#include <descriptor_surface_based_recognition.h>

Public Member Functions
	DescriptorSurfaceBasedRecognition ()
	The constructor of this class. More...

Private Member Functions
void	clearMarkers ()
	Clears the visualized markers of the last frame. More...

void	configCallback (DescriptorSurfaceBasedRecognitionConfig &config_, uint32_t level)
	The callback function which is called when the configuration file has changed. More...

asr_msgs::AsrObjectPtr	createAsrMessage (PoseRecognition *pose_rec, int results_index, std_msgs::Header header)
	Creates a Asr-Object-Message containing the results of a found object instance. More...

void	createBoxMarker (RecognitionResult *result, std_msgs::Header header, rgb color, bool drawCompleteBoxes)
	Adds a bounding box marker which indicates the size of the reduced point cloud used to recognize the given object instance to the array of bounding box markers (msgs_box_markerArray) More...

void	createMarker (asr_msgs::AsrObjectPtr &object, std::string &mesh_path)
	Adds a marker which indicates the pose of the found object to the array containing all found markers of this frame (msgs_markerArray) More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	createVisualizationCloud (std::vector< PoseRecognition * > &pose_recs, std_msgs::Header header)
	Creates a single, colored point cloud from the reduced point clouds which were used to recognize the found objects. More...

void	initializeMeshes ()
	Loads all available object meshes so they can be used later. More...

void	overlaySceneWith2DResults (PoseRecognition pose_rec, HalconCpp::HImage scene_image)
	Paints the results of the 2D recognition (bounding box, feature points & orientation triangle) to the given scene image. More...

bool	processClearAllRecognizersRequest (ClearAllRecognizers::Request &req, ClearAllRecognizers::Response &res)

bool	processGetObjectListRequest (GetObjectList::Request &req, GetObjectList::Response &res)

bool	processGetRecognizerRequest (GetRecognizer::Request &req, GetRecognizer::Response &res)

bool	processReleaseRecognizerRequest (ReleaseRecognizer::Request &req, ReleaseRecognizer::Response &res)

void	rosCallback (const sensor_msgs::ImageConstPtr &input_image_guppy, const sensor_msgs::ImageConstPtr &input_image_guppy_mono, const sensor_msgs::PointCloud2ConstPtr &input_point_cloud_with_guppy)
	The callback function for the ros subscriptions (images and point cloud; called for every new frame) More...

bool	startObjectRecognition (std::string name, int count, bool use_pose_val)
	Adds an object to the list of searchable objects. More...

void	stopObjectRecognition (std::string name)
	Removes an object from the list of searchable objects. More...

void	threadTask (PoseRecognition *pose_rec)
	The task given to each thread in the threadpool (=> Search a specific object) More...

Private Attributes
ros::Publisher	boxes_pub_

ros::ServiceServer	clear_all_recognizers_service_

ros::Publisher	cloud_pub_

DescriptorSurfaceBasedRecognitionConfig	config_

int	frame_counter_

ros::ServiceServer	get_object_list_service_

ros::ServiceServer	get_recognizer_service_

std::string	image_color_topic_

message_filters::Subscriber< sensor_msgs::Image >	image_mono_sub_

std::string	image_mono_topic_

ros::Publisher	image_pub_

message_filters::Subscriber< sensor_msgs::Image >	image_sub_

std::vector< Object2DPositions >	last_frame_positions_

ros::Publisher	marker_pub_

std::vector< Ogre::MeshPtr >	meshes_

visualization_msgs::MarkerArrayPtr	msgs_box_marker_array_

visualization_msgs::MarkerArrayPtr	msgs_marker_array_

ros::NodeHandle	nh_

ros::ServiceClient	object_db_meshes_service_client_

ros::ServiceClient	object_db_service_client_

std::vector< ObjectDescriptor >	objects_

ros::Publisher	objects_pub_

std::string	output_cloud_topic_

std::string	output_image_topic_

std::string	output_marker_bounding_box_topic_

std::string	output_marker_topic_

std::string	output_objects_topic_

std::ofstream	outstream_poses_

std::ofstream	outstream_times_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	pc_with_guppy_sub_

