ArmarX headers. More...

Namespaces
namespace	armem

namespace	armem_images

namespace	components

namespace	ConvexPolygonCalculations

namespace	depthfilter

namespace	depthfromstereo

namespace	exceptions

namespace	imrec

namespace	imrecman

namespace	opstress

namespace	playback

namespace	roboception

namespace	tools

namespace	utils

namespace	voxelgrid

namespace	yolo

Classes
class	ArMarkerLocalizer
	ArMarkerLocalizer uses CTexturedRecognition of IVTRecognition in order to recognize and localize objects. More...

class	ArMarkerLocalizerOpenCV
	ArMarkerLocalizerOpenCV uses CTexturedRecognition of IVTRecognition in order to recognize and localize objects. More...

class	ArMarkerLocalizerOpenCVPropertyDefinitions

class	ArMarkerLocalizerPropertyDefinitions

class	ArMemToImageProvider
	Brief description of class ArMemToImageProvider. More...

class	ArMemToPointCloudProvider

interface	ArMemToPointCloudProviderInterface

class	AzureKinectIRImageProvider
	Brief description of class AzureKinectIRImageProvider. More...

class	AzureKinectIRImageProviderPropertyDefinitions

class	AzureKinectPointCloudProvider
	Brief description of class AzureKinectPointCloudProvider. More...

class	AzureKinectPointCloudProviderPropertyDefinitions

class	BigBowlLocalization
	BigBowlLocalization uses the CVisualTargetLocator of IVT in order to recognize and localize the marker balls at the hands of the robot. More...

class	BigBowlLocalizationPropertyDefinitions

class	BlobRecognition
	BlobRecognition uses CSegmentableRecognition from IVT to recognize and localize single-colored objects based on their color and shape. More...

class	BlobRecognitionPropertyDefinitions

class	CalibrationCreator
	CalibrationCreator determines if the robot hand is colliding with another object, causing it to move. More...

class	CalibrationCreator2

class	CalibrationCreatorPropertyDefinitions

class	CapturingImageProvider
	The CapturingImageProvider provides a callback function to trigger the capturing of images with different synchronization modes. More...

class	CapturingImageProviderPropertyDefinitions

class	CapturingPointCloudProvider
	The CapturingPointCloudProvider provides a callback function to trigger the capturing of point clouds with different synchronization modes. More...

class	CapturingPointCloudProviderPropertyDefinitions

class	CHandLocalisation

class	CHandModelV2

class	CHandModelVisualizer

class	ChannelConfigWidget

class	CMoveMasterModel

class	CoinPointCloud

struct	ColorFormat

class	ColorMarkerObjectLocalizer
	ColorMarkerObjectLocalizer uses CSegmentableRecognition from IVT to recognize and localize single-colored objects based on their color and shape. More...

class	ColorMarkerObjectLocalizerPropertyDefinitions

class	CParticleFilterFrameworkParallelized

class	CParticleFilterRobotHandLocalisation

class	DeepFaceRecognition
	Brief description of class DeepFaceRecognition. More...

class	DeepFaceRecognitionPropertyDefinitions

struct	DetailedPFRating

class	Display

class	DisplayWidget

class	DummyArMarkerLocalizer
	Brief description of class DummyArMarkerLocalizer. More...

class	DummyArMarkerLocalizerPropertyDefinitions

class	FakePointCloudProvider
	A brief description. More...

class	FakePointCloudProviderPropertyDefinitions

class	FitKnownRectangleRotationMaxPoints
	Finds the rotation of a rectangle of known size at a given position that contains the most points from a point cloud. More...

class	FPSCounter
	The FPSCounter class provides methods for calculating the frames per second (FPS) count in periodic tasks. More...

class	FramedPointCloud
	A point cloud which keeps track of its reference coordinate frame and allows changing frames using `armarx::FramedPose`. More...

class	GuiPlugin
	GuiPlugin brief description. More...

class	HandLocalisationThread

class	HandMarkerLocalization
	HandMarkerLocalization uses the CVisualTargetLocator of IVT in order to recognize and localize the marker balls at the hands of the robot. More...

class	HandMarkerLocalizationPropertyDefinitions

class	HandModeliCub

class	ICP

class	IEEE1394ImageProvider
	IEEE1394 image provider captures images from one or more cameras and supports the following image transmission formats: More...

class	IEEE1394PropertyDefinitions

class	ImageBuffer
	Handler of image buffer for ImageProcessors. More...

class	ImageMonitorGuiPlugin
	ImageMonitorGuiPlugin brief description. More...

class	ImageMonitorProperties
	ImageMonitorProperties brief one line description. More...

class	ImageMonitorPropertiesWidget

class	ImageMonitorStatisticsWidget

class	ImageMonitorWidget

class	ImageMonitorWidgetController

class	ImagePassThrough
	ImagePassThrough uses CTexturedRecognition of IVTRecognition in order to recognize and localize objects. More...

class	ImagePassThroughPropertyDefinitions

class	ImageProcessor
	The ImageProcessor class provides an interface for access to ImageProviders via Ice and shared memory. More...

class	ImageProcessorPropertyDefinitions

class	ImageProvider
	ImageProvider abstract class defines a component which provide images via ice or shared memory. More...

class	ImageProviderConfigWidget

class	ImageProviderInfo

class	ImageRecorderGuiPlugin

class	ImageRecorderWidgetController

interface	ImageRecordingManagerInterface

class	ImageSequenceProvider
	Image sequence provider loads images from a device and broadcasts notifications after loading at a specified frame rate. More...

class	ImageSequenceProviderPropertyDefinitions

class	ImageToArMem

interface	ImageToArMemInterface

class	ImageTransferStats
	The ImageTransferStats class provides information on the connection between ImageProvider and ImageProcessor. More...

class	ImageViewerArea

class	IntelRealSenseProvider
	Brief description of class IntelRealSenseProvider. More...

