback (const sensor_msgs::Image::ConstPtr &rgb_image, const sensor_msgs::Image::ConstPtr &depth_image, const sensor_msgs::CameraInfo::ConstPtr &rgb_camera_info, const sensor_msgs::CameraInfo::ConstPtr &depth_camera_info)
cv::Mat displayQuantized (const cv::Mat &quantized)
void drawResponse (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Mat &dst, cv::Point offset, int T)
static void filterPlane (IplImage *ap_depth, std::vector< IplImage * > &a_masks, std::vector< CvPoint > &a_chain, double f)
static void help ()
int main (int argc, char **argv)
std::vector< CvPoint > maskFromTemplate (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Point offset, cv::Size size, cv::Mat &mask, cv::Mat &dst)
static cv::Ptr
< cv::linemod::Detector > 
readLinemod (const std::string &filename)
static void reprojectPoints (const std::vector< cv::Point3d > &proj, std::vector< cv::Point3d > &real, double f)
void subtractPlane (const cv::Mat &depth, cv::Mat &mask, std::vector< CvPoint > &chain, double f)
void templateConvexHull (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Point offset, cv::Size size, cv::Mat &dst)
static void writeLinemod (const cv::Ptr< cv::linemod::Detector > &detector, const std::string &filename)

Variables

cv::Ptr< cv::linemod::Detector > detector
std::string filename
int matching_threshold = 80
int num_classes = 0

Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo > SyncPolicy

Definition at line 404 of file linemod.cpp.


Function Documentation

void callback ( const sensor_msgs::Image::ConstPtr &  rgb_image,
const sensor_msgs::Image::ConstPtr &  depth_image,
const sensor_msgs::CameraInfo::ConstPtr &  rgb_camera_info,
const sensor_msgs::CameraInfo::ConstPtr &  depth_camera_info 
)
Todo:
Keys for changing these?
Todo:
Online learning possibly broken by new gradient feature extraction, which assumes an accurate object outline.

Definition at line 201 of file linemod.cpp.

cv::Mat displayQuantized ( const cv::Mat &  quantized)

Definition at line 712 of file linemod.cpp.

void drawResponse ( const std::vector< cv::linemod::Template > &  templates,
int  num_modalities,
cv::Mat &  dst,
cv::Point  offset,
int  T 
)

Definition at line 767 of file linemod.cpp.

static void filterPlane ( IplImage *  ap_depth,
std::vector< IplImage * > &  a_masks,
std::vector< CvPoint > &  a_chain,
double  f 
) [static]

Definition at line 480 of file linemod.cpp.

static void help ( ) [static]

Definition at line 119 of file linemod.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 407 of file linemod.cpp.

std::vector< CvPoint > maskFromTemplate ( const std::vector< cv::linemod::Template > &  templates,
int  num_modalities,
cv::Point  offset,
cv::Size  size,
cv::Mat &  mask,
cv::Mat &  dst 
)
Todo:
Really need dst at all? Can just as well do this outside

Definition at line 666 of file linemod.cpp.

static cv::Ptr<cv::linemod::Detector> readLinemod ( const std::string filename) [static]

Definition at line 167 of file linemod.cpp.

static void reprojectPoints ( const std::vector< cv::Point3d > &  proj,
std::vector< cv::Point3d > &  real,
double  f 
) [static]

Definition at line 466 of file linemod.cpp.

void subtractPlane ( const cv::Mat &  depth,
cv::Mat &  mask,
std::vector< CvPoint > &  chain,
double  f 
)

Definition at line 656 of file linemod.cpp.

void templateConvexHull ( const std::vector< cv::linemod::Template > &  templates,
int  num_modalities,
cv::Point  offset,
cv::Size  size,
cv::Mat &  dst 
)

Definition at line 744 of file linemod.cpp.

static void writeLinemod ( const cv::Ptr< cv::linemod::Detector > &  detector,
const std::string filename 
) [static]

Definition at line 180 of file linemod.cpp.


Variable Documentation

cv::Ptr<cv::linemod::Detector> detector

Definition at line 197 of file linemod.cpp.

Definition at line 198 of file linemod.cpp.

Definition at line 200 of file linemod.cpp.

int num_classes = 0

Definition at line 199 of file linemod.cpp.



jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Tue Jul 2 2019 19:41:08