visionx Namespace Reference

ArmarX headers. More...

Namespaces
	armem
	armem_images
	components
	ConvexPolygonCalculations
	depthfilter
	depthfromstereo
	exceptions
	imrec
	imrecman
	opstress
	playback
	roboception
	tools
	utils
	voxelgrid
	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	FeatureLearningObjectChooserWidget
class	FeatureLearningSaveToMemoryWidget
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	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	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. More...
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. More...
using	PointCloudVisualizationCollection = std::map< visionx::PointContentType, DebugDrawerPointCloudPtr >
using	PointCloudVisualizationHandlerPtr = std::shared_ptr< PointCloudVisualizationHandler >
using	PointD = pcl::FPFHSignature33
using	PointL = pcl::PointXYZRGBL
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 >
using	PointT = pcl::PointXYZRGBA
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	ViewMode { Full, StatusOnly }

Functions
Eigen::Hyperplane3f	alignPlaneNormal (Eigen::Hyperplane3f plane, Eigen::Vector3f normal)
	Flip plane if its normal does not point towards normal. More...
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. More...
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. More...
void	copyCvDepthToGrayscaleIVT (cv::Mat const &inputInMeters, CByteImage *output)
	Copies a floating point depth image (in meters) to an RGB depth representation. More...
void	copyCvMatToIVT (cv::Mat const &input, CByteImage *output)
	Copies the contents of an OpenCV matrix to an IVT CByteImage. More...
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. More...
void	fillCameraMatrix (const visionx::CameraParameters &cameraParams, cv::Mat &output)
	Fill a propertly initialized camera matrix with the given camera parameters. More...
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. More...
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::RobotPtr &robot)
	Transform a point cloud from a robot frame to another. More...

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>

Definition at line 109 of file ImageMonitorWidgetController.h.

CByteImageUPtr

using CByteImageUPtr = std::unique_ptr<CByteImage>

Definition at line 57 of file ImageProvider.h.

CByteImageUPtrVec

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

Definition at line 58 of file ImageProvider.h.

CColorParameterSetPtr

typedef std::shared_ptr< CColorParameterSet > CColorParameterSetPtr

Definition at line 44 of file BlobRecognition.h.

CObjectFinderStereoPtr

using CObjectFinderStereoPtr = std::shared_ptr<CObjectFinderStereo>

Definition at line 43 of file BlobRecognition.h.

CSegmentableRecognitionPtr

typedef std::shared_ptr< CSegmentableRecognition > CSegmentableRecognitionPtr

Definition at line 43 of file ColorMarkerObjectLocalizer.h.

DebugDrawerPointCloudPtr

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

Definition at line 79 of file PointCloudVisualization.h.

DepthFilter

using DepthFilter = visionx::depthfilter::Component

Definition at line 113 of file Component.h.

ImageContainer

using ImageContainer = std::vector<CByteImagePtr>

Definition at line 110 of file ImageMonitorWidgetController.h.

ImageProcessorPtr

using ImageProcessorPtr = IceInternal::Handle<ImageProcessor>

Shared pointer for convenience.

Definition at line 428 of file ImageProcessor.h.

ImageRecordingManager

using ImageRecordingManager = imrecman::Component

Definition at line 94 of file ImageRecordingManager.h.

LabelDensityVisualizer

using LabelDensityVisualizer = voxelgrid::LabelDensity::Visualizer

Definition at line 11 of file LabelDensity.h.

LabelDensityVoxel

using LabelDensityVoxel = voxelgrid::LabelDensity::Voxel

Definition at line 9 of file LabelDensity.h.

LabelDensityVoxelGrid

using LabelDensityVoxelGrid = voxelgrid::LabelDensity::VoxelGrid

Definition at line 10 of file LabelDensity.h.

LabelOccupancyVisualizer

using LabelOccupancyVisualizer = voxelgrid::LabelOccupancy::Visualizer

Definition at line 11 of file LabelOccupancy.h.

LabelOccupancyVoxel

using LabelOccupancyVoxel = voxelgrid::LabelOccupancy::Voxel

Definition at line 9 of file LabelOccupancy.h.