class	IntelRealSenseProviderPropertyDefinitions

class	KinectAndCameraCalibration
	KinectAndCameraCalibration executes the calibration for the left camera of the stereo and kinect rgb camera. More...

class	KinectAndCameraCalibrationObserver

class	KinectAndCameraCalibrationPropertyDefinitions

class	KinectV1PointCloudProvider
	A brief description. More...

class	KinectV1PointCloudProviderPropertyDefinitions

class	KinectV2PointCloudProvider
	A brief description. More...

class	KinectV2PointCloudProviderPropertyDefinitions

class	LabeledPointCloudMerger
	Brief description of class LabeledPointCloudMerger. More...

class	LabeledPointCloudMergerPropertyDefinitions
	Property definitions of `LabeledPointCloudMerger`. More...

class	LegacyRGBOpenPoseEstimation

struct	LocalResultImageProvider

class	Manager

class	MaskRCNNPointCloudObjectLocalizer
	http://pointclouds.org/documentation/tutorials/global_hypothesis_verification.php More...

class	MaskRCNNPointCloudObjectLocalizerPropertyDefinitions

class	MergedLabeledPointCloud
	Merges several labeled or unlabeled point clouds into one labeled point cloud. More...

class	NerianVisionImageProvider
	Brief description of class NerianVisionImageProvider. More...

class	NerianVisionImageProviderPropertyDefinitions

class	NerianVisionPointCloudProvider
	Brief description of class NerianVisionPointCloudProvider. More...

class	NerianVisionPointCloudProviderPropertyDefinitions

class	NuitrackPointCloudProvider
	Brief description of class NuitrackPointCloudProvider. More...

class	NuitrackPointCloudProviderPropertyDefinitions

class	ObjectLearningByPushing
	ObjectLearningByPushing is the vision part of the approach for interactive object segmentation. More...

class	ObjectLearningByPushingObserver

class	ObjectLearningByPushingPropertyDefinitions

class	ObjectLocalizerProcessor
	ObjectLocalizerProcessor. More...

class	ObjectLocalizerProcessorJob
	ObjectLocalizerProcessorJob encapsules the object localization job. More...

class	ObjectLocalizerProcessorPropertyDefinitions

class	ObjectShapeClassification

class	ObjectShapeClassificationPropertyDefinitions

class	OIFwdKinematicsInterface

class	OLPEvaluation
	Brief description of class OLPEvaluation. More...

class	OLPEvaluationPropertyDefinitions

class	OpenNIImageProvider
	OpenNI image provider captures 3D-points and/or color(s) images from a single device and supports the following image transmission formats: More...

class	OpenNIPointCloudProvider
	A brief description. More...

class	OpenNIPointCloudProviderPropertyDefinitions

class	OpenNIPropertyDefinitions

class	OpenPose3DDepthImageConverter

class	PointCloudAndImageProcessor
	The PointCloudAndImageProcessor class provides an interface for access to PointCloudProviders and ImageProviders via Ice and shared memory. More...

class	PointCloudAndImageProvider

class	PointCloudFilter
	Brief description of class PointCloudFilter. More...

class	PointCloudFilterPropertyDefinitions

class	PointCloudObjectLocalizer
	http://pointclouds.org/documentation/tutorials/global_hypothesis_verification.php More...

class	PointCloudObjectLocalizerPropertyDefinitions

class	PointCloudProcessor
	The PointCloudProcessor class provides an interface for access to PointCloudProviders via Ice and shared memory. More...

class	PointCloudProcessorPropertyDefinitions
	Properties of `PointCloudProcessor`. More...

class	PointCloudProvider
	PointCloudProvider abstract class defines a component which provide point clouds via ice or shared memory. More...

class	PointCloudProviderInfo

class	PointCloudProviderPropertyDefinitions

class	PointCloudSegmenter
	A brief description. More...

class	PointCloudSegmenterPropertyDefinitions

struct	PointCloudSegmenterTab

class	PointCloudSegmentsTable

class	PointCloudToArMem

interface	PointCloudToArMemInterface

class	PointCloudToArViz
	Brief description of class PointCloudToArViz. More...

class	PointCloudToArVizPropertyDefinitions
	Property definitions of `PointCloudToArViz`. More...

class	PointCloudTransferStats
	The PointCloudTransferStats class provides information on the connection between PointCloudProvider and PointCloudProcessor. More...

class	PointCloudVisualization
	Brief description of class PointCloudVisualization. More...

class	PointCloudVisualizationHandler

class	PointCloudVisualizationPropertyDefinitions

struct	Polygon2D

class	RCPointCloudProvider
	Brief description of class RCPointCloudProvider. More...

class	RCPointCloudProviderPropertyDefinitions

class	ResultImageAndPointCloudProvider

class	ResultImageProvider
	The ResultImageProvider is used by the ImageProcessor to stream result images to any other processor (e.g. More...

class	ResultPointCloudProvider
	The ResultPointCloudProvider is used by the PointCloudProcessor to stream result PointClouds to any other processor (e.g. More...

class	ResultPointCloudProviderPropertyDefinitions

class	RGBDHandLocalizer
	Brief description of class RGBDHandLocalizer. More...

class	RGBDHandLocalizerPropertyDefinitions

class	RGBDOpenPoseEstimation

class	RoboceptionUser
	This class contains common implementation for RCImageProvider and RCPointCloudProvider. More...

class	RobotHandLocalizationWithFingertips
	RobotHandLocalizationWithFingertips localizes the robot hand using the marker ball and the finger tips. More...

class	RobotHandLocalizationWithFingertipsPropertyDefinitions

class	SaveDialog

class	SegmentAABBShapesProvider
	Brief description of class SegmentAABBShapesProvider. More...

class	SegmentAABBShapesProviderPropertyDefinitions
	Property definitions of `SegmentAABBShapesProvider`. More...

