Recognizer Class Reference

Public Member Functions
void	processKeyboardInput (int key)
void	processObjectInput (ISM::ObjectPtr object)
	Recognizer ()
void	recognizeScene (ISM::ObjectSetPtr object_set)
	~Recognizer ()

Private Member Functions
void	clearAllMarker ()
	clearAllMarker More...
void	dynamicReconfCallback (asr_ism::recognizerConfig &config, uint32_t level)
std::vector< ISM::ObjectPtr >	extractRealObjects (const ISM::RecognitionResultPtr result)
void	getNodeParameters (std::string &visualization_topic)
void	predictScene ()
void	printAdditionalHelpText ()
void	printAdditionalResultInformation (ISM::RecognitionResultPtr &result)
void	storeObjectsToXML (ISM::ObjectSetPtr object_set)
void	visualizeAllResults ()
void	visualizeSelectedResult ()

Private Attributes
std::string	base_frame_
double	bin_size_
bool	buffer_next_scene_ = false
unsigned int	configuration_file_counter_ = 1
std::string	configuration_folder_path_
std::string	db_filename_
dynamic_reconfigure::Server< asr_ism::recognizerConfig >	dyn_reconf_server_
bool	enable_storing_config_to_xml_
VIZ::ISMPosePredictionVisualizerRVIZPtr	ism_pose_prediction_visualizer_
ISM::RecognizerPtr	ism_recognizer_
int	max_number_of_results_per_pattern_
double	max_projection_angle_deviation_
ros::NodeHandle	nh_
size_t	number_of_objects_ = 0
VIZ::ObjectModelVisualizerRVIZ *	object_model_visualizer_
ISM::ObjectSetPtr	object_set_buffer_
std::map< std::string, boost::filesystem::path >	object_type_to_ressource_path_map_
double	pose_prediction_sampel_faktor_ = 0.5
pose_prediction_ism::PosePredictor *	pose_predictor_
int	rater_type_
VIZ::ISMResultVisualizerRVIZPtr	recogition_result_visualizer_
std::vector< ISM::RecognitionResultPtr >	results_buffer_
SceneConfigurator *	scene_configurator_
int	scene_counter_ = 0
int	selected_result_index_ = 0
bool	valid_position_vis_ = false
ros::Publisher	visualization_publisher_
VIZ::ISMVotingVisualizerRVIZPtr	voting_space_visualizer_

Detailed Description

Recognizer class. ROS Node wrapper for Recognizer from libism.

Author

Reno Reckling, Pascal Meissner

Version

See SVN

Definition at line 86 of file recognizer.cpp.

Constructor & Destructor Documentation

Recognizer::Recognizer ( )

inline

Constructor processing parameters of scene recognition and setting up ros node.

Definition at line 94 of file recognizer.cpp.

Recognizer::~Recognizer ( )

inline

Definition at line 146 of file recognizer.cpp.

Member Function Documentation

void Recognizer::clearAllMarker ( )

inlineprivate

clearAllMarker

Deletes all marker in RVIZ.

Definition at line 553 of file recognizer.cpp.

void Recognizer::dynamicReconfCallback ( asr_ism::recognizerConfig &  config, uint32_t  level  )

inlineprivate

Definition at line 608 of file recognizer.cpp.

std::vector<ISM::ObjectPtr> Recognizer::extractRealObjects ( const ISM::RecognitionResultPtr  result )

inlineprivate

Extract an vector of all real objects (objects which don’t represent ISMs) from result.

Returns

Extracted objects.

Definition at line 464 of file recognizer.cpp.

void Recognizer::getNodeParameters ( std::string &  visualization_topic )

inlineprivate

Extracts parameters of already launched ros node and prints them on cli.

Parameters

pVisualizationTopic

ROS topic on which visualizations detected scenes are published.

Definition at line 631 of file recognizer.cpp.

void Recognizer::predictScene ( )

inlineprivate

Definition at line 561 of file recognizer.cpp.

void Recognizer::printAdditionalHelpText ( )

inlineprivate

Print additional commands on console.

Definition at line 491 of file recognizer.cpp.

void Recognizer::printAdditionalResultInformation ( ISM::RecognitionResultPtr &  result )

inlineprivate

Print additional informations from recognition results.

Definition at line 406 of file recognizer.cpp.

void Recognizer::processKeyboardInput ( int  key )

inline

Process input from keyboard.

Parameters

key	ASCII of keyboard key.

