Namespaces
	convex_hull

	io

	log

	models

	world_model

Classes
struct	ConvexHull

struct	ConvexHull2D

struct	ConvexHull2DWithIndices

class	Entity

class	ErrorContext

struct	ErrorContextData

class	EventClock

class	IArchive

class	ImageMask

struct	InitData

class	LoopUsageStatus
	A diagnostic task that monitors the frequency of an event. More...

class	Measurement

struct	MeasurementConvexHull

class	OArchive

class	Plugin

class	PluginContainer

struct	PluginInput

class	Probe

class	ProbeClient

class	ProbeROS

struct	Property

class	PropertyInfo

struct	PropertyKey

class	PropertyKeyDB

struct	PropertyKeyDBEntry

class	Relation

struct	RGBDData

class	SampleRenderResult

struct	SearchNode

class	Server

class	Time

class	TimeCache

class	TransformCache

struct	TypeWrapper

struct	TypeWrapper< const T & >

struct	TypeWrapper< const T >

struct	TypeWrapper< T & >

class	UpdateRequest

class	UUID

class	Variant

class	WorldModel

Typedefs
typedef shared_ptr< const Entity >	EntityConstPtr

typedef shared_ptr< Entity >	EntityPtr

typedef uint64_t	Idx

typedef std::vector< std::vector< cv::Point2i > >	IndexMap

typedef shared_ptr< const Measurement >	MeasurementConstPtr

typedef shared_ptr< Measurement >	MeasurementPtr

typedef shared_ptr< const PerceptionModule >	PerceptionModuleConstPtr

typedef shared_ptr< PerceptionModule >	PerceptionModulePtr

typedef shared_ptr< const Plugin >	PluginConstPtr

typedef shared_ptr< const PluginContainer >	PluginContainerConstPtr

typedef shared_ptr< PluginContainer >	PluginContainerPtr

typedef shared_ptr< Plugin >	PluginPtr

typedef std::vector< int >	PointCloudMask

typedef pcl::IndicesConstPtr	PointCloudMaskConstPtr

typedef pcl::IndicesPtr	PointCloudMaskPtr

typedef std::vector< std::vector< int > >	PointCloudToPixelsMapping

typedef shared_ptr< const Relation >	RelationConstPtr

typedef shared_ptr< Relation >	RelationPtr

typedef shared_ptr< const RGBDALModule >	RGBDALModuleConstPtr

typedef shared_ptr< RGBDALModule >	RGBDALModulePtr

typedef shared_ptr< const RGBDSegModule >	RGBDSegModuleConstPtr

typedef shared_ptr< RGBDSegModule >	RGBDSegModulePtr

typedef shared_ptr< const SensorModule >	SensorModuleConstPtr

typedef shared_ptr< SensorModule >	SensorModulePtr

typedef shared_ptr< const tf2_ros::Buffer >	TFBufferConstPtr

typedef shared_ptr< tf2_ros::Buffer >	TFBufferPtr

typedef std::string	TYPE

typedef shared_ptr< const UpdateRequest >	UpdateRequestConstPtr

typedef shared_ptr< UpdateRequest >	UpdateRequestPtr

typedef shared_ptr< const WorldModel >	WorldModelConstPtr

typedef shared_ptr< WorldModel >	WorldModelPtr

Enumerations
enum	ShowVolumes { NoVolumes, ModelVolumes, RoomVolumes }
	The ShowVolumes enum indicates which volumes to render. More...

Functions
float	clamp (float x, float a, float b)

void	convert (const ed::Entity &e, ed_msgs::EntityInfo &msg)
	converting ed::Entity to ed_msgs::EntityInfo message More...

void	convert (const geo::ShapeConstPtr shape, ed_msgs::SubVolume &sub_Volume)
	converting geo::ShapeConstPtr to ed_msgs::SubVolume message More...

