Public Member Functions
void	close ()
cv::Mat	colorSegment (cv::Mat color_frame, int hue, int threshold)
cv::Mat	colorSegment (cv::Mat color_frame, int _hue_n, int _hue_p, int _sat_n, int _sat_p, int _value_n, int _value_p)
void	executeStatemachine ()
void	executeStatemachine ()
std::vector< cv::Moments >	findMoments (cv::Mat in, cv::Mat &color_frame, unsigned int max_num=3)
visual_servo::VisualServoPose	formPoseService (float px, float py, float pz)
visual_servo::VisualServoPose	formPoseService (float px, float py, float pz)
float	getError (std::vector< VSXYZ > a, std::vector< VSXYZ > b)
std::vector< cv::Point >	getMomentCoordinates (std::vector< cv::Moments > ms)
float	getTipDistance ()
visual_servo::VisualServoTwist	getTwist (std::vector< VSXYZ > desire)
bool	grab ()
bool	initializeDesired (VSXYZ &vDesire)
bool	initializeDesired (tabletop_pushing::ProtoObjects &pos)
void	initializeService ()
void	initializeService ()
void	open ()
void	place ()
void	placeDoneCB (const actionlib::SimpleClientGoalState &state, const pr2_gripper_sensor_msgs::PR2GripperEventDetectorResultConstPtr &result)
void	printMatrix (cv::Mat_< double > in)
void	printMatrix (cv::Mat_< double > in)
void	release ()
void	releaseDoneCB (const actionlib::SimpleClientGoalState &state, const pr2_gripper_sensor_msgs::PR2GripperReleaseResultConstPtr &result)
void	reset ()
bool	sendZeroVelocity ()
bool	sendZeroVelocity ()
void	sensorCallback (const sensor_msgs::ImageConstPtr &img_msg, const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	sensorCallback (const sensor_msgs::ImageConstPtr &img_msg, const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	setDisplay ()
void	setDisplay ()
bool	setGoalForAnObject (std::vector< VSXYZ > &goal, PoseStamped &goal_p, tabletop_pushing::ProtoObject po)
bool	setGoalForAnObject (std::vector< VSXYZ > &goal, PoseStamped &goal_p, VSXYZ desire)
void	setSleepNonblock (float time)
bool	sleepNonblock ()
void	spin ()
void	spin ()
bool	updateGripperFeatures ()
	VisualServoNode (ros::NodeHandle &n)
	VisualServoNode (ros::NodeHandle &n)
	~VisualServoNode ()
	~VisualServoNode ()
Protected Attributes
ros::Time	alarm_
sensor_msgs::CameraInfo	cam_info_
std::string	cam_info_topic_
bool	camera_initialized_
ros::Publisher	chatter_pub_
float	close_gripper_dist_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	cloud_sub_
std_msgs::Header	cur_camera_header_
cv::Mat	cur_color_frame_
cv::Mat	cur_depth_frame_
std::vector< VSXYZ >	cur_goal_
cv::Mat	cur_orig_color_frame_
XYZPointCloud	cur_point_cloud_
cv::Mat	cur_workspace_mask_
int	default_sat_bot_value_
int	default_sat_top_value_
int	default_val_value_
message_filters::Subscriber < sensor_msgs::Image >	depth_sub_
bool	desire_points_initialized_
VSXYZ	desired_
cv::Mat	desired_jacobian_
EventDetectorClient *	detector_client_
int	display_wait_ms_
std::vector< VSXYZ >	goal_
PoseStamped	goal_p_
GrabClient *	grab_client_
GripperClient *	gripper_client_
bool	gripper_pose_estimated_
GripperTape	gripper_tape_
int	gripper_tape_hue_threshold_
int	gripper_tape_hue_value_
bool	have_depth_data_
ros::ServiceClient	i_client_
message_filters::Subscriber < sensor_msgs::Image >	image_sub_
bool	is_detected_
bool	is_gripper_initialized_
image_transport::ImageTransport	it_
int	jacobian_type_
cv::Mat	K
VisualServoClient *	l_vs_client_
double	min_contour_size_
ros::NodeHandle	n_
ros::NodeHandle	n_private_
int	num_downsamples_
float	object_z_
std::string	optical_frame_
cv::Rect	original_box_
ros::ServiceClient	p_client_
unsigned int	PHASE
bool	place_detection_
double	place_z_velocity_
tabletop_pushing::ProtoObjects	po_
double	pose_servo_z_offset_
VisualServoClient *	r_vs_client_
ReleaseClient *	release_client_
message_filters::Synchronizer < MySyncPolicy >	sync_
double	tape1_offset_x_
double	tape1_offset_y_
double	tape1_offset_z_
std::vector< VSXYZ >	tape_features_
PoseStamped	tape_features_p_
int	target_hue_threshold_
int	target_hue_value_
std::vector< cv::Point >	temp_draw_
shared_ptr< tf::TransformListener >	tf_
int	tracker_count_
ros::ServiceClient	v_client_
std::vector< pcl::PointXYZ >	v_fk_diff_
shared_ptr< VisualServo >	vs_
double	vs_err_term_threshold_
std::string	workspace_frame_

Detailed Description

Definition at line 208 of file vs_grasp.cpp.

Constructor & Destructor Documentation

VisualServoNode::VisualServoNode ( ros::NodeHandle & n ) [inline]

Definition at line 211 of file vs_grasp.cpp.

VisualServoNode::~VisualServoNode ( ) [inline]

Definition at line 267 of file vs_grasp.cpp.