Definition at line 215 of file recognizer.cpp.

void Recognizer::processObjectInput ( ISM::ObjectPtr  object )

inline

Further processing of incoming objects.

Parameters

object

Incoming object.

Definition at line 307 of file recognizer.cpp.

void Recognizer::recognizeScene ( ISM::ObjectSetPtr  object_set )

inline

Recognize object configuration.

Parameters

object_set

Object configuration which should be recognized.

Definition at line 157 of file recognizer.cpp.

void Recognizer::storeObjectsToXML ( ISM::ObjectSetPtr  object_set )

inlineprivate

Print additional informations from recognition results.

Definition at line 361 of file recognizer.cpp.

void Recognizer::visualizeAllResults ( )

inlineprivate

Visualize all results from last recognition.

Definition at line 535 of file recognizer.cpp.

void Recognizer::visualizeSelectedResult ( )

inlineprivate

Visualize current selected result from last recognition.

Definition at line 523 of file recognizer.cpp.

Member Data Documentation

std::string Recognizer::base_frame_

private

Definition at line 334 of file recognizer.cpp.

double Recognizer::bin_size_

private

Definition at line 321 of file recognizer.cpp.

bool Recognizer::buffer_next_scene_ = false

private

Definition at line 347 of file recognizer.cpp.

unsigned int Recognizer::configuration_file_counter_ = 1

private

Definition at line 330 of file recognizer.cpp.

std::string Recognizer::configuration_folder_path_

private

Definition at line 329 of file recognizer.cpp.

std::string Recognizer::db_filename_

private

Definition at line 323 of file recognizer.cpp.

dynamic_reconfigure::Server<asr_ism::recognizerConfig> Recognizer::dyn_reconf_server_

private

Definition at line 316 of file recognizer.cpp.

bool Recognizer::enable_storing_config_to_xml_

private

Definition at line 328 of file recognizer.cpp.

VIZ::ISMPosePredictionVisualizerRVIZPtr Recognizer::ism_pose_prediction_visualizer_

private

Definition at line 339 of file recognizer.cpp.

ISM::RecognizerPtr Recognizer::ism_recognizer_

private

Definition at line 320 of file recognizer.cpp.

int Recognizer::max_number_of_results_per_pattern_

private

Definition at line 325 of file recognizer.cpp.

double Recognizer::max_projection_angle_deviation_

private

Definition at line 322 of file recognizer.cpp.

ros::NodeHandle Recognizer::nh_

private

Definition at line 315 of file recognizer.cpp.

size_t Recognizer::number_of_objects_ = 0

private

Definition at line 355 of file recognizer.cpp.

VIZ::ObjectModelVisualizerRVIZ* Recognizer::object_model_visualizer_

private

Definition at line 340 of file recognizer.cpp.

ISM::ObjectSetPtr Recognizer::object_set_buffer_

private

Definition at line 346 of file recognizer.cpp.

std::map<std::string, boost::filesystem::path> Recognizer::object_type_to_ressource_path_map_

private

Definition at line 351 of file recognizer.cpp.

double Recognizer::pose_prediction_sampel_faktor_ = 0.5

private

Definition at line 354 of file recognizer.cpp.

pose_prediction_ism::PosePredictor* Recognizer::pose_predictor_

private

Definition at line 350 of file recognizer.cpp.

int Recognizer::rater_type_

private

Definition at line 324 of file recognizer.cpp.

VIZ::ISMResultVisualizerRVIZPtr Recognizer::recogition_result_visualizer_

private

Definition at line 337 of file recognizer.cpp.

std::vector<ISM::RecognitionResultPtr> Recognizer::results_buffer_

private

Definition at line 343 of file recognizer.cpp.

SceneConfigurator* Recognizer::scene_configurator_

private

Definition at line 317 of file recognizer.cpp.

int Recognizer::scene_counter_ = 0

private

Definition at line 352 of file recognizer.cpp.

int Recognizer::selected_result_index_ = 0

private

Definition at line 335 of file recognizer.cpp.

bool Recognizer::valid_position_vis_ = false

private

Definition at line 353 of file recognizer.cpp.

ros::Publisher Recognizer::visualization_publisher_

private

Definition at line 333 of file recognizer.cpp.

VIZ::ISMVotingVisualizerRVIZPtr Recognizer::voting_space_visualizer_

private

Definition at line 338 of file recognizer.cpp.

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

• recognizer.cpp