kinect/updater.cpp File Reference

#include "ed/kinect/updater.h"
#include <ed/world_model.h>
#include <ed/entity.h>
#include <ed/update_request.h>
#include <geolib/Shape.h>
#include <geolib/shapes.h>
#include "ed/kinect/association.h"
#include "ed/kinect/renderer.h"
#include "ed/convex_hull_calc.h"
#include <opencv2/highgui/highgui.hpp>
#include <rgbd/view.h>
#include <ros/console.h>
#include <ros/node_handle.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include "ed_sensor_integration/kinect/segmodules/sam_seg_module.h"

Include dependency graph for kinect/updater.cpp:

Go to the source code of this file.

Functions
EntityUpdate	mergeConvexHulls (const rgbd::Image &image, const geo::Pose3D &sensor_pose, const geo::DepthCamera &cam_model, const std::unique_ptr< Segmenter > &segmenter_, const EntityUpdate &u1, const EntityUpdate &u2)
	mergeConvexHulls, creating a new convexHull around the two objects. Working in both XY and Z. More...
std::vector< EntityUpdate >	mergeOverlappingConvexHulls (const rgbd::Image &image, const geo::Pose3D &sensor_pose, const geo::DepthCamera &cam_model, const std::unique_ptr< Segmenter > &segmenter_, const std::vector< EntityUpdate > &updates)
void	refitConvexHull (const rgbd::Image &image, const geo::Pose3D &sensor_pose, const geo::DepthCamera &cam_model, const std::unique_ptr< Segmenter > &segmenter_, EntityUpdate &up)

Function Documentation

mergeConvexHulls()

EntityUpdate mergeConvexHulls	(	const rgbd::Image &	image,
		const geo::Pose3D &	sensor_pose,
		const geo::DepthCamera &	cam_model,
		const std::unique_ptr< Segmenter > &	segmenter_,
		const EntityUpdate &	u1,
		const EntityUpdate &	u2
	)

mergeConvexHulls, creating a new convexHull around the two objects. Working in both XY and Z.

Parameters

u1	EntityUpdate used as starting point
u2	Merge points into u1

Returns

new EntityUpdate including new convexHull and measurement points of both inputs.

Definition at line 101 of file kinect/updater.cpp.

mergeOverlappingConvexHulls()

std::vector<EntityUpdate> mergeOverlappingConvexHulls	(	const rgbd::Image &	image,
		const geo::Pose3D &	sensor_pose,
		const geo::DepthCamera &	cam_model,
		const std::unique_ptr< Segmenter > &	segmenter_,
		const std::vector< EntityUpdate > &	updates
	)

Definition at line 131 of file kinect/updater.cpp.

refitConvexHull()

void refitConvexHull	(	const rgbd::Image &	image,
		const geo::Pose3D &	sensor_pose,
		const geo::DepthCamera &	cam_model,
		const std::unique_ptr< Segmenter > &	segmenter_,
		EntityUpdate &	up
	)

Definition at line 26 of file kinect/updater.cpp.