fake_object_recognition::FakeObjectRecognition Class Reference

The central class of the recognition system used for managing the ros subscriptions, configuration changes, loading of the objects, the recognition itself and the visualisation of the results. More...

#include <fake_object_recognition.h>

Public Member Functions
	FakeObjectRecognition ()
	The constructor of this class. More...

Private Member Functions
std::array< geometry_msgs::Point, 8 >	calculateBB (const ObjectConfig &object)
	calculate approximated oriented bounding box of the object represented by its corner points More...
void	configCallback (FakeObjectRecognitionConfig &config, uint32_t level)
	The callback function which is called when the configuration has changed. More...
asr_msgs::AsrObjectPtr	createAsrMessage (const ObjectConfig &object_config, const geometry_msgs::Pose &pose, const std::string &frame_id)
	Creates a AsrObject-message for a found object. More...
visualization_msgs::Marker	createMarker (const asr_msgs::AsrObjectPtr &object, int id, int lifetime, bool use_col_init=false)
	Creates a visualization marker for a found object. More...
visualization_msgs::MarkerArray::Ptr	createNormalMarker (const ObjectConfig &object, int id, int lifetime)
	publishes normal markers (yellow arrows) for all objects in the configuration More...
geometry_msgs::Point	createPoint (double x, double y, double z)
	creates a Point geometry_msg with the given coordinates More...
void	doRecognition ()
	This function is called whenever objects shall be recognized. More...
bool	getBBfromFile (std::array< geometry_msgs::Point, 8 > &result, std::string object_type)
	try to get bounding box corner points from file. More...
std::vector< geometry_msgs::Point >	getNormals (const ObjectConfig &object)
	get Normals of the object through the object_database/object_meta_data service More...
void	loadObjects ()
	This function loads the objects of the object-config-file. More...
bool	objectIsVisible (const geometry_msgs::Pose &pose_left, const geometry_msgs::Pose &pose_right)
	Checks whether an object is currently visible. More...
bool	objectIsVisible (const std::array< geometry_msgs::Point, 8 > &bb_left, const std::array< geometry_msgs::Point, 8 > &bb_right, const geometry_msgs::Pose &pose_left, const geometry_msgs::Pose &pose_right, const std::vector< geometry_msgs::Point > &normals_left, const std::vector< geometry_msgs::Point > &normals_right)
	Checks whether an object is currently visible. More...
bool	parsePoseString (std::string pose_in, geometry_msgs::Pose &pose_out, std::string delim, std::string angles)
	This function parses the string containing the pose of an entry in the object-config-file. More...
bool	processClearAllRecognizers (ClearAllRecognizers::Request &req, ClearAllRecognizers::Response &res)
bool	processGetAllRecognizersRequest (GetAllRecognizers::Request &req, GetAllRecognizers::Response &res)
bool	processGetRecognizerRequest (GetRecognizer::Request &req, GetRecognizer::Response &res)
bool	processReleaseRecognizerRequest (ReleaseRecognizer::Request &req, ReleaseRecognizer::Response &res)
void	timerCallback (const ros::TimerEvent &event)
	The callback function of the timer. More...
geometry_msgs::Pose	transformFrame (const geometry_msgs::Pose &pose, const std::string &frame_from, const std::string &frame_to)
	Transforms a given pose from one frame to another. More...
std::vector< geometry_msgs::Point >	transformPoints (std::vector< geometry_msgs::Point > points_list, Eigen::Quaterniond rotation, Eigen::Vector3d translation)
	Transforms points locally (as opposed to via a ROS service call in transformFrame) More...
std::array< geometry_msgs::Point, 8 >	transformPoints (std::array< geometry_msgs::Point, 8 > points_list, Eigen::Quaterniond rotation, Eigen::Vector3d translation)
	Transforms points locally (as opposed to via a ROS service call in transformFrame) More...

Static Private Member Functions
static std_msgs::ColorRGBA	createColorRGBA (float red, float green, float blue, float alpha)
	Creates a std_msgs::ColorRGBA-message from the given values. More...
static std_msgs::ColorRGBA	getMeshColor (std::string observed_id)
	Returns the color of a mesh based on the object's id (Only creates a color if it is an object of the segmentable category. More...