bool	deserialize (ed::io::Reader &r, ConvexHull &ch)

bool	deserialize (ed::io::Reader &r, geo::Pose3D &pose)

bool	deserialize (ed::io::Reader &r, geo::Shape &s)

bool	deserialize (io::Reader &r, UpdateRequest &req)

bool	deserialize (tue::config::Reader &r, const std::string &group, geo::Pose3D &pose)

bool	deserialize (tue::config::Reader &r, const std::string &group, geo::Shape &s)

bool	deserialize (tue::config::Reader &r, const std::string &group, geo::Vec3 &p)

bool	deserialize (tue::serialization::InputArchive &m, ImageMask &mask)

bool	deserializeTimestamp (ed::io::Reader &r, double &time)

unsigned int	djb2 (const std::string &str)

void	interpolate (const geo::Transform &t1, const geo::Transform &t2, float alpha, geo::Pose3D &result)

const static PointCloudMask	NO_MASK (1, -1)

bool	read (const std::string &filename, Measurement &msr)

bool	readEntity (const std::string &filename, UpdateRequest &req)

void	renderMesh (const geo::DepthCamera &cam, const geo::Pose3D &pose, const geo::Mesh &mesh, const cv::Vec3b &color, SampleRenderResult &res, bool flatten=false)
	Render a mesh. More...

bool	renderWorldModel (const ed::WorldModel &world_model, const enum ShowVolumes show_volumes, const geo::DepthCamera &cam, const geo::Pose3D &cam_pose_inv, cv::Mat &depth_image, cv::Mat &image, bool flatten=false)
	renderWorldModel renders a world model on a depth image and a colored (3D) image More...

void	serialize (const ConvexHull &ch, ed::io::Writer &w)

void	serialize (const geo::Pose3D &pose, ed::io::Writer &w)

void	serialize (const geo::Shape &s, ed::io::Writer &w)

void	serialize (const ImageMask &mask, tue::serialization::OutputArchive &m)

void	serializeTimestamp (double time, ed::io::Writer &w)

geo::Quaternion	slerp (const geo::Quaternion &v0, const geo::Quaternion &v1, float alpha)

bool	write (const std::string &filename, const Entity &e)

bool	write (const std::string &filename, const Measurement &msr)

Variables
float	COLORS [27][3]

static const Idx	INVALID_IDX = std::numeric_limits<Idx>::max()

Typedef Documentation

◆ EntityConstPtr

typedef shared_ptr<const Entity> ed::EntityConstPtr

Definition at line 37 of file types.h.

◆ EntityPtr

typedef shared_ptr<Entity> ed::EntityPtr

Definition at line 35 of file types.h.

◆ Idx

typedef uint64_t ed::Idx

Definition at line 21 of file types.h.

◆ IndexMap

typedef std::vector< std::vector<cv::Point2i> > ed::IndexMap

Definition at line 16 of file convex_hull_2d.h.

◆ MeasurementConstPtr

typedef shared_ptr<const Measurement> ed::MeasurementConstPtr

Definition at line 33 of file types.h.

◆ MeasurementPtr

typedef shared_ptr<Measurement> ed::MeasurementPtr

Definition at line 31 of file types.h.

◆ PerceptionModuleConstPtr

typedef shared_ptr<const PerceptionModule> ed::PerceptionModuleConstPtr

Definition at line 69 of file types.h.

◆ PerceptionModulePtr

typedef shared_ptr<PerceptionModule> ed::PerceptionModulePtr

Definition at line 67 of file types.h.

◆ PluginConstPtr

typedef shared_ptr<const Plugin> ed::PluginConstPtr

Definition at line 41 of file types.h.

◆ PluginContainerConstPtr

typedef shared_ptr<const PluginContainer> ed::PluginContainerConstPtr

Definition at line 53 of file types.h.

◆ PluginContainerPtr

typedef shared_ptr<PluginContainer> ed::PluginContainerPtr

Definition at line 51 of file types.h.

◆ PluginPtr

typedef shared_ptr<Plugin> ed::PluginPtr

Definition at line 39 of file types.h.

◆ PointCloudMask

typedef std::vector<int> ed::PointCloudMask

Definition at line 14 of file rgbd_data.h.

◆ PointCloudMaskConstPtr

typedef pcl::IndicesConstPtr ed::PointCloudMaskConstPtr

Definition at line 16 of file rgbd_data.h.

◆ PointCloudMaskPtr

typedef pcl::IndicesPtr ed::PointCloudMaskPtr

Definition at line 15 of file rgbd_data.h.