class	SegmentableObjectRecognition
	SegmentableObjectRecognition uses CSegmentableRecognition from IVT to recognize and localize single-colored objects based on their color and shape. More...

class	SegmentableObjectRecognitionPropertyDefinitions

struct	SegmentableTemplate

struct	SegmentableTemplateEntry

struct	SegmentableTemplateHeader

class	SegmentableTemplateRecognition
	SegmentableTemplateRecognition uses CSegmentableRecognition from IVT to recognize and localize single-colored objects based on their color and shape. More...

class	SegmentableTemplateRecognitionPropertyDefinitions

class	SegmentRansacShapeExtractor
	Brief description of class SegmentRansacShapeExtractor. More...

class	SegmentRansacShapeExtractorPropertyDefinitions
	Property definitions of `SegmentRansacShapeExtractor`. More...

class	SegmentSpatialRelations
	Brief description of class SegmentSpatialRelations. More...

class	SegmentSpatialRelationsPropertyDefinitions
	Property definitions of `SegmentSpatialRelations`. More...

class	Settings

class	SimpleEpisodicMemoryImageConnector

class	SimpleEpisodicMemoryImageConnectorPropertyDefinitions

class	SimpleEpisodicMemoryOpenPoseEstimationConnector

class	SimpleEpisodicMemorySemanticGraphConnector

class	StereoCalibrationProviderPropertyDefinitions

class	StereoCameraProvider
	Stereo camera provider is based on IEEE1394 image provider with the restriction that the number of specified cameras must be two. More...

class	StereoImagePointCloudProvider
	A brief description. More...

class	StereoImagePointCloudProviderPropertyDefinitions

class	TexturedObjectRecognition
	TexturedObjectRecognition uses CTexturedRecognition of IVTRecognition in order to recognize and localize objects. More...

class	TexturedObjectRecognitionPropertyDefinitions

class	UCLObjectRecognition
	Brief description of class UCLObjectRecognition. More...

class	UCLObjectRecognitionPropertyDefinitions

class	UserAssistedSegmenter
	Brief description of class UserAssistedSegmenter. More...

class	UserAssistedSegmenterConfigDialog

class	UserAssistedSegmenterGuiWidgetController
	UserAssistedSegmenterGuiWidgetController brief one line description. More...

class	UserAssistedSegmenterPropertyDefinitions
	UserAssistedSegmenterPropertyDefinitions. More...

class	VideoFileImageProvider

class	VideoFileImageProviderPropertyDefinitions

class	VisionXApplication
	Base Class for all ArmarX applications. More...

class	VisualContactDetection
	VisualContactDetection determines if the robot hand is colliding with another object, causing it to move. More...

class	VisualContactDetectionObserver

class	VisualContactDetectionPropertyDefinitions

class	VoxelGridMappingProvider
	Brief description of class VoxelGridMappingProvider. More...

class	VoxelGridMappingProviderPropertyDefinitions

class	VoxelLine
	A line of voxels, from start voxel to an end voxel. More...

class	WebCamImageProvider

class	WebCamImageProviderPropertyDefinitions

class	WidgetController
	WidgetController brief one line description. More...

class	X11ScreenCaptureImageProvider

Typedefs
using	CByteImagePtr = std::shared_ptr<CByteImage>

using	CByteImageUPtr = std::unique_ptr<CByteImage>

using	CByteImageUPtrVec = std::vector<std::unique_ptr<CByteImage>>

using	CColorParameterSetPtr = std::shared_ptr<CColorParameterSet>

using	CObjectFinderStereoPtr = std::shared_ptr<CObjectFinderStereo>

using	CSegmentableRecognitionPtr = std::shared_ptr<CSegmentableRecognition>

using	DebugDrawerPointCloudPtr = std::shared_ptr<armarx::DebugDrawer24BitColoredPointCloud>

using	DepthFilter = visionx::depthfilter::Component

using	ImageContainer = std::vector<CByteImagePtr>

using	ImageProcessorPtr = IceInternal::Handle<ImageProcessor>
	Shared pointer for convenience.

using	ImageRecordingManager = imrecman::Component

using	LabelDensityVisualizer = voxelgrid::LabelDensity::Visualizer

using	LabelDensityVoxel = voxelgrid::LabelDensity::Voxel

using	LabelDensityVoxelGrid = voxelgrid::LabelDensity::VoxelGrid

using	LabelOccupancyVisualizer = voxelgrid::LabelOccupancy::Visualizer

using	LabelOccupancyVoxel = voxelgrid::LabelOccupancy::Voxel

using	LabelOccupancyVoxelGrid = voxelgrid::LabelOccupancy::VoxelGrid

using	OpenPoseStressTest = opstress::Component

using	Point = Eigen::Vector3f

using	PointCloud = pcl::PointCloud<Point>

using	PointCloudProcessorPtr = IceInternal::Handle<PointCloudProcessor>
	Shared pointer for convenience.

using	PointCloudVisualizationCollection

using	PointCloudVisualizationHandlerPtr = std::shared_ptr<PointCloudVisualizationHandler>

typedef pcl::FPFHSignature33	PointD

using	PointL = pcl::PointXYZL

using	PointLPtr = pcl::PointCloud<PointL>::Ptr

using	PointO = pcl::PointXYZRGBA

using	PointOPtr = pcl::PointCloud<PointO>::Ptr

using	PointRGBL = pcl::PointXYZRGBL

using	PointRGBLPtr = pcl::PointCloud<PointRGBL>::Ptr

using	Points = std::vector<Point>

typedef pcl::PointXYZRGBA	PointT

using	TaggedPoints = std::pair<std::string, Points>

template<typename VoxelT>
using	VoxelGrid = voxelgrid::VoxelGrid<VoxelT>

using	VoxelGridStructure = voxelgrid::VoxelGridStructure

using	Yolo = visionx::yolo::Component

Enumerations
enum	KinectProcessorType { CPU , OPENCL , OPENCLKDE , OPENGL , CUDA , CUDAKDE }

enum class	ViewMode { Full , StatusOnly }

Functions
Eigen::Hyperplane3f	alignPlaneNormal (Eigen::Hyperplane3f plane, Eigen::Vector3f normal)
	Flip `plane` if its normal does not point towards `normal`.