std::string	point_cloud_topic_

PoseValidation	pose_val_

dynamic_reconfigure::Server< DescriptorSurfaceBasedRecognitionConfig >	reconfigure_server_

ros::ServiceServer	release_recognizer_service_

boost::shared_ptr< ApproximateSync >	sync_policy_

boost::threadpool::pool	thread_pool_

Detailed Description

The central class of the recognition system used for managing the ros subscriptions, configuration changes, loading of the objects, the search tasks and the visualisation of the results

Definition at line 90 of file descriptor_surface_based_recognition.h.

Constructor & Destructor Documentation

descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::DescriptorSurfaceBasedRecognition ( )

The constructor of this class.

Definition at line 59 of file descriptor_surface_based_recognition.cpp.

Member Function Documentation

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::clearMarkers ( )

private

Clears the visualized markers of the last frame.

Definition at line 581 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::configCallback	(	DescriptorSurfaceBasedRecognitionConfig &	config_,
		uint32_t	level
	)

private

The callback function which is called when the configuration file has changed.

Parameters

config	The updated configuration
level	The level which is the result of ORing together all of level values of the parameters that have changed

Definition at line 481 of file descriptor_surface_based_recognition.cpp.

asr_msgs::AsrObjectPtr descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createAsrMessage	(	PoseRecognition *	pose_rec,
		int	results_index,
		std_msgs::Header	header
	)

private

Creates a Asr-Object-Message containing the results of a found object instance.

Parameters

pose_rec	A pointer to the recognition class containing the results for a specific object
results_index	The index of the found instance of the given object class (in pose_rec)
header	Contains information about the frame the found pose is relative to

Returns: The Asr-Object-Message containing meta-data of the found object instance and its recognition results (e.g. its pose)

Definition at line 493 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createBoxMarker	(	RecognitionResult *	result,
		std_msgs::Header	header,
		rgb	color,
		bool	drawCompleteBoxes
	)

private

Adds a bounding box marker which indicates the size of the reduced point cloud used to recognize the given object instance to the array of bounding box markers (msgs_box_markerArray)

Parameters

result	The result of the object recognition (contains information about one specific found object instance)
header	Contains information about the frame the found pose is relative to
color	The (rgb-) color of the bounding box
drawCompleteBoxes	If false only the side of the box which faces the camera is drawn, the complete box otherwise

Definition at line 596 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createMarker	(	asr_msgs::AsrObjectPtr &	object,
		std::string &	mesh_path
	)

private

Adds a marker which indicates the pose of the found object to the array containing all found markers of this frame (msgs_markerArray)

Parameters

object	The found object instance containing the pose and frame information
mesh_path	Path to the (visualisation-) mesh of the given object instance

Definition at line 552 of file descriptor_surface_based_recognition.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::createVisualizationCloud	(	std::vector< PoseRecognition * > &	pose_recs,
		std_msgs::Header	header
	)

private

Creates a single, colored point cloud from the reduced point clouds which were used to recognize the found objects.

Parameters

pose_recs	The list of the classes used for searching the objects (contain the search results)
input_point_cloud	The point cloud the recuced clouds are based on

Definition at line 848 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::initializeMeshes ( )

private

Loads all available object meshes so they can be used later.

Definition at line 192 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::overlaySceneWith2DResults	(	PoseRecognition *	pose_rec,
		HalconCpp::HImage *	scene_image
	)

private

Paints the results of the 2D recognition (bounding box, feature points & orientation triangle) to the given scene image.

Parameters

pose_rec	A pointer to the recognition class containing the results for a specific object
scene_image	A pointer to the scene image the results are painted on

Definition at line 708 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processClearAllRecognizersRequest	(	ClearAllRecognizers::Request &	req,
		ClearAllRecognizers::Response &	res
	)

private

Processes the request to clear all recognizers

Parameters

req	the request message
res	the correlated response message.

