ORLearningModule Class Reference

This module learns objects with camera images by color and SURF-features. More...

#include <ORLearningModule.h>

List of all members.

Public Types
enum	CommandId {   SetDifferenceThreshold, SetOpenRadius, SetIsolateLargestSegment, SetBorderSize,   SetObjectType, GrabBackgroundImage, GrabForegroundImage, LoadBackgroundImage,   LoadForegroundImage, DisplayImage, SaveImage, DeleteImage,   LoadObject, SaveObject }
enum	ModuleState { IDLE, WAITING_FOR_BACKGROUND, WAITING_FOR_FOREGROUND }
	Define an enum type for the states of each machine here. More...
enum	ValueT { NoValue, FloatValue, StringValue, IntValue }
Public Member Functions
	ORLearningModule (ros::NodeHandle *nh, std::string inputTopic)
virtual	~ORLearningModule ()
Private Member Functions
void	callbackImage (const sensor_msgs::Image::ConstPtr &msg)
void	callbackOrLearnCommand (const or_msgs::OrLearnCommand::ConstPtr &msg)
void	deleteImage (int index)
void	displayImage (int index)
void	loadImage (std::string path)
void	loadObject (std::string objectName)
ImagePropertiesCV *	makeImageProperties (std::string name="", bool crop=true)
void	previewIsolatedImage ()
void	processImageMessage (const sensor_msgs::Image::ConstPtr &msg)
void	saveImage (std::string name)
void	saveObject (std::string objectName)
	This method stores an objectProperties object to disk.
void	setBackground (cv_bridge::CvImagePtr gray_image, cv_bridge::CvImagePtr color_image)
void	setForeground (cv_bridge::CvImagePtr gray_image, cv_bridge::CvImagePtr color_image)
Private Attributes
cv::Mat *	m_BackgroundImageColor
cv::Mat *	m_BackgroundImageGray
float	m_BorderSize
float	m_DifferenceThreshold
cv::Mat *	m_ForegroundImageColor
cv::Mat *	m_ForegroundImageGray
unsigned	m_HistogramBinSize
float	m_HistogramClearRange
unsigned	m_HistogramMaxY
unsigned	m_HistogramMinY
bool	m_ImageRequested
ros::Subscriber	m_ImageSubscriber
bool	m_IsolateLargestSegment
StateMachine< ModuleState >	m_ModuleMachine
ObjectProperties *	m_ObjectProperties
std::string	m_ObjectType
ros::Publisher	m_OLDebugImagePublisher
ros::Publisher	m_OLPrimaryImagePublisher
float	m_OpenRadius
ros::Subscriber	m_ORImageSubscriber
ros::Subscriber	m_ORLearnCommandSubscriber
ros::Publisher	m_ORLearningStatusPublisher
std::string	m_PathForSaving
	Configuration parameters.
std::string	m_SimpleImagePath

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Detailed Description

This module learns objects with camera images by color and SURF-features.

Author:

Patric Lambrecht, Jan Bornemeier (RX), David Gossow (RX), Viktor Seib (R20)

Definition at line 35 of file ORLearningModule.h.

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Member Enumeration Documentation

enum ORLearningModule::CommandId

Enumerator:

SetDifferenceThreshold
SetOpenRadius
SetIsolateLargestSegment
SetBorderSize
SetObjectType
GrabBackgroundImage
GrabForegroundImage
LoadBackgroundImage
LoadForegroundImage
DisplayImage
SaveImage
DeleteImage
LoadObject
SaveObject

Definition at line 40 of file ORLearningModule.h.

enum ORLearningModule::ModuleState

Define an enum type for the states of each machine here.

Enumerator:

IDLE
WAITING_FOR_BACKGROUND
WAITING_FOR_FOREGROUND

Definition at line 65 of file ORLearningModule.h.

enum ORLearningModule::ValueT

Enumerator:

NoValue
FloatValue
StringValue
IntValue

Definition at line 57 of file ORLearningModule.h.