Private Attributes
std::string	bb_corners_file_name_
std::map< std::string, std::array< geometry_msgs::Point, 8 > >	bounding_box_corners_
ros::ServiceServer	clear_all_recognizers_service_
FakeObjectRecognitionConfig	config_
bool	config_changed_
std::string	config_file_path_
ErrorSimulation	err_sim_
double	fcp_
double	fovx_
double	fovy_
std::string	frame_camera_left_
std::string	frame_camera_right_
std::string	frame_world_
ros::Publisher	generated_constellation_marker_pub_
ros::ServiceServer	get_all_recognizers_service_
ros::ServiceServer	get_recognizer_service_
tf::TransformListener	listener_
double	ncp_
ros::NodeHandle	nh_
std::map< std::string, std::vector< geometry_msgs::Point > >	normals_
std::string	object_database_name_
ros::ServiceClient	object_metadata_service_client_
ros::Publisher	object_normals_pub_
std::vector< ObjectConfig >	objects_
std::vector< std::string >	objects_to_rec_
std::string	output_constellation_marker_topic_
std::string	output_normals_topic_
std::string	output_rec_markers_topic_
std::string	output_rec_objects_topic_
double	rating_threshold_
double	rating_threshold_d_
double	rating_threshold_x_
double	rating_threshold_y_
bool	recognition_released_
ros::Publisher	recognized_objects_marker_pub_
ros::Publisher	recognized_objects_pub_
dynamic_reconfigure::Server< FakeObjectRecognitionConfig >	reconfigure_server_
ros::ServiceServer	release_recognizer_service_
ros::Timer	timer_
double	timer_duration_

Detailed Description

The central class of the recognition system used for managing the ros subscriptions, configuration changes, loading of the objects, the recognition itself and the visualisation of the results.

Definition at line 65 of file fake_object_recognition.h.

Constructor & Destructor Documentation

fake_object_recognition::FakeObjectRecognition::FakeObjectRecognition

(

)

The constructor of this class.

Definition at line 37 of file fake_object_recognition.cpp.

Member Function Documentation

std::array< geometry_msgs::Point, 8 > fake_object_recognition::FakeObjectRecognition::calculateBB ( const ObjectConfig &  object )

private

calculate approximated oriented bounding box of the object represented by its corner points

Parameters

object

to calculate the bounding box corner points for

Returns

the object's bounding box corner points

Definition at line 749 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::configCallback ( FakeObjectRecognitionConfig &  config, uint32_t  level  )

private

The callback function which is called when the configuration has changed.

Parameters

config	The new configuration
level	The level which is the result of ORing together all of level values of the parameters that have changed

Definition at line 260 of file fake_object_recognition.cpp.

asr_msgs::AsrObjectPtr fake_object_recognition::FakeObjectRecognition::createAsrMessage ( const ObjectConfig &  object_config, const geometry_msgs::Pose &  pose, const std::string &  frame_id  )

private

Creates a AsrObject-message for a found object.

Parameters

object_config	The configuration file of the found object
pose	The pose of the found object
frame_id	The frame the given pose belongs to

Returns

The created AsrObject-message

Definition at line 455 of file fake_object_recognition.cpp.

std_msgs::ColorRGBA fake_object_recognition::FakeObjectRecognition::createColorRGBA ( float  red, float  green, float  blue, float  alpha  )

staticprivate

Creates a std_msgs::ColorRGBA-message from the given values.

Parameters

red	The R-value of the RGBA-color
green	The G-value of the RGBA-color
blue	The B-value of the RGBA-color
alpha	The A-value of the RGBA-color

Returns

The created color-message

Definition at line 561 of file fake_object_recognition.cpp.

visualization_msgs::Marker fake_object_recognition::FakeObjectRecognition::createMarker ( const asr_msgs::AsrObjectPtr &  object, int  id, int  lifetime, bool  use_col_init = false  )

private

Creates a visualization marker for a found object.

