#include <opencv2/core/core.hpp>
#include <opencv2/ml/ml.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>

Include dependency graph for processor.h:

This graph shows which files directly or indirectly include this file:

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Classes
class	processor
	Main vision processing object. More...
struct	smoothing_point
Defines
#define	BASE_FRAME "/base_link"
#define	BLUR_KERNEL 5
#define	BSG 3
#define	CANNY_KERNEL 3
#define	CANNY_MAX_THRESH 120
#define	CANNY_MIN_THRESH 40
#define	CLOUD_FRAME "/head_mount_kinect_rgb_optical_frame"
#define	COMPUTER 0
#define	COVERS 5
#define	D 7
#define	DILATE_ELEMENT_SIZE 3
#define	ERODE_ELEMENT_SIZE 5
#define	GOAL_FRAME "/touch_goal"
#define	HOUGH_MAX_LINE_GAP 3
#define	HOUGH_MIN_LINE_LENGTH 8
#define	HOUGH_RHO 1
#define	HOUGH_THETA CV_PI/180.0
#define	HOUGH_THRESH 12
#define	MAX_AREA 7000
#define	MAX_AVG_LINE_LENGTH 25.0
#define	MAX_LINES 150.0
#define	MAX_SIFT 20.0
#define	MAX_SMOOTHING_COUNT 20
#define	MIN_AREA 1000
#define	NUM_BSG 19
#define	NUM_COMPUTER 36
#define	NUM_COVERS 54
#define	NUM_OTHER 30
#define	NUM_PENS 35
#define	NUM_ROBOT 18
#define	NUM_TURTLE 39
#define	OBJECT_FRAME "/computer_object_link"
#define	OTHER 6
#define	PADDING_X -0.2
#define	PADDING_Y -0.1
#define	PADDING_Z -0.1
#define	PENS 4
#define	RATIO_THRESHOLD 0.7
#define	REF_HEIGHT 28
#define	REF_WIDTH 20
#define	ROBOT 2
#define	SMOOTH_DIST_THRESH 5
#define	TURTLE 1
Functions
int	main (int argc, char **argv)

Define Documentation

#define BASE_FRAME "/base_link"

The frame name in the TF tree for the robot base.

Definition at line 234 of file processor.h.

#define BLUR_KERNEL 5

Kernel size for blur filter.

Definition at line 65 of file processor.h.

#define BSG 3

Integer label for the toy Battlestar Galactica robot.

Definition at line 188 of file processor.h.

#define CANNY_KERNEL 3

Kernel size for Canny.

Definition at line 81 of file processor.h.

#define CANNY_MAX_THRESH 120

Maximum gradient threshold for Canny.

Definition at line 76 of file processor.h.

#define CANNY_MIN_THRESH 40

Minimum gradient threshold for Canny.

Definition at line 71 of file processor.h.

#define CLOUD_FRAME "/head_mount_kinect_rgb_optical_frame"

The frame name in the TF tree for the point cloud.

Definition at line 239 of file processor.h.

#define COMPUTER 0

Integer label for the toy computer.

Definition at line 158 of file processor.h.

#define COVERS 5

Integer label for the desk covers.

Definition at line 208 of file processor.h.

#define D 7

Dimensionality of the feature vector.

Definition at line 152 of file processor.h.

#define DILATE_ELEMENT_SIZE 3

Element size used when we dilate the image.

Definition at line 92 of file processor.h.

#define ERODE_ELEMENT_SIZE 5

Element size used when we erode the image.

Definition at line 87 of file processor.h.

#define GOAL_FRAME "/touch_goal"

The frame name in the TF tree for the arm movement goal.

Definition at line 244 of file processor.h.

#define HOUGH_MAX_LINE_GAP 3

Maximum gap between two lines to allow for merging lines.

Definition at line 118 of file processor.h.

#define HOUGH_MIN_LINE_LENGTH 8

Minimum length of a line that will be counted as a line.

Definition at line 113 of file processor.h.

#define HOUGH_RHO 1

Distance resolution of the Hough transforms accumulator.

Definition at line 98 of file processor.h.

#define HOUGH_THETA CV_PI/180.0

Angle resolution of the Hough transforms accumulator.

Definition at line 103 of file processor.h.

#define HOUGH_THRESH 12

Only lines with enough votes will be counted as a line using this as the threshold.

Definition at line 108 of file processor.h.

#define MAX_AREA 7000

Maximum area cutoff of the bounding box length and width used when filtering contours.

Definition at line 48 of file processor.h.

#define MAX_AVG_LINE_LENGTH 25.0

Maximum average line length to bound by in an image for the feature vector.

Definition at line 146 of file processor.h.

#define MAX_LINES 150.0

Maximum number of lines to bound by in an image for the feature vector.

Definition at line 141 of file processor.h.

#define MAX_SIFT 20.0

SIFT features cutoff size used for scaling in the feature vector.

Definition at line 135 of file processor.h.

#define MAX_SMOOTHING_COUNT 20

Max count used for smoothing.

Definition at line 59 of file processor.h.

#define MIN_AREA 1000

Minimum area cutoff of the bounding box length and width used when filtering contours.

Definition at line 43 of file processor.h.

#define NUM_BSG 19

Number of toy Battlestar Galactica robot training points for the classifier.

Definition at line 193 of file processor.h.

#define NUM_COMPUTER 36

Number of computer training points for the classifier.

Definition at line 163 of file processor.h.

#define NUM_COVERS 54

Number of desk cover training points for the classifier.

Definition at line 213 of file processor.h.

#define NUM_OTHER 30

Number of other segmented objects training points for the classifier.

Definition at line 223 of file processor.h.

#define NUM_PENS 35

Number of pen training points for the classifier.

Definition at line 203 of file processor.h.

#define NUM_ROBOT 18

Number of robot training points for the classifier.

Definition at line 183 of file processor.h.

#define NUM_TURTLE 39

Number of turtle training points for the classifier.

Definition at line 173 of file processor.h.

#define OBJECT_FRAME "/computer_object_link"

The frame name in the TF tree for the object.

Definition at line 229 of file processor.h.

#define OTHER 6

Integer label for other segmented objects.

Definition at line 218 of file processor.h.

#define PADDING_X -0.2

Padding in the X director for the arm goal.

Definition at line 250 of file processor.h.

#define PADDING_Y -0.1

Padding in the Y director for the arm goal.

Definition at line 255 of file processor.h.

#define PADDING_Z -0.1

Padding in the Z director for the arm goal.

Definition at line 260 of file processor.h.

#define PENS 4

Integer label for the pens.

Definition at line 198 of file processor.h.

#define RATIO_THRESHOLD 0.7

Ratio cutoff of the bounding box length and width used when filtering contours.

Definition at line 38 of file processor.h.

#define REF_HEIGHT 28

Reference rectangle height used in rectangle matching in the feature vector.

Definition at line 129 of file processor.h.

#define REF_WIDTH 20

Reference rectangle width used in rectangle matching in the feature vector.

Definition at line 124 of file processor.h.

#define ROBOT 2

Integer label for the toy robot.

Definition at line 178 of file processor.h.

#define SMOOTH_DIST_THRESH 5

Distance threshold used for smoothing.

Definition at line 54 of file processor.h.

#define TURTLE 1

Integer label for the toy turtle.

Definition at line 168 of file processor.h.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Creates and runs the processor node.

Parameters:

argc	argument count that is passed to ros::init
argv	arguments that are passed to ros::init

Returns:: EXIT_SUCCESS if the node runs correctly

Definition at line 695 of file processor.cpp.

Classes

Defines

Functions

Define Documentation

Function Documentation