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Constructor & Destructor Documentation

ORLearningModule::ORLearningModule	(	ros::NodeHandle *	nh,
		std::string	inputTopic
	)

virtual ORLearningModule::~ORLearningModule

(

)

[virtual]

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Member Function Documentation

void ORLearningModule::callbackImage

(

const sensor_msgs::Image::ConstPtr &

msg

)

[private]

void ORLearningModule::callbackOrLearnCommand

(

const or_msgs::OrLearnCommand::ConstPtr &

msg

)

[private]

void ORLearningModule::deleteImage

(

int

index

)

[private]

void ORLearningModule::displayImage

(

int

index

)

[private]

void ORLearningModule::loadImage

(

std::string

path

)

[private]

void ORLearningModule::loadObject

(

std::string

objectName

)

[private]

ImagePropertiesCV* ORLearningModule::makeImageProperties	(	std::string	name = "",
		bool	crop = true
	)		[private]

void ORLearningModule::previewIsolatedImage

(

)

[private]

void ORLearningModule::processImageMessage

(

const sensor_msgs::Image::ConstPtr &

msg

)

[private]

void ORLearningModule::saveImage

(

std::string

name

)

[private]

void ORLearningModule::saveObject

(

std::string

objectName

)

[private]

This method stores an objectProperties object to disk.

void ORLearningModule::setBackground	(	cv_bridge::CvImagePtr	gray_image,
		cv_bridge::CvImagePtr	color_image
	)		[private]

void ORLearningModule::setForeground	(	cv_bridge::CvImagePtr	gray_image,
		cv_bridge::CvImagePtr	color_image
	)		[private]

---

Member Data Documentation

cv::Mat* ORLearningModule::m_BackgroundImageColor [private]

Definition at line 114 of file ORLearningModule.h.

cv::Mat* ORLearningModule::m_BackgroundImageGray [private]

Definition at line 113 of file ORLearningModule.h.

float ORLearningModule::m_BorderSize [private]

Definition at line 124 of file ORLearningModule.h.

float ORLearningModule::m_DifferenceThreshold [private]

Definition at line 122 of file ORLearningModule.h.

cv::Mat* ORLearningModule::m_ForegroundImageColor [private]

Definition at line 116 of file ORLearningModule.h.

cv::Mat* ORLearningModule::m_ForegroundImageGray [private]

Definition at line 115 of file ORLearningModule.h.

unsigned ORLearningModule::m_HistogramBinSize [private]

Definition at line 107 of file ORLearningModule.h.

float ORLearningModule::m_HistogramClearRange [private]

Definition at line 111 of file ORLearningModule.h.

unsigned ORLearningModule::m_HistogramMaxY [private]

Definition at line 109 of file ORLearningModule.h.

unsigned ORLearningModule::m_HistogramMinY [private]

Definition at line 108 of file ORLearningModule.h.

bool ORLearningModule::m_ImageRequested [private]

Definition at line 131 of file ORLearningModule.h.

ros::Subscriber ORLearningModule::m_ImageSubscriber [private]

Definition at line 135 of file ORLearningModule.h.

bool ORLearningModule::m_IsolateLargestSegment [private]

Definition at line 125 of file ORLearningModule.h.

StateMachine<ModuleState> ORLearningModule::m_ModuleMachine [private]

Definition at line 127 of file ORLearningModule.h.

ObjectProperties* ORLearningModule::m_ObjectProperties [private]

Definition at line 118 of file ORLearningModule.h.

std::string ORLearningModule::m_ObjectType [private]

Definition at line 120 of file ORLearningModule.h.

ros::Publisher ORLearningModule::m_OLDebugImagePublisher [private]

Definition at line 138 of file ORLearningModule.h.

ros::Publisher ORLearningModule::m_OLPrimaryImagePublisher [private]

Definition at line 137 of file ORLearningModule.h.

float ORLearningModule::m_OpenRadius [private]

Definition at line 123 of file ORLearningModule.h.

ros::Subscriber ORLearningModule::m_ORImageSubscriber [private]

Definition at line 134 of file ORLearningModule.h.

ros::Subscriber ORLearningModule::m_ORLearnCommandSubscriber [private]

Definition at line 133 of file ORLearningModule.h.

ros::Publisher ORLearningModule::m_ORLearningStatusPublisher [private]

Definition at line 139 of file ORLearningModule.h.

std::string ORLearningModule::m_PathForSaving [private]

Configuration parameters.

Definition at line 106 of file ORLearningModule.h.

std::string ORLearningModule::m_SimpleImagePath [private]

Definition at line 129 of file ORLearningModule.h.

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

• ORLearningModule.h