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::ArMarkerLocalizerOpenCV, ::visionx::ArMarkerLocalizerOpenCV::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::ArMemToImageProvider, ::visionx::ArMemToImageProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::ArMemToPointCloudProvider, ::visionx::ArMemToPointCloudProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::AzureKinectIRImageProvider, ::visionx::AzureKinectIRImageProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::AzureKinectPointCloudProvider, ::visionx::AzureKinectPointCloudProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::CalibrationCreator2, ::visionx::CalibrationCreator2::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::FakePointCloudProvider, ::visionx::FakePointCloudProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::IEEE1394ImageProvider, ::visionx::IEEE1394ImageProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::ImagePassThrough, ::visionx::ImagePassThrough::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::ImageSequenceProvider, ::visionx::ImageSequenceProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::ImageToArMem, ::visionx::ImageToArMem::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::LabeledPointCloudMerger, ::visionx::LabeledPointCloudMerger::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::OLPEvaluation, ::visionx::OLPEvaluation::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::OpenNIPointCloudProvider, ::visionx::OpenNIPointCloudProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::PointCloudFilter, ::visionx::PointCloudFilter::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::PointCloudSegmenter, ::visionx::PointCloudSegmenter::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::PointCloudToArViz, ::visionx::PointCloudToArViz::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::PointCloudVisualization, ::visionx::PointCloudVisualization::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::RCPointCloudProvider, ::visionx::RCPointCloudProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::RobotHandLocalizationWithFingertips, ::visionx::RobotHandLocalizationWithFingertips::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::SimpleEpisodicMemorySemanticGraphConnector, ::visionx::SimpleEpisodicMemorySemanticGraphConnector::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::StereoImagePointCloudProvider, ::visionx::StereoImagePointCloudProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::UserAssistedSegmenter, ::visionx::UserAssistedSegmenter::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::VideoFileImageProvider, ::visionx::VideoFileImageProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::VoxelGridMappingProvider, ::visionx::VoxelGridMappingProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::WebCamImageProvider, ::visionx::WebCamImageProvider::GetDefaultName())

	ARMARX_REGISTER_COMPONENT_EXECUTABLE (::visionx::X11ScreenCaptureImageProvider, ::visionx::X11ScreenCaptureImageProvider::GetDefaultName())

bool	comparePointClustersDescending (const pcl::PointIndices &lhs, const pcl::PointIndices &rhs)

void	convertDepthInMetersToWeirdArmarX (const cv::Mat &input, CByteImage *output)

void	convertIvtRgbToCvGray (const CByteImage &ivt_rgb, cv::Mat &cv_gray)

cv::Mat	convertWeirdArmarXToDepthInMeters (CByteImage const *input)
	Convert ArmarX encoding of depth information in an RGB image to depth in meters.

void	convertWeirdArmarXToDepthInMeters (const uint8_t *input, cv::Mat &output)
	Like `convertWeirdArmarXToDepthInMeters(CByteImage const* input)`, but writes into a pre-initialized cv::Mat with the correct size and type.

void	copyCvDepthToGrayscaleIVT (cv::Mat const &inputInMeters, CByteImage *output)
	Copies a floating point depth image (in meters) to an RGB depth representation.

void	copyCvMatToIVT (cv::Mat const &input, CByteImage *output)
	Copies the contents of an OpenCV matrix to an IVT CByteImage.

template<class PointT>
void	copyPointCloudWithoutIndices (const pcl::PointCloud< PointT > &input, const std::vector< int > &indices, pcl::PointCloud< PointT > &output)

bool	eq (float lhs, float rhs, float tol=1e-6f)

void	evaluateOLP (OLPEvaluation *p, bool testRecognition)

void	ExtractAnglesFromRotationMatrix (const Mat3d &mat, Vec3d &angles)

void	fillCameraMatrix (const CCalibration::CCameraParameters &ivtCameraParameters, cv::Mat &output)
	Fill a propertly initialized camera matrix with the given camera parameters.

void	fillCameraMatrix (const visionx::CameraParameters &cameraParams, cv::Mat &output)
	Fill a propertly initialized camera matrix with the given camera parameters.

template<class ColorT>
void	fillColorArray (float array[3], const ColorT &color)

template<class PointT>
void	filterNaNs (pcl::PointCloud< PointT > &pc)

Eigen::Hyperplane3f	fitPlaneSVD (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, const pcl::PointIndices &indices, Eigen::Vector3f center=Eigen::Vector3f::Zero())

Eigen::Hyperplane3f	fitPlaneSVD (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, Eigen::Vector3f center=Eigen::Vector3f::Zero())

template<class PointCloudPtrT>
	FramedPointCloud (PointCloudPtrT pointCloudPtr) -> FramedPointCloud< typename PointCloudPtrT::element_type::PointType >

template<class PointCloudPtrT>
	FramedPointCloud (PointCloudPtrT pointCloudPtr, const std::string &frameName) -> FramedPointCloud< typename PointCloudPtrT::element_type::PointType >

pcl::PointIndicesPtr	getPlaneInliers (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, Eigen::Hyperplane3f plane, float maxDistance)

template<class PointT>
pcl::PointCloud< PointT >::Ptr	getPointCloudWithIndices (const pcl::PointCloud< PointT > &input, const pcl::PointIndices &indices)

template<class PointT>
pcl::PointCloud< PointT >::Ptr	getPointCloudWithIndices (const pcl::PointCloud< PointT > &input, const std::vector< int > &indices)

template<class PointT>
pcl::PointCloud< PointT >::Ptr	getPointCloudWithoutIndices (const pcl::PointCloud< PointT > &input, const std::vector< int > &indices)

float	hsvDistance (const Eigen::Vector3f &lhs, const Eigen::Vector3f &rhs, const Eigen::Vector3f &hsvWeights=Eigen::Vector3f::Ones())

float	hsvDistance (const pcl::PointXYZHSV &lhs, const pcl::PointXYZHSV &rhs, const Eigen::Vector3f &hsvWeights=Eigen::Vector3f::Ones())