◆ PointCloudToPixelsMapping

typedef std::vector<std::vector<int> > ed::PointCloudToPixelsMapping

Definition at line 17 of file rgbd_data.h.

◆ RelationConstPtr

typedef shared_ptr<const Relation> ed::RelationConstPtr

Definition at line 73 of file types.h.

◆ RelationPtr

typedef shared_ptr<Relation> ed::RelationPtr

Definition at line 71 of file types.h.

◆ RGBDALModuleConstPtr

typedef shared_ptr<const RGBDALModule> ed::RGBDALModuleConstPtr

Definition at line 61 of file types.h.

◆ RGBDALModulePtr

typedef shared_ptr<RGBDALModule> ed::RGBDALModulePtr

Definition at line 59 of file types.h.

◆ RGBDSegModuleConstPtr

typedef shared_ptr<const RGBDSegModule> ed::RGBDSegModuleConstPtr

Definition at line 65 of file types.h.

◆ RGBDSegModulePtr

typedef shared_ptr<RGBDSegModule> ed::RGBDSegModulePtr

Definition at line 63 of file types.h.

◆ SensorModuleConstPtr

typedef shared_ptr<const SensorModule> ed::SensorModuleConstPtr

Definition at line 57 of file types.h.

◆ SensorModulePtr

typedef shared_ptr<SensorModule> ed::SensorModulePtr

Definition at line 55 of file types.h.

◆ TFBufferConstPtr

typedef shared_ptr<const tf2_ros::Buffer> ed::TFBufferConstPtr

Definition at line 84 of file types.h.

◆ TFBufferPtr

typedef shared_ptr<tf2_ros::Buffer> ed::TFBufferPtr

Definition at line 83 of file types.h.

◆ TYPE

typedef std::string ed::TYPE

Definition at line 78 of file types.h.

◆ UpdateRequestConstPtr

typedef shared_ptr<const UpdateRequest> ed::UpdateRequestConstPtr

Definition at line 49 of file types.h.

◆ UpdateRequestPtr

typedef shared_ptr<UpdateRequest> ed::UpdateRequestPtr

Definition at line 47 of file types.h.

◆ WorldModelConstPtr

typedef shared_ptr<const WorldModel> ed::WorldModelConstPtr

Definition at line 45 of file types.h.

◆ WorldModelPtr

typedef shared_ptr<WorldModel> ed::WorldModelPtr

Definition at line 43 of file types.h.

Enumeration Type Documentation

◆ ShowVolumes

enum ed::ShowVolumes

The ShowVolumes enum indicates which volumes to render.

Enumerator
NoVolumes
ModelVolumes
RoomVolumes

Definition at line 23 of file rendering.h.

Function Documentation

◆ clamp()

float ed::clamp	(	float	x,
		float	a,
		float	b
	)

inline

Definition at line 8 of file transform_cache.cpp.

◆ convert() [1/2]

void ed::convert	(	const ed::Entity &	e,
		ed_msgs::EntityInfo &	msg
	)

converting ed::Entity to ed_msgs::EntityInfo message

Parameters

e	ed::Entity as input
msg	filled ed_msgs::EntityInfo message as output

Definition at line 49 of file msg_conversions.h.

◆ convert() [2/2]

void ed::convert	(	const geo::ShapeConstPtr	shape,
		ed_msgs::SubVolume &	sub_Volume
	)

converting geo::ShapeConstPtr to ed_msgs::SubVolume message

Parameters

shape	geo::ShapeConstPtr as input
msg	filled ed_msgs::SubVolume message as output

Definition at line 26 of file msg_conversions.h.

◆ deserialize() [1/8]

bool ed::deserialize	(	ed::io::Reader &	r,
		ConvexHull &	ch
	)

Definition at line 281 of file serialization.cpp.

◆ deserialize() [2/8]

bool ed::deserialize	(	ed::io::Reader &	r,
		geo::Pose3D &	pose
	)

Definition at line 165 of file serialization.cpp.

◆ deserialize() [3/8]

bool ed::deserialize	(	ed::io::Reader &	r,
		geo::Shape &	s
	)

Definition at line 334 of file serialization.cpp.

