Public Member Functions | Public Attributes | Private Attributes
LatestMatchingTFMessage Class Reference

List of all members.

Public Member Functions

Keypoint extract_keypoints (cv::Mat &image, bool frames_only)
cv::Mat extract_roi (cv::Mat &image, Keypoint &camera_keypoints, Rect rect)
cv::Mat extract_roi (std::vector< int > inliers, cv::Mat query, cv::Mat &output_image)
void Imagecallback (const sensor_msgs::ImageConstPtr &image)
void knnSearch (Mat &query, Mat &indices, Mat &dists, int knn)
 LatestMatchingTFMessage (ros::NodeHandle &nh, const std::string &source_frame)
void radiusSearch (Mat &query, Mat &indices, Mat &dists, double radius)
void TFcallback (const tf::tfMessageConstPtr &msg)
void visualize (cv::Mat camera_image_in, Keypoint &camera_keypoints)
void visualize (std::vector< int > inliers, cv::Mat query, cv::Mat &output_image)

Public Attributes

sensor_msgs::CvBridge bridge_
ros::ServiceClient client
cv::Mat final_image_
cv::Mat image_
cv::Mat image_roi2_
cv::Mat image_roi_
std::string image_topic_
int knn_
tf::tfMessageConstPtr last_matching_tf
cv::Mat mask_
int min_nn_
std::string mode_
cv::Mat original_image_
double radius_
Rect rect_
robot_mask::GetMask srv
tf::tfMessageConstPtr tf_state
std::string tf_topic_

Private Attributes

std::string camera_frame_
int count_
int fovy_
int height_
ros::Subscriber image_sub_
ros::NodeHandle nh_
bool save_images_
std::string source_frame_
ros::Subscriber tf_sub_
bool valid_
int width_

Detailed Description

Definition at line 20 of file in_hand_object_modeling.cpp.


Constructor & Destructor Documentation

LatestMatchingTFMessage::LatestMatchingTFMessage ( ros::NodeHandle nh,
const std::string &  source_frame 
) [inline]

Definition at line 41 of file in_hand_object_modeling.cpp.


Member Function Documentation

Keypoint LatestMatchingTFMessage::extract_keypoints ( cv::Mat &  image,
bool  frames_only 
) [inline]

SIFT keypoints

Parameters:
imageinput image
frames_onlyGetKeypointFrames when is true

Definition at line 445 of file in_hand_object_modeling.cpp.

cv::Mat LatestMatchingTFMessage::extract_roi ( cv::Mat &  image,
Keypoint &  camera_keypoints,
Rect  rect 
) [inline]

Manual ROI extraction Extracts a sub-image from another one given the top-left and bottom-right points

Parameters:
imageinput image
camera_keypointsis a pointer to the vector containing the keypoints
recttop-left and bottom-right points

Definition at line 475 of file in_hand_object_modeling.cpp.

cv::Mat LatestMatchingTFMessage::extract_roi ( std::vector< int >  inliers,
cv::Mat  query,
cv::Mat &  output_image 
) [inline]

Automatically extracts ROI Returns a sub-image defined by bounding box around the inlier features

Parameters:
inliersinlier features as found by either radiusSearch or knnSearch
querymatrix with all keypoints

Definition at line 504 of file in_hand_object_modeling.cpp.

void LatestMatchingTFMessage::Imagecallback ( const sensor_msgs::ImageConstPtr &  image) [inline]

Image callback - main function of the program"

  • establishes the connection with the robot_mask service server.
  • converts the ros::image to cv::image
  • masks out robot hand
  • calls the functions in order to get rid of outlier features: Options are: "manual", "radius_search", "knn_search"
    Parameters:
    imagecamera image

Definition at line 104 of file in_hand_object_modeling.cpp.

void LatestMatchingTFMessage::knnSearch ( Mat &  query,
Mat &  indices,
Mat &  dists,
int  knn 
) [inline]

Performs a K-nearest neighbor search for multiple query points.

