Visualization::ProbabilisticSecondarySceneObjectVisualization Class Reference

#include <ProbabilisticSecondarySceneObjectVisualization.h>

Public Member Functions
void	appendKernel (const boost::shared_ptr< Eigen::Vector3d > &pMean, const boost::shared_ptr< Eigen::Matrix3d > &pCovariance)
void	overwriteLastBestPose ()
	ProbabilisticSecondarySceneObjectVisualization ()
	ProbabilisticSecondarySceneObjectVisualization (std::string pName)
void	resetCertainty ()
void	setAbsoluteLearningSamples (const std::vector< Eigen::Vector3d > &pRelativeSamples, const std::vector< Eigen::Vector3d > &pAbsoluteSamples, const std::vector< Eigen::Vector3d > &pAbsoluteParentSamples)
void	setBestCandidatePose (boost::shared_ptr< ISM::Pose > pPose)
void	setBestPoseCandidate (double pScore)
void	setColors (const std_msgs::ColorRGBA &pFirstRingColor, const std_msgs::ColorRGBA &pSecondRingColor)
void	setDetectionCertainty (double pCertainty)
void	setDrawingParameters (const double pScale, const float pSigmaMultiplicator, const std::string pFrameId)
void	setLastPose (boost::shared_ptr< ISM::Pose > pPose)
void	setNamespace (std::string pNamespace)
void	setParentPose (boost::shared_ptr< ISM::Pose > pPose)
void	visualizeAbsoluteTrajectory (unsigned int &pMarkerId)
void	visualizeGaussianKernels (unsigned int &pMarkerId)
void	visualizeKinematicChain (unsigned int &pMarkerId)
void	visualizeObjectPositionAsArrow (unsigned int &pMarkerId)
void	visualizeRelativeTrajectory (unsigned int &pMarkerId)
	~ProbabilisticSecondarySceneObjectVisualization ()

Private Attributes
std::vector< Eigen::Vector3d >	mAbsoluteParentSamples
std::vector< Eigen::Vector3d >	mAbsoluteSamples
boost::shared_ptr< ISM::Pose >	mBestCandidatePose
boost::shared_ptr< ISM::Pose >	mBestPose
double	mBestScore
double	mBestScoreCandidate
double	mCertainty
ros::NodeHandle	mHandle
std::vector< std::pair< Eigen::Vector3d, Eigen::Matrix3d > >	mKernels
boost::shared_ptr< ISM::Pose >	mLastObjectPose
boost::shared_ptr< ISM::Pose >	mParentPose
boost::shared_ptr< ros::Publisher >	mPublisher
std::vector< Eigen::Vector3d >	mRelativeSamples
std::string	mSceneObject
CoordinateFrameVisualizer	visualizerFrame
GaussianKernelVisualizer	visualizerKernel
KinematicChainVisualizer	visualizerKinematics
SampleVisualizer	visualizerSamples

Detailed Description

Visualizer class for secondary scenes objects.

Author

Joachim Gehrung

Version

See SVN

Definition at line 53 of file ProbabilisticSecondarySceneObjectVisualization.h.

Constructor & Destructor Documentation

Visualization::ProbabilisticSecondarySceneObjectVisualization::ProbabilisticSecondarySceneObjectVisualization

(

)

Constructor.

Definition at line 22 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

Visualization::ProbabilisticSecondarySceneObjectVisualization::ProbabilisticSecondarySceneObjectVisualization

(

std::string

pName

)

Constructor.

Parameters

pName

The name of this secondary scene object.

Definition at line 30 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

Visualization::ProbabilisticSecondarySceneObjectVisualization::~ProbabilisticSecondarySceneObjectVisualization

(

)

Destructor.

Definition at line 39 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

Member Function Documentation

void Visualization::ProbabilisticSecondarySceneObjectVisualization::appendKernel	(	const boost::shared_ptr< Eigen::Vector3d > &	pMean,
		const boost::shared_ptr< Eigen::Matrix3d > &	pCovariance
	)

Appends a kernel that will be visualized in form of a covariance ellipse.

Parameters

pCovariance	A 3x3 eigen matrix representing the corvariance matrix of the gaussian kernel.
pMean	A 3d eigen vector representing the mean of the gaussian kernel.

Definition at line 151 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::overwriteLastBestPose

(

)

Takes the last stored candidate for the best pose as the last best pose. This method is invoked by the primary scene object.