Definition at line 186 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processGetObjectListRequest	(	GetObjectList::Request &	req,
		GetObjectList::Response &	res
	)

private

Processes the request to get a list of all objects it is searched for

Parameters

req	the request message
res	the correlated response message.

Definition at line 177 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processGetRecognizerRequest	(	GetRecognizer::Request &	req,
		GetRecognizer::Response &	res
	)

private

Processes the request to recognize the given object

Parameters

req	the request message
res	the correlated response message.

Definition at line 157 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::processReleaseRecognizerRequest	(	ReleaseRecognizer::Request &	req,
		ReleaseRecognizer::Response &	res
	)

private

Processes the request to release a previously created recognizer.

Parameters

req	the request message
res	the correlated response message.

Definition at line 171 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::rosCallback	(	const sensor_msgs::ImageConstPtr &	input_image_guppy,
		const sensor_msgs::ImageConstPtr &	input_image_guppy_mono,
		const sensor_msgs::PointCloud2ConstPtr &	input_point_cloud_with_guppy
	)

private

The callback function for the ros subscriptions (images and point cloud; called for every new frame)

Parameters

input_image_guppy	The colored image received by the camera the topic IMAGE_COLOR_TOPIC belongs to
input_image_guppy_mono	The greyscale image received by the camera the topic IMAGE_MONO_TOPIC belongs to
input_point_cloud_with_guppy	The point cloud received by the device the topic POINT_CLOUD_TOPIC belongs to

Definition at line 275 of file descriptor_surface_based_recognition.cpp.

bool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::startObjectRecognition	(	std::string	name,
		int	count,
		bool	use_pose_val
	)

private

Adds an object to the list of searchable objects.

Parameters

name	The name of the object
count	The number of instances the system searches for
use_pose_val	Indicates whether a pose validation is used for this object

Returns: True if the object was added successfully, false otherwise

Definition at line 204 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::stopObjectRecognition ( std::string name )

private

Removes an object from the list of searchable objects.

Parameters

name	The name of the object

Definition at line 261 of file descriptor_surface_based_recognition.cpp.

void descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::threadTask ( PoseRecognition * pose_rec )

private

The task given to each thread in the threadpool (=> Search a specific object)

Parameters

pose_rec The class which contains all relevant data for the search of the object and is used for the search itself

Definition at line 487 of file descriptor_surface_based_recognition.cpp.

Member Data Documentation

ros::Publisher descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::boxes_pub_

private

Definition at line 148 of file descriptor_surface_based_recognition.h.

ros::ServiceServer descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::clear_all_recognizers_service_

private

Definition at line 137 of file descriptor_surface_based_recognition.h.

ros::Publisher descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::cloud_pub_

private

Definition at line 149 of file descriptor_surface_based_recognition.h.

DescriptorSurfaceBasedRecognitionConfig descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::config_

private

The configuration file containing the dynamic parameters of this system

Definition at line 126 of file descriptor_surface_based_recognition.h.

int descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::frame_counter_

private

A counter for the processed frames (used only during evaluation)

Definition at line 179 of file descriptor_surface_based_recognition.h.

ros::ServiceServer descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::get_object_list_service_

private

Definition at line 136 of file descriptor_surface_based_recognition.h.

ros::ServiceServer descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::get_recognizer_service_

private

Ros service handlers used for handling requests

Definition at line 134 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::image_color_topic_

private

The name of the topic the colored input image is published on

Definition at line 95 of file descriptor_surface_based_recognition.h.

message_filters::Subscriber<sensor_msgs::Image> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::image_mono_sub_

private

Definition at line 130 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::image_mono_topic_

private

The name of the topic the greyscale input image is published on

Definition at line 98 of file descriptor_surface_based_recognition.h.