Parameters:
query– The query points with the keypoints coordinates
indices– Indices of the nearest neighbors found
dists– Distances to the nearest neighbors found
knn– Number of nearest neighbors to search for

Definition at line 422 of file in_hand_object_modeling.cpp.

void LatestMatchingTFMessage::radiusSearch ( Mat &  query,
Mat &  indices,
Mat &  dists,
double  radius 
) [inline]

Performs a radius nearest neighbor search for multiple query points.

Parameters:
query– The query points with the keypoints coordinates
indices– Indices of the nearest neighbors found
dists– Distances to the nearest neighbors found
radius– The search radius in pixels

Definition at line 390 of file in_hand_object_modeling.cpp.

void LatestMatchingTFMessage::TFcallback ( const tf::tfMessageConstPtr &  msg) [inline]

TF callback

Parameters:
msgTF message

Definition at line 79 of file in_hand_object_modeling.cpp.

void LatestMatchingTFMessage::visualize ( cv::Mat  camera_image_in,
Keypoint &  camera_keypoints 
) [inline]

Draws keypoints

Parameters:
camera_image_inis the input image
camera_keypointsa pointer to the vector containing the keypoints extracted

Definition at line 533 of file in_hand_object_modeling.cpp.

void LatestMatchingTFMessage::visualize ( std::vector< int >  inliers,
cv::Mat  query,
cv::Mat &  output_image 
) [inline]

Draws keypoints

Parameters:
inliersinlier features as found by either radiusSearch or knnSearch
querymatrix with all keypoints
outputimage to draw on

Definition at line 552 of file in_hand_object_modeling.cpp.


Member Data Documentation

sensor_msgs::CvBridge LatestMatchingTFMessage::bridge_

Definition at line 34 of file in_hand_object_modeling.cpp.

Definition at line 25 of file in_hand_object_modeling.cpp.

Definition at line 30 of file in_hand_object_modeling.cpp.

Definition at line 26 of file in_hand_object_modeling.cpp.

Definition at line 35 of file in_hand_object_modeling.cpp.

Definition at line 26 of file in_hand_object_modeling.cpp.

Definition at line 26 of file in_hand_object_modeling.cpp.

Definition at line 35 of file in_hand_object_modeling.cpp.

Definition at line 35 of file in_hand_object_modeling.cpp.

Definition at line 35 of file in_hand_object_modeling.cpp.

Definition at line 24 of file in_hand_object_modeling.cpp.

Definition at line 33 of file in_hand_object_modeling.cpp.

Definition at line 39 of file in_hand_object_modeling.cpp.

Definition at line 32 of file in_hand_object_modeling.cpp.

Definition at line 35 of file in_hand_object_modeling.cpp.

Definition at line 39 of file in_hand_object_modeling.cpp.

Definition at line 37 of file in_hand_object_modeling.cpp.

Definition at line 27 of file in_hand_object_modeling.cpp.

Definition at line 35 of file in_hand_object_modeling.cpp.

Definition at line 38 of file in_hand_object_modeling.cpp.

Definition at line 36 of file in_hand_object_modeling.cpp.

Definition at line 28 of file in_hand_object_modeling.cpp.

Definition at line 25 of file in_hand_object_modeling.cpp.

robot_mask::GetMask LatestMatchingTFMessage::srv

Definition at line 31 of file in_hand_object_modeling.cpp.

tf::tfMessageConstPtr LatestMatchingTFMessage::tf_state

Definition at line 32 of file in_hand_object_modeling.cpp.

Definition at line 23 of file in_hand_object_modeling.cpp.

Definition at line 33 of file in_hand_object_modeling.cpp.

Definition at line 28 of file in_hand_object_modeling.cpp.

Definition at line 26 of file in_hand_object_modeling.cpp.


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


model_completion
Author(s): Monica Opris
autogenerated on Mon Oct 6 2014 08:07:25