Eigen::Vector3f	hsvMean (const pcl::PointCloud< pcl::PointXYZHSV > &hsvCloud, const std::vector< int > &indices)

template<class PointRGB>
Eigen::Vector3f	hsvMean (const pcl::PointCloud< PointRGB > &rgbCloud, const std::vector< int > &indices)

template<class CameraParams>
cv::Mat	makeCameraMatrix (const CameraParams &cameraParams, int rows=3, int cols=3, int type=CV_64F)
	Builds a camera matrix.

cv::Mat	makeCameraMatrix (const visionx::CameraParameters &cameraParams)

bool	operator!= (const ColoredPoint3D &lhs, const ColoredPoint3D &rhs)

bool	operator!= (const LabeledPoint3D &lhs, const LabeledPoint3D &rhs)

bool	operator!= (const Point3D &lhs, const Point3D &rhs)

std::ostream &	operator<< (std::ostream &os, const ColoredPoint3D &rhs)

std::ostream &	operator<< (std::ostream &os, const LabeledPoint3D &rhs)

std::ostream &	operator<< (std::ostream &os, const Point3D &rhs)

std::ostream &	operator<< (std::ostream &os, const RGBA &rhs)

Eigen::Vector3f	pointCloudMedian (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, const pcl::PointIndices &indices={})

void	sortPointClustersDescending (std::vector< pcl::PointIndices > &clusterIndices)

int	toByte (float f)

template<class PointT>
void	transformPointCloudFromTo (const pcl::PointCloud< PointT > &sourceCloud, pcl::PointCloud< PointT > &targetCloud, const std::string &sourceFrame, const std::string &targetFrame, const VirtualRobot::RobotConstPtr &robot)
	Transform a point cloud from a robot frame to another.

Variables
const double	DSHT_default_allowed_deviation [12]

const std::map< std::string, std::pair< unsigned int, std::string > >	MPII_TO_MPI

Detailed Description

ArmarX headers.

This package provides an API to read recordings frame-by-frame of any type and obtain their metadata.

Current available formats are:

Video formats (.avi, .mp4; provided by OpenCV2) via VideoPlaybackStrategy
Loose image collections (any image format) via ImageSequencePlaybackStrategy
Chunked image collections (ImageMonitor recording output) via ChunkedImageSequencePlaybackStrategy

Required header:

// Include the required header. NOTE: Other header files are not part of the public API and may be subject to change

#include <VisionX/libraries/playback.h>

Example (Play back an AVI recording):

// Initialise replay
const std::filesystem::path path = "/home/anon/recording_2010-10-10.avi";
visionx::playback::Playback rep = visionx::playback::newPlayback(path);
 
// Read frames
while (rep->hasNextFrame())
{
    cv::Mat frame;
    rep->getNextFrame(frame); // ::CByteImage or a raw unsigned char pointer are supported as well, albeit discouraged
    // ... process/display/manipulate frame ...
}
 
// Stop playback
rep->stopPlayback();
 
// {rep} is now uninitialised and should be destroyed

playback

Author: Christian R. G. Dreher chris.nosp@m.tian.nosp@m..dreh.nosp@m.er@s.nosp@m.tuden.nosp@m.t.ki.nosp@m.t.edu

Date: 2018

Typedef Documentation

◆ CByteImagePtr

using CByteImagePtr = std::shared_ptr<CByteImage>

◆ CByteImageUPtr

using CByteImageUPtr = std::unique_ptr<CByteImage>

◆ CByteImageUPtrVec

using CByteImageUPtrVec = std::vector<std::unique_ptr<CByteImage>>

◆ CColorParameterSetPtr

typedef std::shared_ptr< CColorParameterSet > CColorParameterSetPtr = std::shared_ptr<CColorParameterSet>

◆ CObjectFinderStereoPtr

using CObjectFinderStereoPtr = std::shared_ptr<CObjectFinderStereo>

◆ CSegmentableRecognitionPtr

typedef std::shared_ptr< CSegmentableRecognition > CSegmentableRecognitionPtr = std::shared_ptr<CSegmentableRecognition>

◆ DebugDrawerPointCloudPtr

using DebugDrawerPointCloudPtr = std::shared_ptr<armarx::DebugDrawer24BitColoredPointCloud>

◆ DepthFilter

using DepthFilter = visionx::depthfilter::Component

◆ ImageContainer

using ImageContainer = std::vector<CByteImagePtr>

◆ ImageProcessorPtr

using ImageProcessorPtr = IceInternal::Handle<ImageProcessor>

Shared pointer for convenience.

◆ ImageRecordingManager

using ImageRecordingManager = imrecman::Component

◆ LabelDensityVisualizer

using LabelDensityVisualizer = voxelgrid::LabelDensity::Visualizer

◆ LabelDensityVoxel

using LabelDensityVoxel = voxelgrid::LabelDensity::Voxel

◆ LabelDensityVoxelGrid

using LabelDensityVoxelGrid = voxelgrid::LabelDensity::VoxelGrid

◆ LabelOccupancyVisualizer

using LabelOccupancyVisualizer = voxelgrid::LabelOccupancy::Visualizer

◆ LabelOccupancyVoxel

using LabelOccupancyVoxel = voxelgrid::LabelOccupancy::Voxel

◆ LabelOccupancyVoxelGrid

using LabelOccupancyVoxelGrid = voxelgrid::LabelOccupancy::VoxelGrid

◆ OpenPoseStressTest

using OpenPoseStressTest = opstress::Component

◆ Point

typedef pcl::PointXYZRGBA Point = Eigen::Vector3f

◆ PointCloud

using PointCloud = pcl::PointCloud<Point>

◆ PointCloudProcessorPtr

using PointCloudProcessorPtr = IceInternal::Handle<PointCloudProcessor>

Shared pointer for convenience.