Parameters

object	The AsrObject-message created for the found object
id	The id used to distinguish between multiple markers
lifetime	The lifetime of the marker
use_col_init	If this is true the marker has a special color indicating that this is a marker visualizing an available object

Returns

The created marker

Definition at line 506 of file fake_object_recognition.cpp.

visualization_msgs::MarkerArray::Ptr fake_object_recognition::FakeObjectRecognition::createNormalMarker ( const ObjectConfig &  object, int  id, int  lifetime  )

private

publishes normal markers (yellow arrows) for all objects in the configuration

Parameters

object	the ObjectConfig for which to show the normals
id	The id used to distinguish between multiple markers
lifetime	The lifetime of the marker

Returns

The created marker

Definition at line 598 of file fake_object_recognition.cpp.

geometry_msgs::Point fake_object_recognition::FakeObjectRecognition::createPoint ( double  x, double  y, double  z  )

private

creates a Point geometry_msg with the given coordinates

Parameters

x	coordinate
y	coordinate
z	coordinate

Returns

geometry_msgs::Point with the given coordinates

Definition at line 951 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::doRecognition ( )

private

This function is called whenever objects shall be recognized.

Definition at line 265 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::getBBfromFile ( std::array< geometry_msgs::Point, 8 > &  result, std::string  object_type  )

private

try to get bounding box corner points from file.

Parameters

result	the resulting list of corner points. Contents undefined if false is returned
object_type	Type of the ObjectConfig

Returns

whether bounding box corner point were found (true) or not

Definition at line 682 of file fake_object_recognition.cpp.

std_msgs::ColorRGBA fake_object_recognition::FakeObjectRecognition::getMeshColor ( std::string  observed_id )

staticprivate

Returns the color of a mesh based on the object's id (Only creates a color if it is an object of the segmentable category.

Parameters

observed_id

The id of an object

Returns

The correlating color

Definition at line 536 of file fake_object_recognition.cpp.

std::vector< geometry_msgs::Point > fake_object_recognition::FakeObjectRecognition::getNormals ( const ObjectConfig &  object )

private

get Normals of the object through the object_database/object_meta_data service

Parameters

object

to get the normals for

Returns

vector of the object normals

Definition at line 655 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::loadObjects ( )

private

This function loads the objects of the object-config-file.

Definition at line 103 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::objectIsVisible ( const geometry_msgs::Pose &  pose_left, const geometry_msgs::Pose &  pose_right  )

private

Checks whether an object is currently visible.

Parameters

pose_left	The pose of the object in the left camera frame
pose_right	The pose of the object in the right camera frame

Returns

True if the object is visible, false otherwise

Definition at line 404 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::objectIsVisible ( const std::array< geometry_msgs::Point, 8 > &  bb_left, const std::array< geometry_msgs::Point, 8 > &  bb_right, const geometry_msgs::Pose &  pose_left, const geometry_msgs::Pose &  pose_right, const std::vector< geometry_msgs::Point > &  normals_left, const std::vector< geometry_msgs::Point > &  normals_right  )

private

Checks whether an object is currently visible.

Parameters

bb_left	Bounding box corner points in left camera frame
bb_right	Bounding box corner points in right camera frame
pose_left	Object pose in left camera frame
pose_right	Object pose in right camera frame
normals_left	Object sight normals in left camer frame
normals_right	Object sight normals in left camer frame

Returns

True if the object is visible, false otherwise

Definition at line 429 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::parsePoseString ( std::string  pose_in, geometry_msgs::Pose &  pose_out, std::string  delim, std::string  angles  )

private

This function parses the string containing the pose of an entry in the object-config-file.

Parameters

pose_in	The given pose string
pose_out	The parsed pose
delim	The string used to split the input pose-string

Definition at line 153 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::processClearAllRecognizers ( ClearAllRecognizers::Request &  req, ClearAllRecognizers::Response &  res  )

private

Processes the request to release all recognizer

Parameters

req	The request message
res	The correlated response message.

Definition at line 239 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::processGetAllRecognizersRequest ( GetAllRecognizers::Request &  req, GetAllRecognizers::Response &  res  )

private

Processes the request to recognize all objects loaded from config.xml

Parameters

req	The request message
res	The correlated response message.