◆ deserialize() [4/8]

bool ed::deserialize	(	io::Reader &	r,
		UpdateRequest &	req
	)

Definition at line 37 of file serialization.cpp.

◆ deserialize() [5/8]

bool ed::deserialize	(	tue::config::Reader &	r,
		const std::string &	group,
		geo::Pose3D &	pose
	)

Definition at line 214 of file serialization.cpp.

◆ deserialize() [6/8]

bool ed::deserialize	(	tue::config::Reader &	r,
		const std::string &	group,
		geo::Shape &	s
	)

Definition at line 378 of file serialization.cpp.

◆ deserialize() [7/8]

bool ed::deserialize	(	tue::config::Reader &	r,
		const std::string &	group,
		geo::Vec3 &	p
	)

Definition at line 250 of file serialization.cpp.

◆ deserialize() [8/8]

bool ed::deserialize	(	tue::serialization::InputArchive &	m,
		ImageMask &	mask
	)

Definition at line 501 of file serialization.cpp.

◆ deserializeTimestamp()

bool ed::deserializeTimestamp	(	ed::io::Reader &	r,
		double &	time
	)

Definition at line 465 of file serialization.cpp.

◆ djb2()

unsigned int ed::djb2 ( const std::string & str )

Definition at line 78 of file rendering.cpp.

◆ interpolate()

void ed::interpolate	(	const geo::Transform &	t1,
		const geo::Transform &	t2,
		float	alpha,
		geo::Pose3D &	result
	)

Definition at line 44 of file transform_cache.cpp.

◆ NO_MASK()

const static PointCloudMask ed::NO_MASK	(	1	,
		-	1
	)

static

◆ read()

bool ed::read	(	const std::string &	filename,
		Measurement &	msr
	)

Definition at line 68 of file read.cpp.

◆ readEntity()

bool ed::readEntity	(	const std::string &	filename,
		UpdateRequest &	req
	)

Definition at line 84 of file read.cpp.

◆ renderMesh()

void ed::renderMesh	(	const geo::DepthCamera &	cam,
		const geo::Pose3D &	pose,
		const geo::Mesh &	mesh,
		const cv::Vec3b &	color,
		SampleRenderResult &	res,
		bool	flatten = `false`
	)

Render a mesh.

Parameters

cam	DepthCamera to use
pose	Pose of the mesh in the camera frame
mesh	Mesh to render
color	color vector
res	Renderresult, which stores the renderer image
flatten	Flatten all the meshes to the groundplane (default: false)

Definition at line 99 of file rendering.cpp.

◆ renderWorldModel()

bool ed::renderWorldModel	(	const ed::WorldModel &	world_model,
		const enum ShowVolumes	show_volumes,
		const geo::DepthCamera &	cam,
		const geo::Pose3D &	cam_pose_inv,
		cv::Mat &	depth_image,
		cv::Mat &	image,
		bool	flatten = `false`
	)

renderWorldModel renders a world model on a depth image and a colored (3D) image

Parameters

world_model	world model to render
show_volumes	configures which volumes to render
cam	DepthCamera object used for rendering
cam_pose_inv	inverse pose of the depth camera
depth_image	depth image that will be rendered
image	colored 3D image that will be rendered. N.B.: needs to be of the same size as the depth image
flatten	Flatten all the meshes to the groundplane (default: false)

Returns

Definition at line 128 of file rendering.cpp.

◆ serialize() [1/4]

void ed::serialize	(	const ConvexHull &	ch,
		ed::io::Writer &	w
	)

Definition at line 265 of file serialization.cpp.

◆ serialize() [2/4]

void ed::serialize	(	const geo::Pose3D &	pose,
		ed::io::Writer &	w
	)

Definition at line 150 of file serialization.cpp.

◆ serialize() [3/4]

void ed::serialize	(	const geo::Shape &	s,
		ed::io::Writer &	w
	)

Definition at line 306 of file serialization.cpp.

◆ serialize() [4/4]

void ed::serialize	(	const ImageMask &	mask,
		tue::serialization::OutputArchive &	m
	)

Definition at line 476 of file serialization.cpp.