Definition at line 145 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::resetCertainty

(

)

Resets the certainty value that describes the fitting of the associated scene object.

Definition at line 97 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setAbsoluteLearningSamples	(	const std::vector< Eigen::Vector3d > &	pRelativeSamples,
		const std::vector< Eigen::Vector3d > &	pAbsoluteSamples,
		const std::vector< Eigen::Vector3d > &	pAbsoluteParentSamples
	)

Sets the samples used for model learning and the corresponding poses for the parent object.

Parameters

pRelativeSamples	The list of relative poses to the parent.
pAbsoluteSamples	The list of absolute samples used for model learning.
pAbsoluteParentSamples	The list of corresponding poses for the parent object.

Definition at line 136 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setBestCandidatePose

(

boost::shared_ptr< ISM::Pose >

pPose

)

Sets a candidate for the absolute pose of the associated object. The primary scene object will decide based on the hypothsis score, if it is the best absolute pose.

Parameters

pPose

Best absolute pose of the primary scene object.

Definition at line 111 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setBestPoseCandidate

(

double

pScore

)

Sets a candidate pScore for the link between this object and its parent. The primary scene object will decide based on the hypothsis score, if it is the best score for the link.

Parameters

pScore

The score.

Definition at line 121 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setColors	(	const std_msgs::ColorRGBA &	pFirstRingColor,
		const std_msgs::ColorRGBA &	pSecondRingColor
	)

Sets the colors of the two rings around the covariance ellipse.

Parameters

pFirstRingColor	The color of the first ring.
pSecondRingColor	The color of the second ring.

Definition at line 72 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setDetectionCertainty

(

double

pCertainty

)

Sets the certainty value that describes the fitting of the associated scene object.

Parameters

pCertainty

The certainty betwween 0 and 1.

Definition at line 86 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setDrawingParameters	(	const double	pScale,
		const float	pSigmaMultiplicator,
		const std::string	pFrameId
	)

Sets the parameter requried for visualizing the secondary scene object.

Parameters

pScale	Factor to multiply the kernel with.
pSigmaMultiplicator	Scaling factor for the size of the visualized covariance ellipsoid.
pFrameId	The name of the coordinate frame that should be drawn into.

Definition at line 43 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setLastPose

(

boost::shared_ptr< ISM::Pose >

pPose

)

Sets the last known pose of the associated object.

Parameters

pPose

The last known pose.

Definition at line 102 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setNamespace

(

std::string

pNamespace

)

Sets the name space bases on the names of scene and scene object.

Parameters

pNamespace

The namespace to use for visualization.

Definition at line 58 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::setParentPose

(

boost::shared_ptr< ISM::Pose >

pPose

)

Sets the absolute pose of the parent object.

Parameters

pPose

Absolute pose of the primary scene object.

Definition at line 126 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizeAbsoluteTrajectory

(

unsigned int &

pMarkerId

)

Visualizes the absolute trajectory.

Parameters

pMarkerId

An unique id for the marker. Any marker sent with the same id will overwrite the old one.

Definition at line 231 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizeGaussianKernels

(

unsigned int &

pMarkerId

)

Visualizes all gaussian kernels given to this class.

Parameters

pMarkerId

An unique id for the marker. Any marker sent with the same id will overwrite the old one.

Definition at line 166 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizeKinematicChain

(

unsigned int &

pMarkerId

)

Visualizes the kinematic chain.

Parameters

pMarkerId

An unique id for the marker. Any marker sent with the same id will overwrite the old one.

Definition at line 199 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizeObjectPositionAsArrow

(

unsigned int &

pMarkerId

)

Visualizes the position of this secondary scene object.

Parameters

pMarkerId

Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.

Definition at line 184 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

void Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizeRelativeTrajectory

(

unsigned int &

pMarkerId

)

Visualizes the trajectory composed of the samples used for learning in relation to the parent object.

Parameters

pMarkerId

An unique id for the marker. Any marker sent with the same id will overwrite the old one.

Definition at line 214 of file ProbabilisticSecondarySceneObjectVisualization.cpp.