Definition at line 224 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::processGetRecognizerRequest ( GetRecognizer::Request &  req, GetRecognizer::Response &  res  )

private

Processes the request to recognize the given object

Parameters

req	The request message
res	The correlated response message.

Definition at line 203 of file fake_object_recognition.cpp.

bool fake_object_recognition::FakeObjectRecognition::processReleaseRecognizerRequest ( ReleaseRecognizer::Request &  req, ReleaseRecognizer::Response &  res  )

private

Processes the request to release a previously created recognizer

Parameters

req	The request message
res	The correlated response message.

Definition at line 215 of file fake_object_recognition.cpp.

void fake_object_recognition::FakeObjectRecognition::timerCallback ( const ros::TimerEvent &  event )

private

The callback function of the timer.

Parameters

event

Structure passed as a parameter to the callback invoked by a ros::Timer

Definition at line 246 of file fake_object_recognition.cpp.

geometry_msgs::Pose fake_object_recognition::FakeObjectRecognition::transformFrame ( const geometry_msgs::Pose &  pose, const std::string &  frame_from, const std::string &  frame_to  )

private

Transforms a given pose from one frame to another.

Parameters

pose	The given pose
frame_from	The frame the given pose belongs to
frame_to	The frame the pose is transformed to

Returns

The transformed pose

Definition at line 383 of file fake_object_recognition.cpp.

std::vector< geometry_msgs::Point > fake_object_recognition::FakeObjectRecognition::transformPoints ( std::vector< geometry_msgs::Point >  points_list, Eigen::Quaterniond  rotation, Eigen::Vector3d  translation  )

private

Transforms points locally (as opposed to via a ROS service call in transformFrame)

Parameters

points_list	List of Points to transform as a std::vector
rot_mat	Rotation quaternion to transform with (gets normalized in fuction)
translation	Translation vector

Returns

list of transformed points

Definition at line 572 of file fake_object_recognition.cpp.

std::array< geometry_msgs::Point, 8 > fake_object_recognition::FakeObjectRecognition::transformPoints ( std::array< geometry_msgs::Point, 8 >  points_list, Eigen::Quaterniond  rotation, Eigen::Vector3d  translation  )

private

Transforms points locally (as opposed to via a ROS service call in transformFrame)

Parameters

points_list	List of Points to transform as a std::array<geometry_msgs::Point, 8> (specifically for bounding box corners)
rot_mat	Rotation quaternion to transform with (gets normalized in fuction)
translation	Translation vector

Returns

list of transformed points

Definition at line 585 of file fake_object_recognition.cpp.

Member Data Documentation

std::string fake_object_recognition::FakeObjectRecognition::bb_corners_file_name_

private

Name of the file where calculated bounding box corner points are stored

Definition at line 155 of file fake_object_recognition.h.

std::map<std::string, std::array<geometry_msgs::Point, 8> > fake_object_recognition::FakeObjectRecognition::bounding_box_corners_

private

Map of object names to the object's bounding box corner points

Definition at line 149 of file fake_object_recognition.h.

ros::ServiceServer fake_object_recognition::FakeObjectRecognition::clear_all_recognizers_service_

private

Definition at line 85 of file fake_object_recognition.h.

FakeObjectRecognitionConfig fake_object_recognition::FakeObjectRecognition::config_

private

The configuration containing the dynamic parameters of this process

Definition at line 75 of file fake_object_recognition.h.

bool fake_object_recognition::FakeObjectRecognition::config_changed_

private

This value indicates whether the configuration has changed

Definition at line 78 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::config_file_path_

private

The path to the file containing information about the available objects

Definition at line 112 of file fake_object_recognition.h.