◆ PointCloudVisualizationCollection

using PointCloudVisualizationCollection

Initial value:

std::map<visionx::PointContentType, DebugDrawerPointCloudPtr>

◆ PointCloudVisualizationHandlerPtr

using PointCloudVisualizationHandlerPtr = std::shared_ptr<PointCloudVisualizationHandler>

◆ PointD

typedef pcl::FPFHSignature33 PointD

◆ PointL

typedef pcl::PointXYZL PointL = pcl::PointXYZL

◆ PointLPtr

using PointLPtr = pcl::PointCloud<PointL>::Ptr

◆ PointO

using PointO = pcl::PointXYZRGBA

◆ PointOPtr

using PointOPtr = pcl::PointCloud<PointO>::Ptr

◆ PointRGBL

using PointRGBL = pcl::PointXYZRGBL

◆ PointRGBLPtr

using PointRGBLPtr = pcl::PointCloud<PointRGBL>::Ptr

◆ Points

using Points = std::vector<Point>

◆ PointT

typedef pcl::PointXYZRGBA PointT

◆ TaggedPoints

using TaggedPoints = std::pair<std::string, Points>

◆ VoxelGrid

template<typename VoxelT>

using VoxelGrid = voxelgrid::VoxelGrid<VoxelT>

◆ VoxelGridStructure

using VoxelGridStructure = voxelgrid::VoxelGridStructure

◆ Yolo

using Yolo = visionx::yolo::Component

Enumeration Type Documentation

◆ KinectProcessorType

enum KinectProcessorType

Enumerator
CPU
OPENCL
OPENCLKDE
OPENGL
CUDA
CUDAKDE

◆ ViewMode

enum class ViewMode

strong

Enumerator
Full
StatusOnly

Function Documentation

◆ alignPlaneNormal()

Eigen::Hyperplane3f alignPlaneNormal	(	Eigen::Hyperplane3f	plane,
		Eigen::Vector3f	normal )

Flip plane if its normal does not point towards normal.

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [1/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::ArMarkerLocalizerOpenCV	,
		::visionx::ArMarkerLocalizerOpenCV::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [2/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::ArMemToImageProvider	,
		::visionx::ArMemToImageProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [3/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::ArMemToPointCloudProvider	,
		::visionx::ArMemToPointCloudProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [4/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::AzureKinectIRImageProvider	,
		::visionx::AzureKinectIRImageProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [5/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::AzureKinectPointCloudProvider	,
		::visionx::AzureKinectPointCloudProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [6/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::CalibrationCreator2	,
		::visionx::CalibrationCreator2::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [7/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::FakePointCloudProvider	,
		::visionx::FakePointCloudProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [8/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::IEEE1394ImageProvider	,
		::visionx::IEEE1394ImageProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [9/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::ImagePassThrough	,
		::visionx::ImagePassThrough::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [10/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::ImageSequenceProvider	,
		::visionx::ImageSequenceProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [11/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::ImageToArMem	,
		::visionx::ImageToArMem::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [12/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::LabeledPointCloudMerger	,
		::visionx::LabeledPointCloudMerger::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [13/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::OLPEvaluation	,
		::visionx::OLPEvaluation::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [14/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::OpenNIPointCloudProvider	,
		::visionx::OpenNIPointCloudProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [15/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::PointCloudFilter	,
		::visionx::PointCloudFilter::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [16/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::PointCloudSegmenter	,
		::visionx::PointCloudSegmenter::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [17/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::PointCloudToArViz	,
		::visionx::PointCloudToArViz::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [18/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::PointCloudVisualization	,
		::visionx::PointCloudVisualization::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [19/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::RCPointCloudProvider	,
		::visionx::RCPointCloudProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [20/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::RobotHandLocalizationWithFingertips	,
		::visionx::RobotHandLocalizationWithFingertips::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [21/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::SimpleEpisodicMemorySemanticGraphConnector	,
		::visionx::SimpleEpisodicMemorySemanticGraphConnector::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [22/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::StereoImagePointCloudProvider	,
		::visionx::StereoImagePointCloudProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [23/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::UserAssistedSegmenter	,
		::visionx::UserAssistedSegmenter::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [24/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::VideoFileImageProvider	,
		::visionx::VideoFileImageProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [25/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::VoxelGridMappingProvider	,
		::visionx::VoxelGridMappingProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [26/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::WebCamImageProvider	,
		::visionx::WebCamImageProvider::GetDefaultName()	)

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [27/27]

ARMARX_REGISTER_COMPONENT_EXECUTABLE	(	::visionx::X11ScreenCaptureImageProvider	,
		::visionx::X11ScreenCaptureImageProvider::GetDefaultName()	)

◆ comparePointClustersDescending()

bool comparePointClustersDescending	(	const pcl::PointIndices &	lhs,
		const pcl::PointIndices &	rhs )

inline

◆ convertDepthInMetersToWeirdArmarX()

void convertDepthInMetersToWeirdArmarX	(	const cv::Mat &	input,
		CByteImage *	output )

◆ convertIvtRgbToCvGray()

void convertIvtRgbToCvGray	(	const CByteImage &	ivt_rgb,
		cv::Mat &	cv_gray )

◆ convertWeirdArmarXToDepthInMeters() [1/2]

cv::Mat convertWeirdArmarXToDepthInMeters ( CByteImage const * input )

Convert ArmarX encoding of depth information in an RGB image to depth in meters.

