Default module template. More...

#include <ORMatchingModule.h>

Public Member Functions
void	addObjectProperties (ObjectProperties *newProperties)
void	callbackExtractKeyPoints (const or_msgs::ExtractKeyPoints::ConstPtr &msg)
void	callbackImage (const sensor_msgs::Image::ConstPtr &message)
void	callbackOrCommand (const or_msgs::OrCommand::ConstPtr &msg)
	ORMatchingModule (ros::NodeHandle *nh, std::string inputTopic)
	The constructor.
void	processImageMessage (const sensor_msgs::Image::ConstPtr &message)
virtual	~ORMatchingModule ()
	The destructor.
Private Types
enum	Stage1MatcherT { NearestNeighbor = 1, Flann = 2 }
enum	Stage2MatcherT { SimpleHoughClustering = 1, HoughClustering = 2 }
Private Member Functions
std::vector< KeyPoint >	getSceneKeyPointsWithinOutline (std::vector< KeyPoint > *sceneKeyPoints, Homography &homography, std::list< KeyPointMatch > &stage3Matches)
bool	matchObject (std::vector< KeyPoint > *sceneKeyPoints, ObjectProperties &objectProperties, MatchResult &matchResult)
	try to match keypoints to one specific object
std::list< KeyPointMatch >	matchStage1 (std::vector< KeyPoint > sceneKeyPoints, ImagePropertiesCV objectImageProperties)
std::list< KeyPointMatch >	matchStage1Flan (ImagePropertiesCV *objectImageProperties)
std::vector< std::list < KeyPointMatch > >	matchStage2 (std::vector< KeyPoint > sceneKeyPoints, ImagePropertiesCV objectImageProperties, std::list< KeyPointMatch > &stage1Matches)
std::list< KeyPointMatch >	matchStage3 (std::vector< KeyPoint > sceneKeyPoints, ImagePropertiesCV objImageProperties, std::vector< std::list< KeyPointMatch > > &stage2Matches, Homography &homography)
void	processImages (cv::Mat *image, int seqNum, std::vector< Box2D< int > > boundingBoxes=std::vector< Box2D< int > >())
	extract all keypoints, then do object recognition on all bounding boxes separately
void	processKeyPoints (cv::Mat image, std::vector< KeyPoint > rawKeyPoints, std::vector< Box2D< int > > boundingBoxes, unsigned seqNum)
	search for objects on all given keypoints
void	removeObjectProperties (std::string name)
void	sendObjectNames ()
Private Attributes
std::vector< Box2D< double > >	m_BoundingBoxes
ros::Publisher	m_DebugImagePublisherColor
ros::Subscriber	m_ExtractKeyPointsSubscriber
KeyPointExtractor *	m_Extractor
FLANNMatcher *	m_FlannMatcher
int	m_ImageHeight
int	m_ImagesRequested
ros::Subscriber	m_ImageSubscriber
int	m_ImageWidth
std::deque< ObjectProperties >	m_ObjectList
ros::Subscriber	m_OrCommandSubscriber
ros::Publisher	m_ORMatchResultPublisher
ros::Publisher	m_ORObjectNamesPublisher
std::list< double >	m_ProcessingTimes
Stage1MatcherT	m_Stage1Matcher
Stage2MatcherT	m_Stage2Matcher

Detailed Description

Default module template.

Author:: David Gossow (RX), Viktor Seib (R20)

Definition at line 37 of file ORMatchingModule.h.

Member Enumeration Documentation

enum ORMatchingModule::Stage1MatcherT [private]

Enumerator:

NearestNeighbor
Flann

Definition at line 57 of file ORMatchingModule.h.

enum ORMatchingModule::Stage2MatcherT [private]

Enumerator:

SimpleHoughClustering
HoughClustering

Definition at line 63 of file ORMatchingModule.h.

Constructor & Destructor Documentation

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

The constructor.

virtual ORMatchingModule::~ORMatchingModule ( ) [virtual]

The destructor.

Member Function Documentation

void ORMatchingModule::addObjectProperties ( ObjectProperties * newProperties )

void ORMatchingModule::callbackExtractKeyPoints ( const or_msgs::ExtractKeyPoints::ConstPtr & msg )

void ORMatchingModule::callbackImage ( const sensor_msgs::Image::ConstPtr & message )

void ORMatchingModule::callbackOrCommand ( const or_msgs::OrCommand::ConstPtr & msg )

std::vector<KeyPoint> ORMatchingModule::getSceneKeyPointsWithinOutline	(	std::vector< KeyPoint > *	sceneKeyPoints,
		Homography &	homography,
		std::list< KeyPointMatch > &	stage3Matches
	)		`[private]`

bool ORMatchingModule::matchObject	(	std::vector< KeyPoint > *	sceneKeyPoints,
		ObjectProperties &	objectProperties,
		MatchResult &	matchResult
	)		`[private]`

try to match keypoints to one specific object

std::list< KeyPointMatch > ORMatchingModule::matchStage1	(	std::vector< KeyPoint > *	sceneKeyPoints,
		ImagePropertiesCV *	objectImageProperties
	)		`[private]`

std::list< KeyPointMatch > ORMatchingModule::matchStage1Flan ( ImagePropertiesCV * objectImageProperties ) [private]

std::vector< std::list< KeyPointMatch> > ORMatchingModule::matchStage2	(	std::vector< KeyPoint > *	sceneKeyPoints,
		ImagePropertiesCV *	objectImageProperties,
		std::list< KeyPointMatch > &	stage1Matches
	)		`[private]`

std::list< KeyPointMatch > ORMatchingModule::matchStage3	(	std::vector< KeyPoint > *	sceneKeyPoints,
		ImagePropertiesCV *	objImageProperties,
		std::vector< std::list< KeyPointMatch > > &	stage2Matches,
		Homography &	homography
	)		`[private]`

void ORMatchingModule::processImageMessage ( const sensor_msgs::Image::ConstPtr & message )

void ORMatchingModule::processImages	(	cv::Mat *	image,
		int	seqNum,
		std::vector< Box2D< int > >	boundingBoxes = `std::vector< Box2D< int > >()`
	)		`[private]`

extract all keypoints, then do object recognition on all bounding boxes separately

Parameters:

boundingBoxes bounding boxes to use. if empty, the full image is used.

void ORMatchingModule::processKeyPoints	(	cv::Mat *	image,
		std::vector< KeyPoint > *	rawKeyPoints,
		std::vector< Box2D< int > >	boundingBoxes,
		unsigned	seqNum
	)		`[private]`