ros::Publisher descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::image_pub_

private

Definition at line 150 of file descriptor_surface_based_recognition.h.

message_filters::Subscriber<sensor_msgs::Image> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::image_sub_

private

Ros subscription filters which will only pass the received messages they subscribed to (=> see input topics above)

Definition at line 129 of file descriptor_surface_based_recognition.h.

std::vector<Object2DPositions> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::last_frame_positions_

private

A list containing the positions of the found objects of the last frame in the image used for 2D-recognition

Definition at line 167 of file descriptor_surface_based_recognition.h.

ros::Publisher descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::marker_pub_

private

Definition at line 147 of file descriptor_surface_based_recognition.h.

std::vector<Ogre::MeshPtr> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::meshes_

private

A list containing the loaded meshes which can be used for pose validation

Definition at line 164 of file descriptor_surface_based_recognition.h.

visualization_msgs::MarkerArrayPtr descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::msgs_box_marker_array_

private

Definition at line 155 of file descriptor_surface_based_recognition.h.

visualization_msgs::MarkerArrayPtr descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::msgs_marker_array_

private

Arrays containing the object markers and the reduced clouds' bounding boxes of the current frame

Definition at line 154 of file descriptor_surface_based_recognition.h.

ros::NodeHandle descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::nh_

private

Ros' interface for creating subscribers, publishers, etc.

Definition at line 120 of file descriptor_surface_based_recognition.h.

ros::ServiceClient descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::object_db_meshes_service_client_

private

Definition at line 140 of file descriptor_surface_based_recognition.h.

ros::ServiceClient descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::object_db_service_client_

private

Definition at line 139 of file descriptor_surface_based_recognition.h.

std::vector<ObjectDescriptor> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::objects_

private

A list containing the loaded objects which can be recognized

Definition at line 161 of file descriptor_surface_based_recognition.h.

ros::Publisher descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::objects_pub_

private

Ros publishers which manage the advertisement of specific topics (=> see output topics above)

Definition at line 146 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::output_cloud_topic_

private

The name of the topic the reduced point clouds are published on

Definition at line 113 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::output_image_topic_

private

The name of the topic the results of the texture search are published on

Definition at line 116 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::output_marker_bounding_box_topic_

private

The name of the topic the visualized bounding boxes around the found objects are published on

Definition at line 110 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::output_marker_topic_

private

The name of the topic the object visualizations are published on

Definition at line 107 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::output_objects_topic_

private

The name of the topic the found objects are published on as asr_msgs

Definition at line 104 of file descriptor_surface_based_recognition.h.

std::ofstream descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::outstream_poses_

private

Evaluation ofstream (poses)

Definition at line 176 of file descriptor_surface_based_recognition.h.

std::ofstream descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::outstream_times_

private

Evaluation ofstream (times)

Definition at line 173 of file descriptor_surface_based_recognition.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::pc_with_guppy_sub_

private

Definition at line 131 of file descriptor_surface_based_recognition.h.

std::string descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::point_cloud_topic_

private

The name of the topic the input point cloud is published on

Definition at line 101 of file descriptor_surface_based_recognition.h.

PoseValidation descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::pose_val_

private

Used for (optional) validation of found objects

Definition at line 170 of file descriptor_surface_based_recognition.h.

dynamic_reconfigure::Server<DescriptorSurfaceBasedRecognitionConfig> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::reconfigure_server_

private

Dynamic reconfigure server which keeps track of the callback function

Definition at line 123 of file descriptor_surface_based_recognition.h.

ros::ServiceServer descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::release_recognizer_service_

private

Definition at line 135 of file descriptor_surface_based_recognition.h.

boost::shared_ptr<ApproximateSync> descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::sync_policy_

private

The policy the subscribers are synced with

Definition at line 143 of file descriptor_surface_based_recognition.h.

boost::threadpool::pool descriptor_surface_based_recognition::DescriptorSurfaceBasedRecognition::thread_pool_

private