VisualServoNode::VisualServoNode ( ros::NodeHandle & n ) [inline]

Definition at line 137 of file vs_pose.cpp.

VisualServoNode::~VisualServoNode ( ) [inline]

Definition at line 184 of file vs_pose.cpp.

Member Function Documentation

void VisualServoNode::close ( ) [inline]

Definition at line 831 of file vs_grasp.cpp.

cv::Mat VisualServoNode::colorSegment	(	cv::Mat	color_frame,
		int	hue,
		int	threshold
	)		`[inline]`

Definition at line 1388 of file vs_grasp.cpp.

cv::Mat VisualServoNode::colorSegment	(	cv::Mat	color_frame,
		int	_hue_n,
		int	_hue_p,
		int	_sat_n,
		int	_sat_p,
		int	_value_n,
		int	_value_p
	)		`[inline]`

Very Basic Color Segmentation done in HSV space Takes in Hue value and threshold as input to compute the distance in color space

Parameters:

color_frame color input from image

Returns:: mask from the color segmentation

Definition at line 1408 of file vs_grasp.cpp.

void VisualServoNode::executeStatemachine ( ) [inline]

Definition at line 234 of file vs_pose.cpp.

void VisualServoNode::executeStatemachine ( ) [inline]

Definition at line 331 of file vs_grasp.cpp.

std::vector<cv::Moments> VisualServoNode::findMoments	(	cv::Mat	in,
		cv::Mat &	color_frame,
		unsigned int	max_num = `3`
	)		`[inline]`

Parameters:

in	single channel image input
color_frame	need the original image for debugging and imshow

Returns:: returns ALL moment of specific color in the image

Definition at line 1359 of file vs_grasp.cpp.

visual_servo::VisualServoPose VisualServoNode::formPoseService	(	float	px,
		float	py,
		float	pz
	)		`[inline]`

Definition at line 351 of file vs_pose.cpp.

visual_servo::VisualServoPose VisualServoNode::formPoseService	(	float	px,
		float	py,
		float	pz
	)		`[inline]`

Definition at line 1465 of file vs_grasp.cpp.

float VisualServoNode::getError	(	std::vector< VSXYZ >	a,
		std::vector< VSXYZ >	b
	)		`[inline]`

Definition at line 1253 of file vs_grasp.cpp.

std::vector<cv::Point> VisualServoNode::getMomentCoordinates ( std::vector< cv::Moments > ms ) [inline]

Take three biggest moments of specific color and returns the three biggest blobs or moments. This method assumes that the features are in QR code like configuration

Parameters:

ms	All moments of color segmented

Returns:: returns vectors of cv::Point. Ordered in specific way (1. top left, 2. top right, and 3. bottom left)

Definition at line 1282 of file vs_grasp.cpp.

float VisualServoNode::getTipDistance ( ) [inline]

Definition at line 678 of file vs_grasp.cpp.

visual_servo::VisualServoTwist VisualServoNode::getTwist ( std::vector< VSXYZ > desire ) [inline]

Definition at line 1158 of file vs_grasp.cpp.

bool VisualServoNode::grab ( ) [inline]

Definition at line 858 of file vs_grasp.cpp.

bool VisualServoNode::initializeDesired ( VSXYZ & vDesire ) [inline]

Definition at line 929 of file vs_grasp.cpp.

bool VisualServoNode::initializeDesired ( tabletop_pushing::ProtoObjects & pos ) [inline]

Definition at line 1017 of file vs_grasp.cpp.

void VisualServoNode::initializeService ( ) [inline]

Definition at line 320 of file vs_pose.cpp.

void VisualServoNode::initializeService ( ) [inline]

Definition at line 1131 of file vs_grasp.cpp.

void VisualServoNode::open ( ) [inline]

Definition at line 844 of file vs_grasp.cpp.

void VisualServoNode::place ( ) [inline]

Gripper Actions: These are all blocking

Definition at line 807 of file vs_grasp.cpp.

void VisualServoNode::placeDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_gripper_sensor_msgs::PR2GripperEventDetectorResultConstPtr &	result
	)		`[inline]`

Definition at line 821 of file vs_grasp.cpp.

void VisualServoNode::printMatrix ( cv::Mat_< double > in ) [inline]

Definition at line 356 of file vs_pose.cpp.

void VisualServoNode::printMatrix ( cv::Mat_< double > in ) [inline]

Definition at line 1470 of file vs_grasp.cpp.

void VisualServoNode::release ( ) [inline]

Definition at line 876 of file vs_grasp.cpp.

void VisualServoNode::releaseDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const pr2_gripper_sensor_msgs::PR2GripperReleaseResultConstPtr &	result
	)		`[inline]`

Definition at line 891 of file vs_grasp.cpp.

void VisualServoNode::reset ( ) [inline]

Definition at line 705 of file vs_grasp.cpp.

bool VisualServoNode::sendZeroVelocity ( ) [inline]

Definition at line 341 of file vs_pose.cpp.

bool VisualServoNode::sendZeroVelocity ( ) [inline]

Definition at line 1455 of file vs_grasp.cpp.

void VisualServoNode::sensorCallback	(	const sensor_msgs::ImageConstPtr &	img_msg,
		const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::PointCloud2ConstPtr &	cloud_msg
	)		`[inline]`

Called when Kinect information is avaiable. Refresh rate of about 30Hz

Definition at line 191 of file vs_pose.cpp.

void VisualServoNode::sensorCallback	(	const sensor_msgs::ImageConstPtr &	img_msg,
		const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::PointCloud2ConstPtr &	cloud_msg
	)		`[inline]`