rapid::perception Namespace Reference

Namespaces
	pr2

Classes
class	Box3DRoiServer
class	HSurface
class	ImageRecognizer
class	Object
class	PoseEstimator
class	PoseEstimationHeatMapper
class	PoseEstimationInterface
class	PoseEstimationMatch
class	RandomHeatMapper
class	Scene
struct	SceneParseParams
struct	HSurfaceParams
struct	ObjectParams
struct	ParseParams
class	ObjectViz
class	HSurfaceViz
class	SceneViz

Functions
void	CloudToImage (const sensor_msgs::CameraInfo &camera_info, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, cv::Mat *image)
void	CloudToImage (const sensor_msgs::CameraInfo &camera_info, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointIndices::Ptr &indices, cv::Mat *image)
sensor_msgs::CameraInfo	HeadMountKinectCameraInfo ()
PointCloud< PointXYZRGB >::Ptr	PclFromRos (const PointCloud2 &msg)
PointCloud2::Ptr	RosFromPcl (PointCloud< PointXYZRGB >::Ptr cloud)
double	ComputeIcpFitness (pcl::PointCloud< pcl::PointXYZRGB >::Ptr &scene, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &object, const rapid_msgs::Roi3D &roi)
cv::Mat	ReadMeanFile (const std::string &mean_file, const cv::Size &input_geometry, int num_channels, std::string *error=NULL)
static bool	PairCompare (const std::pair< float, int > &lhs, const std::pair< float, int > &rhs)
static std::vector< int >	Argmax (const std::vector< float > &v, int N)
bool	ComparePoseEstimationMatch (const PoseEstimationMatch &a, const PoseEstimationMatch &b)
void	VisualizeMatches (ros::Publisher &pub, ros::Publisher &marker_pub, const std::vector< PoseEstimationMatch > &matches)
void	ClosestAxis (const Eigen::Matrix3d &mat, const Eigen::Vector3d &vec, int *index, double *cosine_sim)
bool	FindHorizontalPlane (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, double distance_threshold, double eps_angle, pcl::PointIndices::Ptr inliers)
bool	FindHorizontalPlane (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &indices, double distance_threshold, double eps_angle, pcl::PointIndices::Ptr inliers)
void	GetBoundingBox (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &indices, geometry_msgs::PoseStamped *midpoint, geometry_msgs::Vector3 *dimensions)
void	GetPlanarBoundingBox (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &indices, geometry_msgs::Pose *midpoint, geometry_msgs::Vector3 *dimensions)
void	GetPlanarBoundingBox (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, geometry_msgs::Pose *midpoint, geometry_msgs::Vector3 *dimensions)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	IndicesToCloud (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &indices)
double	ComputeResolution (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud)
double	ComputeResolution (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::search::Search< pcl::PointXYZRGB > &tree)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	Average (const std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	GetSmoothedKinectCloud (const std::string &topic, int num_clouds=5)
ParseParams	Pr2Params ()
bool	ParseScene (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const ParseParams &params, Scene *scene)
bool	ParseHSurface (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &indices, const ParseParams &params, HSurface *surface)
bool	ParseObjects (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &indices, const ParseParams &params, std::vector< Object > *objects)

Function Documentation

static std::vector<int> rapid::perception::Argmax ( const std::vector< float > &  v, int  N  )

static

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rapid::perception::Average

(

const std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &

clouds

)

void rapid::perception::ClosestAxis	(	const Eigen::Matrix3d &	mat,
		const Eigen::Vector3d &	vec,
		int *	index,
		double *	cosine_sim
	)

void rapid::perception::CloudToImage	(	const sensor_msgs::CameraInfo &	camera_info,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		cv::Mat *	image
	)

void rapid::perception::CloudToImage	(	const sensor_msgs::CameraInfo &	camera_info,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		const pcl::PointIndices::Ptr &	indices,
		cv::Mat *	image
	)

bool rapid::perception::ComparePoseEstimationMatch	(	const PoseEstimationMatch &	a,
		const PoseEstimationMatch &	b
	)

double rapid::perception::ComputeIcpFitness	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	scene,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	object,
		const rapid_msgs::Roi3D &	roi
	)

double rapid::perception::ComputeResolution

(

const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &

cloud

)

double rapid::perception::ComputeResolution	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::search::Search< pcl::PointXYZRGB > &	tree
	)

bool rapid::perception::FindHorizontalPlane	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		double	distance_threshold,
		double	eps_angle,
		pcl::PointIndices::Ptr	inliers
	)

bool rapid::perception::FindHorizontalPlane	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	indices,
		double	distance_threshold,
		double	eps_angle,
		pcl::PointIndices::Ptr	inliers
	)

void rapid::perception::GetBoundingBox	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	indices,
		geometry_msgs::PoseStamped *	midpoint,
		geometry_msgs::Vector3 *	dimensions
	)

void rapid::perception::GetPlanarBoundingBox	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	indices,
		geometry_msgs::Pose *	midpoint,
		geometry_msgs::Vector3 *	dimensions
	)

void rapid::perception::GetPlanarBoundingBox	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		geometry_msgs::Pose *	midpoint,
		geometry_msgs::Vector3 *	dimensions
	)

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rapid::perception::GetSmoothedKinectCloud	(	const std::string &	topic,
		int	num_clouds = 5
	)

sensor_msgs::CameraInfo rapid::perception::HeadMountKinectCameraInfo

(

)

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rapid::perception::IndicesToCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	indices
	)

static bool rapid::perception::PairCompare ( const std::pair< float, int > &  lhs, const std::pair< float, int > &  rhs  )

static

bool rapid::perception::ParseHSurface	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	indices,
		const ParseParams &	params,
		HSurface *	surface
	)

bool rapid::perception::ParseObjects	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	indices,
		const ParseParams &	params,
		std::vector< Object > *	objects
	)

bool rapid::perception::ParseScene	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		const ParseParams &	params,
		Scene *	scene
	)

PointCloud<PointXYZRGB>::Ptr rapid::perception::PclFromRos

(

const PointCloud2 &

msg

)

Definition at line 15 of file conversions.h.

ParseParams rapid::perception::Pr2Params

(

)

cv::Mat rapid::perception::ReadMeanFile	(	const std::string &	mean_file,
		const cv::Size &	input_geometry,
		int	num_channels,
		std::string *	error = NULL
	)

PointCloud2::Ptr rapid::perception::RosFromPcl

(

PointCloud< PointXYZRGB >::Ptr

cloud

)

Definition at line 21 of file conversions.h.

void rapid::perception::VisualizeMatches	(	ros::Publisher &	pub,
		ros::Publisher &	marker_pub,
		const std::vector< PoseEstimationMatch > &	matches
	)