ArmarX stores the depth in mm in the R and G channel of an RGB image. This is due to the fact that we cannot provide images of different types. So a RGB-D camera needs to use a single format for both color and depth.

Parameters

input Weird ArmarX encoding of depth image.

Returns: Floating point matrix containing the depth in meters.

◆ convertWeirdArmarXToDepthInMeters() [2/2]

void convertWeirdArmarXToDepthInMeters	(	const uint8_t *	input,
		cv::Mat &	output )

Like convertWeirdArmarXToDepthInMeters(CByteImage const* input), but writes into a pre-initialized cv::Mat with the correct size and type.

Parameters

input	The raw pixel buffer with weird ArmarX depth encoding.
output	A cv::Mat with the correct size and type.

◆ copyCvDepthToGrayscaleIVT()

void copyCvDepthToGrayscaleIVT	(	cv::Mat const &	inputInMeters,
		CByteImage *	output )

Copies a floating point depth image (in meters) to an RGB depth representation.

Close to the camera: White Farther away: Black

Parameters

inputInMeters	OpenCV floating point matrix (CV_32FC1) containting depth in meters.
output	IVT CByteImage for visulaizing the depth info in an RGB image.

◆ copyCvMatToIVT()

void copyCvMatToIVT	(	cv::Mat const &	input,
		CByteImage *	output )

Copies the contents of an OpenCV matrix to an IVT CByteImage.

Parameters

input	OpenCV matrix (RGB or grayscale)
output	IVT CByteImage (RGB or grayscale)

◆ copyPointCloudWithoutIndices()

template<class PointT>

void copyPointCloudWithoutIndices	(	const pcl::PointCloud< PointT > &	input,
		const std::vector< int > &	indices,
		pcl::PointCloud< PointT > &	output )

◆ eq()

bool eq	(	float	lhs,
		float	rhs,
		float	tol = 1e-6f )

◆ evaluateOLP()

void evaluateOLP	(	OLPEvaluation *	p,
		bool	testRecognition )

◆ ExtractAnglesFromRotationMatrix()

void ExtractAnglesFromRotationMatrix	(	const Mat3d &	mat,
		Vec3d &	angles )

inline

◆ fillCameraMatrix() [1/2]

void fillCameraMatrix	(	const CCalibration::CCameraParameters &	ivtCameraParameters,
		cv::Mat &	output )

Fill a propertly initialized camera matrix with the given camera parameters.

Parameters

cameraParams	The camera parameters.
output	The cv matrix. Must be floating point, i.e. CV_32F or CV_64F.

◆ fillCameraMatrix() [2/2]

void fillCameraMatrix	(	const visionx::CameraParameters &	cameraParams,
		cv::Mat &	output )

Fill a propertly initialized camera matrix with the given camera parameters.

Parameters

cameraParams	The camera parameters.
output	The cv matrix. Must be floating point, i.e. CV_32F or CV_64F.

◆ fillColorArray()

template<class ColorT>

void fillColorArray	(	float	array[3],
		const ColorT &	color )

◆ filterNaNs()

template<class PointT>

void filterNaNs ( pcl::PointCloud< PointT > & pc )

inline

◆ fitPlaneSVD() [1/2]

Eigen::Hyperplane3f fitPlaneSVD	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		const pcl::PointIndices &	indices,
		Eigen::Vector3f	center = Eigen::Vector3f::Zero() )

◆ fitPlaneSVD() [2/2]

Eigen::Hyperplane3f fitPlaneSVD	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		Eigen::Vector3f	center = Eigen::Vector3f::Zero() )

◆ FramedPointCloud() [1/2]

template<class PointCloudPtrT>

FramedPointCloud ( PointCloudPtrT pointCloudPtr ) -> FramedPointCloud< typename PointCloudPtrT::element_type::PointType >

◆ FramedPointCloud() [2/2]

template<class PointCloudPtrT>

FramedPointCloud	(	PointCloudPtrT	pointCloudPtr,
		const std::string &	frameName ) -> FramedPointCloud< typename PointCloudPtrT::element_type::PointType >

◆ getPlaneInliers()

pcl::PointIndicesPtr getPlaneInliers	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		Eigen::Hyperplane3f	plane,
		float	maxDistance )

◆ getPointCloudWithIndices() [1/2]

template<class PointT>

pcl::PointCloud< PointT >::Ptr getPointCloudWithIndices	(	const pcl::PointCloud< PointT > &	input,
		const pcl::PointIndices &	indices )

◆ getPointCloudWithIndices() [2/2]

template<class PointT>

pcl::PointCloud< PointT >::Ptr getPointCloudWithIndices	(	const pcl::PointCloud< PointT > &	input,
		const std::vector< int > &	indices )

◆ getPointCloudWithoutIndices()

template<class PointT>

pcl::PointCloud< PointT >::Ptr getPointCloudWithoutIndices	(	const pcl::PointCloud< PointT > &	input,
		const std::vector< int > &	indices )

◆ hsvDistance() [1/2]

float hsvDistance	(	const Eigen::Vector3f &	lhs,
		const Eigen::Vector3f &	rhs,
		const Eigen::Vector3f &	hsvWeights = Eigen::Vector3f::Ones() )

◆ hsvDistance() [2/2]

float hsvDistance	(	const pcl::PointXYZHSV &	lhs,
		const pcl::PointXYZHSV &	rhs,
		const Eigen::Vector3f &	hsvWeights = Eigen::Vector3f::Ones() )

◆ hsvMean() [1/2]

Eigen::Vector3f hsvMean	(	const pcl::PointCloud< pcl::PointXYZHSV > &	hsvCloud,
		const std::vector< int > &	indices )

◆ hsvMean() [2/2]

template<class PointRGB>

Eigen::Vector3f hsvMean	(	const pcl::PointCloud< PointRGB > &	rgbCloud,
		const std::vector< int > &	indices )

◆ makeCameraMatrix() [1/2]

template<class CameraParams>

cv::Mat makeCameraMatrix	(	const CameraParams &	cameraParams,
		int	rows = 3,
		int	cols = 3,
		int	type = CV_64F )

Builds a camera matrix.