◆ serializeTimestamp()

void ed::serializeTimestamp	(	double	time,
		ed::io::Writer &	w
	)

Definition at line 457 of file serialization.cpp.

◆ slerp()

geo::Quaternion ed::slerp	(	const geo::Quaternion &	v0,
		const geo::Quaternion &	v1,
		float	alpha
	)

Definition at line 15 of file transform_cache.cpp.

◆ write() [1/2]

bool ed::write	(	const std::string &	filename,
		const Entity &	e
	)

Definition at line 60 of file write.cpp.

◆ write() [2/2]

bool ed::write	(	const std::string &	filename,
		const Measurement &	msr
	)

Definition at line 21 of file write.cpp.

Variable Documentation

◆ COLORS

float ed::COLORS[27][3]

Initial value:

= { { 0.6, 0.6, 0.6}, { 0.6, 0.6, 0.4}, { 0.6, 0.6, 0.2},
                        { 0.6, 0.4, 0.6}, { 0.6, 0.4, 0.4}, { 0.6, 0.4, 0.2},
                        { 0.6, 0.2, 0.6}, { 0.6, 0.2, 0.4}, { 0.6, 0.2, 0.2},
                        { 0.4, 0.6, 0.6}, { 0.4, 0.6, 0.4}, { 0.4, 0.6, 0.2},
                        { 0.4, 0.4, 0.6}, { 0.4, 0.4, 0.4}, { 0.4, 0.4, 0.2},
                        { 0.4, 0.2, 0.6}, { 0.4, 0.2, 0.4}, { 0.4, 0.2, 0.2},
                        { 0.2, 0.6, 0.6}, { 0.2, 0.6, 0.4}, { 0.2, 0.6, 0.2},
                        { 0.2, 0.4, 0.6}, { 0.2, 0.4, 0.4}, { 0.2, 0.4, 0.2},
                        { 0.2, 0.2, 0.6}, { 0.2, 0.2, 0.4}, { 0.2, 0.2, 0.2} }

Definition at line 18 of file rendering.cpp.

◆ INVALID_IDX

const Idx ed::INVALID_IDX = std::numeric_limits<Idx>::max()

static

Definition at line 22 of file types.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ EntityConstPtr

◆ EntityPtr

◆ Idx

◆ IndexMap

◆ MeasurementConstPtr

◆ MeasurementPtr

◆ PerceptionModuleConstPtr

◆ PerceptionModulePtr

◆ PluginConstPtr

◆ PluginContainerConstPtr

◆ PluginContainerPtr

◆ PluginPtr

◆ PointCloudMask

◆ PointCloudMaskConstPtr

◆ PointCloudMaskPtr

◆ PointCloudToPixelsMapping

◆ RelationConstPtr

◆ RelationPtr

◆ RGBDALModuleConstPtr

◆ RGBDALModulePtr

◆ RGBDSegModuleConstPtr

◆ RGBDSegModulePtr

◆ SensorModuleConstPtr

◆ SensorModulePtr

◆ TFBufferConstPtr

◆ TFBufferPtr

◆ TYPE

◆ UpdateRequestConstPtr

◆ UpdateRequestPtr

◆ WorldModelConstPtr

◆ WorldModelPtr

Enumeration Type Documentation

◆ ShowVolumes

Function Documentation

◆ clamp()

◆ convert() [1/2]

◆ convert() [2/2]

◆ deserialize() [1/8]

◆ deserialize() [2/8]

◆ deserialize() [3/8]

◆ deserialize() [4/8]

◆ deserialize() [5/8]

◆ deserialize() [6/8]

◆ deserialize() [7/8]

◆ deserialize() [8/8]

◆ deserializeTimestamp()

◆ djb2()

◆ interpolate()

◆ NO_MASK()

◆ read()

◆ readEntity()

◆ renderMesh()

◆ renderWorldModel()

◆ serialize() [1/4]

◆ serialize() [2/4]

◆ serialize() [3/4]

◆ serialize() [4/4]

◆ serializeTimestamp()

◆ slerp()

◆ write() [1/2]

◆ write() [2/2]

Variable Documentation

◆ COLORS

◆ INVALID_IDX