ErrorSimulation fake_object_recognition::FakeObjectRecognition::err_sim_

private

An error simulator used to generate pose errors

Definition at line 143 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::fcp_

private

Definition at line 104 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::fovx_

private

The parameters of the used cameras

Definition at line 101 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::fovy_

private

Definition at line 102 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::frame_camera_left_

private

Definition at line 108 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::frame_camera_right_

private

Definition at line 109 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::frame_world_

private

The used frames (world and cameras)

Definition at line 107 of file fake_object_recognition.h.

ros::Publisher fake_object_recognition::FakeObjectRecognition::generated_constellation_marker_pub_

private

Definition at line 91 of file fake_object_recognition.h.

ros::ServiceServer fake_object_recognition::FakeObjectRecognition::get_all_recognizers_service_

private

Definition at line 84 of file fake_object_recognition.h.

ros::ServiceServer fake_object_recognition::FakeObjectRecognition::get_recognizer_service_

private

Ros service handlers used for handling requests

Definition at line 81 of file fake_object_recognition.h.

tf::TransformListener fake_object_recognition::FakeObjectRecognition::listener_

private

A listener used to transform between the world and camera frames

Definition at line 140 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::ncp_

private

Definition at line 103 of file fake_object_recognition.h.

ros::NodeHandle fake_object_recognition::FakeObjectRecognition::nh_

private

Ros' interface for creating subscribers, publishers, etc.

Definition at line 69 of file fake_object_recognition.h.

std::map<std::string, std::vector<geometry_msgs::Point> > fake_object_recognition::FakeObjectRecognition::normals_

private

Map of object names to the object's normal vectors

Definition at line 146 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::object_database_name_

private

Name of the database package where object mesh and normal files are stored

Definition at line 158 of file fake_object_recognition.h.

ros::ServiceClient fake_object_recognition::FakeObjectRecognition::object_metadata_service_client_

private

Service client used to request object meta data

Definition at line 152 of file fake_object_recognition.h.

ros::Publisher fake_object_recognition::FakeObjectRecognition::object_normals_pub_

private

Definition at line 92 of file fake_object_recognition.h.

std::vector<ObjectConfig> fake_object_recognition::FakeObjectRecognition::objects_

private

The available objects

Definition at line 134 of file fake_object_recognition.h.

std::vector<std::string> fake_object_recognition::FakeObjectRecognition::objects_to_rec_

private

The objects which shall be recognized

Definition at line 137 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::output_constellation_marker_topic_

private

Definition at line 117 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::output_normals_topic_

private

Definition at line 118 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::output_rec_markers_topic_

private

Definition at line 116 of file fake_object_recognition.h.

std::string fake_object_recognition::FakeObjectRecognition::output_rec_objects_topic_

private

The topics of the publishers

Definition at line 115 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::rating_threshold_

private

The minimum value between 0.0 and 1.0 a normals rating of an object needs to have to be valid

Definition at line 128 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::rating_threshold_d_

private

The minimum value a distance rating of a pose needs to have to be valid

Definition at line 121 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::rating_threshold_x_

private

The minimum value an azimut angle rating of a pose needs to have to be valid

Definition at line 123 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::rating_threshold_y_

private

The minimum value an elevation angle rating of a pose needs to have to be valid

Definition at line 125 of file fake_object_recognition.h.

bool fake_object_recognition::FakeObjectRecognition::recognition_released_

private

This value indicates whether the recognition is paused

Definition at line 98 of file fake_object_recognition.h.

ros::Publisher fake_object_recognition::FakeObjectRecognition::recognized_objects_marker_pub_

private

Definition at line 90 of file fake_object_recognition.h.

ros::Publisher fake_object_recognition::FakeObjectRecognition::recognized_objects_pub_

private

Ros publishers which manage the advertisement of specific topics

Definition at line 89 of file fake_object_recognition.h.

dynamic_reconfigure::Server<FakeObjectRecognitionConfig> fake_object_recognition::FakeObjectRecognition::reconfigure_server_

private

Dynamic reconfigure server which keeps track of the callback function

Definition at line 72 of file fake_object_recognition.h.

ros::ServiceServer fake_object_recognition::FakeObjectRecognition::release_recognizer_service_

private

Definition at line 82 of file fake_object_recognition.h.

ros::Timer fake_object_recognition::FakeObjectRecognition::timer_

private

A timer which is used to control the recognition cycles

Definition at line 95 of file fake_object_recognition.h.

double fake_object_recognition::FakeObjectRecognition::timer_duration_

private

The time between recognition cycles used by the timer

Definition at line 131 of file fake_object_recognition.h.

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

• fake_object_recognition.h
• fake_object_recognition.cpp