Updater Class Reference

#include <updater.h>

Public Member Functions
bool	update (const ed::WorldModel &world, const rgbd::ImageConstPtr &image, const geo::Pose3D &sensor_pose, const UpdateRequest &req, UpdateResult &res)
	Updater (tue::Configuration config)
	~Updater ()

Private Member Functions
void	publishSegmentationResults (const cv::Mat &filtered_depth_image, const cv::Mat &rgb, const geo::Pose3D &sensor_pose, std::vector< cv::Mat > &clustered_images, const std::vector< cv::Rect > &boxes, std::vector< EntityUpdate > &res_updates)
	Publish segmentation results and pointcloud estimation as ROS messages. More...

Private Attributes
ros::Publisher	box_pub_
ros::Publisher	cloud_pub_
Fitter	fitter_
std::map< ed::UUID, std::string >	id_to_area_description_
ros::Publisher	mask_pub_
std::unique_ptr< Segmenter >	segmenter_
bool	verbose

Detailed Description

Definition at line 54 of file kinect/updater.h.

Constructor & Destructor Documentation

Updater()

Updater::Updater

(

tue::Configuration

config

)

Definition at line 24 of file kinect/updater.cpp.

~Updater()

Updater::~Updater

(

)

Definition at line 49 of file kinect/updater.cpp.

Member Function Documentation

publishSegmentationResults()

void Updater::publishSegmentationResults ( const cv::Mat &  filtered_depth_image, const cv::Mat &  rgb, const geo::Pose3D &  sensor_pose, std::vector< cv::Mat > &  clustered_images, const std::vector< cv::Rect > &  boxes, std::vector< EntityUpdate > &  res_updates  )

private

Publish segmentation results and pointcloud estimation as ROS messages.

Parameters

filtered_depth_image	The filtered depth image to publish.
rgb	The RGB image to publish.
sensor_pose	The pose of the sensor.
clustered_images	The clustered segmentation masks.
boxes	The bounding boxes to visualize.
mask_pub_	The ROS publisher for the mask images.
cloud_pub_	The ROS publisher for the point cloud data.
res_updates	The entity updates to publish.

Definition at line 306 of file kinect/updater.cpp.

update()

bool Updater::update	(	const ed::WorldModel &	world,
		const rgbd::ImageConstPtr &	image,
		const geo::Pose3D &	sensor_pose,
		const UpdateRequest &	req,
		UpdateResult &	res
	)

Definition at line 55 of file kinect/updater.cpp.

Member Data Documentation

box_pub_

ros::Publisher Updater::box_pub_

private

Definition at line 93 of file kinect/updater.h.

cloud_pub_

ros::Publisher Updater::cloud_pub_

private

Definition at line 92 of file kinect/updater.h.

fitter_

Fitter Updater::fitter_

private

Definition at line 83 of file kinect/updater.h.

id_to_area_description_

std::map<ed::UUID, std::string> Updater::id_to_area_description_

private

Definition at line 88 of file kinect/updater.h.

mask_pub_

ros::Publisher Updater::mask_pub_

private

Definition at line 91 of file kinect/updater.h.

segmenter_

std::unique_ptr<Segmenter> Updater::segmenter_

private

Definition at line 85 of file kinect/updater.h.

verbose

bool Updater::verbose

private

Definition at line 94 of file kinect/updater.h.

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

• kinect/updater.h
• kinect/updater.cpp