Member Data Documentation

std::vector<Eigen::Vector3d> Visualization::ProbabilisticSecondarySceneObjectVisualization::mAbsoluteParentSamples

private

Definition at line 278 of file ProbabilisticSecondarySceneObjectVisualization.h.

std::vector<Eigen::Vector3d> Visualization::ProbabilisticSecondarySceneObjectVisualization::mAbsoluteSamples

private

Definition at line 278 of file ProbabilisticSecondarySceneObjectVisualization.h.

boost::shared_ptr<ISM::Pose> Visualization::ProbabilisticSecondarySceneObjectVisualization::mBestCandidatePose

private

Candidate for the best absolute position of the associated object. It was determined by the best scoring hypothesis regarding the assignment of evidence to the slots.

Definition at line 263 of file ProbabilisticSecondarySceneObjectVisualization.h.

boost::shared_ptr<ISM::Pose> Visualization::ProbabilisticSecondarySceneObjectVisualization::mBestPose

private

Best absolute pose of the associated object. It was determined by the best scoring hypothesis regarding the assignment of evidence to the slots.

Definition at line 258 of file ProbabilisticSecondarySceneObjectVisualization.h.

double Visualization::ProbabilisticSecondarySceneObjectVisualization::mBestScore

private

The best score for the link to the parent.

Definition at line 243 of file ProbabilisticSecondarySceneObjectVisualization.h.

double Visualization::ProbabilisticSecondarySceneObjectVisualization::mBestScoreCandidate

private

Candidate for the best score for the link to the parent.

Definition at line 248 of file ProbabilisticSecondarySceneObjectVisualization.h.

double Visualization::ProbabilisticSecondarySceneObjectVisualization::mCertainty

private

The uncertainty describes how good the associated scene object fits into the gaussian distribution.

Definition at line 238 of file ProbabilisticSecondarySceneObjectVisualization.h.

ros::NodeHandle Visualization::ProbabilisticSecondarySceneObjectVisualization::mHandle

private

Node handle for inintializing the publisher.

Definition at line 208 of file ProbabilisticSecondarySceneObjectVisualization.h.

std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d> > Visualization::ProbabilisticSecondarySceneObjectVisualization::mKernels

private

The kernels that will be visualized in form of covariance ellipses.

Definition at line 273 of file ProbabilisticSecondarySceneObjectVisualization.h.

boost::shared_ptr<ISM::Pose> Visualization::ProbabilisticSecondarySceneObjectVisualization::mLastObjectPose

private

The last known pose of the object associated with this visualizer.

Definition at line 253 of file ProbabilisticSecondarySceneObjectVisualization.h.

boost::shared_ptr<ISM::Pose> Visualization::ProbabilisticSecondarySceneObjectVisualization::mParentPose

private

Absolute pose of the parent object.

Definition at line 268 of file ProbabilisticSecondarySceneObjectVisualization.h.

boost::shared_ptr<ros::Publisher> Visualization::ProbabilisticSecondarySceneObjectVisualization::mPublisher

private

Publisher for all visualization messages generated in this class.

Definition at line 213 of file ProbabilisticSecondarySceneObjectVisualization.h.

std::vector<Eigen::Vector3d> Visualization::ProbabilisticSecondarySceneObjectVisualization::mRelativeSamples

private

The samples used for model learning and the corresponding poses for the parent object.

Definition at line 278 of file ProbabilisticSecondarySceneObjectVisualization.h.

std::string Visualization::ProbabilisticSecondarySceneObjectVisualization::mSceneObject

private

The name of this secondary scene object.

Definition at line 203 of file ProbabilisticSecondarySceneObjectVisualization.h.

CoordinateFrameVisualizer Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizerFrame

private

Visualization helper for coordinate frames.

Definition at line 218 of file ProbabilisticSecondarySceneObjectVisualization.h.

GaussianKernelVisualizer Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizerKernel

private

Visualization helper for gaussian kernels.

Definition at line 223 of file ProbabilisticSecondarySceneObjectVisualization.h.

KinematicChainVisualizer Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizerKinematics

private

Visualization helper for the kinematic chain.

Definition at line 228 of file ProbabilisticSecondarySceneObjectVisualization.h.

SampleVisualizer Visualization::ProbabilisticSecondarySceneObjectVisualization::visualizerSamples

private

Visualization helper for point clound.

Definition at line 233 of file ProbabilisticSecondarySceneObjectVisualization.h.

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

• ProbabilisticSecondarySceneObjectVisualization.h
• ProbabilisticSecondarySceneObjectVisualization.cpp