#include <limits>
#include <ros/console.h>
#include "ed/kinect/fitter.h"
#include <ed/entity.h>
#include <ed/world_model.h>
#include <ed/update_request.h>
#include <ed/logging.h>
#include <geolib/Shape.h>
#include <rgbd/image.h>
#include <geolib/ros/tf_conversions.h>
#include <rgbd/view.h>
#include <opencv2/highgui/highgui.hpp>
#include "ed/kinect/mesh_tools.h"
#include <ed_sensor_integration_msgs/ImageBinary.h>
#include <sstream>

Include dependency graph for fitter.cpp:

Classes
class	Candidate

class	OptimalFit

struct	YawRange

Functions
geo::Pose3D	computeFittedPose (const geo::Transform2 &pose_sensor, ed::EntityConstPtr entity, const geo::Pose3D &sensor_pose_xya)

double	computeFittingError (const std::vector< double > &test_ranges, const std::vector< double > &sensor_ranges)

geo::Vec2	computeShapeCenter (const Shape2D &shape2d)

YawRange	computeYawRange (const geo::Pose3D &sensor_pose_xya, const geo::Pose3D &expected_entity_pose, const double &max_yaw_change)

void	decomposePose (const geo::Pose3D &pose, geo::Pose3D &pose_xya, geo::Pose3D &pose_zrp)

Shape2D	transformShape2D (const Shape2D &original_shape, const geo::Vec2 &transformation)

geo::Transform2	XYYawToTransform2 (const geo::Pose3D &pose)

Variables
const double	ERROR_THRESHOLD = 1e5

Function Documentation

◆ computeFittedPose()

geo::Pose3D computeFittedPose	(	const geo::Transform2 &	pose_sensor,
		ed::EntityConstPtr	entity,
		const geo::Pose3D &	sensor_pose_xya
	)

Definition at line 220 of file fitter.cpp.

◆ computeFittingError()

double computeFittingError	(	const std::vector< double > &	test_ranges,
		const std::vector< double > &	sensor_ranges
	)

Definition at line 182 of file fitter.cpp.

◆ computeShapeCenter()

geo::Vec2 computeShapeCenter ( const Shape2D & shape2d )

Definition at line 59 of file fitter.cpp.

◆ computeYawRange()

YawRange computeYawRange	(	const geo::Pose3D &	sensor_pose_xya,
		const geo::Pose3D &	expected_entity_pose,
		const double &	max_yaw_change
	)

Definition at line 41 of file fitter.cpp.

◆ decomposePose()

void decomposePose	(	const geo::Pose3D &	pose,
		geo::Pose3D &	pose_xya,
		geo::Pose3D &	pose_zrp
	)

Definition at line 99 of file fitter.cpp.

◆ transformShape2D()

Shape2D transformShape2D	(	const Shape2D &	original_shape,
		const geo::Vec2 &	transformation
	)

Definition at line 84 of file fitter.cpp.

◆ XYYawToTransform2()

geo::Transform2 XYYawToTransform2 ( const geo::Pose3D & pose )

Definition at line 116 of file fitter.cpp.

Variable Documentation

◆ ERROR_THRESHOLD

const double ERROR_THRESHOLD = 1e5

Definition at line 31 of file fitter.cpp.

Classes

Functions

Variables