Parameters

cameraParams The camera matrix.

Returns: The CV camera matrix.

◆ makeCameraMatrix() [2/2]

cv::Mat makeCameraMatrix ( const visionx::CameraParameters & cameraParams )

◆ operator!=() [1/3]

bool operator!=	(	const ColoredPoint3D &	lhs,
		const ColoredPoint3D &	rhs )

◆ operator!=() [2/3]

bool operator!=	(	const LabeledPoint3D &	lhs,
		const LabeledPoint3D &	rhs )

◆ operator!=() [3/3]

bool operator!=	(	const Point3D &	lhs,
		const Point3D &	rhs )

◆ operator<<() [1/4]

std::ostream & operator<<	(	std::ostream &	os,
		const ColoredPoint3D &	rhs )

◆ operator<<() [2/4]

std::ostream & operator<<	(	std::ostream &	os,
		const LabeledPoint3D &	rhs )

◆ operator<<() [3/4]

std::ostream & operator<<	(	std::ostream &	os,
		const Point3D &	rhs )

◆ operator<<() [4/4]

std::ostream & operator<<	(	std::ostream &	os,
		const RGBA &	rhs )

◆ pointCloudMedian()

Eigen::Vector3f pointCloudMedian	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		const pcl::PointIndices &	indices = {} )

◆ sortPointClustersDescending()

void sortPointClustersDescending ( std::vector< pcl::PointIndices > & clusterIndices )

inline

◆ toByte()

int toByte ( float f )

◆ transformPointCloudFromTo()

template<class PointT>

void transformPointCloudFromTo	(	const pcl::PointCloud< PointT > &	sourceCloud,
		pcl::PointCloud< PointT > &	targetCloud,
		const std::string &	sourceFrame,
		const std::string &	targetFrame,
		const VirtualRobot::RobotConstPtr &	robot )

Transform a point cloud from a robot frame to another.

Parameters

sourceCloud	The source point cloud.
targetCloud	The target point cloud (may be same as `sourceCloud`).
sourceFrame	The current frame of `sourceCloud`.
targetFrame	The current frame to transform to.
robot	The reference robot to use for transformation.

Variable Documentation

◆ DSHT_default_allowed_deviation

const double DSHT_default_allowed_deviation[12]

Initial value:

= {120,
                                                       120,
                                                       120,
                                                       M_PI / 180 * 30,
                                                       M_PI / 180 * 30,
                                                       M_PI / 180 * 30,
                                                       M_PI / 180 * 12,
                                                       M_PI / 180 * 12,
                                                       M_PI / 180 * 12,
                                                       M_PI / 180 * 12,
                                                       M_PI / 180 * 12,
                                                       M_PI / 180 * 12}

◆ MPII_TO_MPI

const std::map<std::string, std::pair<unsigned int, std::string> > MPII_TO_MPI

Initial value:

{
        {"head", {0, "Head"}},
        {"neck", {1, "Neck"}},
        {"right_shoulder", {2, "RShoulder"}},
        {"right_elbow", {3, "RElbow"}},
        {"right_hand", {4, "RWrist"}},
        {"left_shoulder", {5, "LShoulder"}},
        {"left_elbow", {6, "LElbow"}},
        {"left_hand", {7, "LWrist"}},
        {"right_waist", {8, "RHip"}},
        {"right_knee", {9, "RKnee"}},
        {"right_foot", {10, "RAnkle"}},
        {"left_waist", {11, "LHip"}},
        {"left_knee", {12, "LKnee"}},
        {"left_foot", {13, "LAnkle"}},
    }

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ CByteImagePtr

◆ CByteImageUPtr

◆ CByteImageUPtrVec

◆ CColorParameterSetPtr

◆ CObjectFinderStereoPtr

◆ CSegmentableRecognitionPtr

◆ DebugDrawerPointCloudPtr

◆ DepthFilter

◆ ImageContainer

◆ ImageProcessorPtr

◆ ImageRecordingManager

◆ LabelDensityVisualizer

◆ LabelDensityVoxel

◆ LabelDensityVoxelGrid

◆ LabelOccupancyVisualizer

◆ LabelOccupancyVoxel

◆ LabelOccupancyVoxelGrid

◆ OpenPoseStressTest

◆ Point

◆ PointCloud

◆ PointCloudProcessorPtr

◆ PointCloudVisualizationCollection

◆ PointCloudVisualizationHandlerPtr

◆ PointD

◆ PointL

◆ PointLPtr

◆ PointO

◆ PointOPtr

◆ PointRGBL

◆ PointRGBLPtr

◆ Points

◆ PointT

◆ TaggedPoints

◆ VoxelGrid

◆ VoxelGridStructure

◆ Yolo

Enumeration Type Documentation

◆ KinectProcessorType

◆ ViewMode

Function Documentation

◆ alignPlaneNormal()

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [1/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [2/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [3/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [4/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [5/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [6/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [7/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [8/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [9/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [10/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [11/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [12/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [13/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [14/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [15/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [16/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [17/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [18/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [19/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [20/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [21/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [22/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [23/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [24/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [25/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [26/27]

◆ ARMARX_REGISTER_COMPONENT_EXECUTABLE() [27/27]

◆ comparePointClustersDescending()

◆ convertDepthInMetersToWeirdArmarX()

◆ convertIvtRgbToCvGray()

◆ convertWeirdArmarXToDepthInMeters() [1/2]