#include "ros/ros.h"
#include "asr_recognizer_prediction_psm/recognizer_prediction_psm.h"
#include <sensor_msgs/PointCloud2.h>
#include <asr_msgs/AsrAttributedPointCloud.h>
#include <asr_msgs/AsrObject.h>
#include "asrPosePredictionEngine.h"
#include "AttributedPoint.h"
#include "asrVisualizer.h"

Include dependency graph for recognizer_prediction_psm_server.cpp:

Functions
bool	generate_hyps (asr_recognizer_prediction_psm::recognizer_prediction_psm::Request &req, asr_recognizer_prediction_psm::recognizer_prediction_psm::Response &res)
	generate_hyps More...

int	main (int argc, char **argv)

Function Documentation

bool generate_hyps	(	asr_recognizer_prediction_psm::recognizer_prediction_psm::Request &	req,
		asr_recognizer_prediction_psm::recognizer_prediction_psm::Response &	res
	)

generate_hyps

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Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. This method generates the hypothesis.

Parameters

req - The paramters for the service call string path - input: the path to the xml file that contains the scenes (eg. models/breakfast.xml) string[] scenes - input: the name of the scenes. It gerneates hypothesis only for these scenes. float32[] scene_probabilities - input: contains the probability of the scene uint32 num_votes - input: the overall number of hypothesis that should be generated asr_msgs/AsrObject[] objects - input: the list of all oberved objects string base_frame_id - input: the base frame to which the observed objects and the hypothesis

res - the response of the service call next_best_view/AttributedPointCloud pose_hypothesis - output: the generated hypothesis

Returns: the generated hypothesis

Load the scene and integrate the observed objects

Compute all hypothesis

Collect all generated hypothesis and observed objects positions

Check if all objects are found already. The pose prediction finished when all objects are found

Generate the result msg

Visualize the response

Definition at line 43 of file recognizer_prediction_psm_server.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 197 of file recognizer_prediction_psm_server.cpp.

Functions

Function Documentation