LabelOccupancyVoxelGrid

using LabelOccupancyVoxelGrid = voxelgrid::LabelOccupancy::VoxelGrid

Definition at line 10 of file LabelOccupancy.h.

OpenPoseStressTest

using OpenPoseStressTest = opstress::Component

Definition at line 82 of file OpenPoseStressTest.h.

Point

typedef pcl::PointXYZRGBA Point

Definition at line 69 of file ObjectShapeClassification.h.

PointCloud

using PointCloud = pcl::PointCloud<Point>

Definition at line 54 of file RCPointCloudProvider.cpp.

PointCloudProcessorPtr

using PointCloudProcessorPtr = IceInternal::Handle<PointCloudProcessor>

Shared pointer for convenience.

Definition at line 630 of file PointCloudProcessor.h.

PointCloudVisualizationCollection

using PointCloudVisualizationCollection = std::map<visionx::PointContentType, DebugDrawerPointCloudPtr>

Definition at line 80 of file PointCloudVisualization.h.

PointCloudVisualizationHandlerPtr

using PointCloudVisualizationHandlerPtr = std::shared_ptr<PointCloudVisualizationHandler>

Definition at line 58 of file PointCloudVisualization.h.

PointD

typedef pcl::FPFHSignature33 PointD

Definition at line 81 of file MaskRCNNPointCloudObjectLocalizer.h.

PointL

typedef pcl::PointXYZL PointL

Definition at line 80 of file MaskRCNNPointCloudObjectLocalizer.h.

PointLPtr

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

Definition at line 66 of file PointCloudSegmenter.h.

PointO

using PointO = pcl::PointXYZRGBA

Definition at line 63 of file PointCloudSegmenter.h.

PointOPtr

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

Definition at line 64 of file PointCloudSegmenter.h.

PointRGBL

using PointRGBL = pcl::PointXYZRGBL

Definition at line 67 of file PointCloudSegmenter.h.

PointRGBLPtr

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

Definition at line 68 of file PointCloudSegmenter.h.

Points

using Points = std::vector<Point>

Definition at line 70 of file ObjectShapeClassification.h.

PointT

typedef pcl::PointXYZRGBA PointT

Definition at line 79 of file MaskRCNNPointCloudObjectLocalizer.h.

TaggedPoints

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

Definition at line 71 of file ObjectShapeClassification.h.

VoxelGrid

using VoxelGrid = voxelgrid::VoxelGrid<VoxelT>

Definition at line 33 of file VoxelGridCore.h.

VoxelGridStructure

using VoxelGridStructure = voxelgrid::VoxelGridStructure

Definition at line 35 of file VoxelGridCore.h.

Yolo

using Yolo = visionx::yolo::Component

Definition at line 234 of file Component.h.

Enumeration Type Documentation

KinectProcessorType

enum KinectProcessorType

Enumerator
CPU
OPENCL
OPENCLKDE
OPENGL
CUDA
CUDAKDE

Definition at line 54 of file KinectV2PointCloudProvider.h.

ViewMode

enum ViewMode

strong

Enumerator
Full
StatusOnly

Definition at line 52 of file ImageProviderConfigWidget.h.

Function Documentation

alignPlaneNormal()

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

Flip plane if its normal does not point towards normal.

Definition at line 148 of file tools.cpp.

comparePointClustersDescending()

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

inline

Definition at line 105 of file tools.h.

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convertDepthInMetersToWeirdArmarX()

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

Definition at line 98 of file OpenCVUtil.cpp.

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convertIvtRgbToCvGray()

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

Definition at line 14 of file opencv_conversions.cpp.

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.

Definition at line 61 of file OpenCVUtil.cpp.

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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.

Definition at line 76 of file OpenCVUtil.cpp.

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.

Definition at line 26 of file OpenCVUtil.cpp.

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)

Definition at line 13 of file OpenCVUtil.cpp.

copyPointCloudWithoutIndices()

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

Definition at line 60 of file tools.h.

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eq()

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

Definition at line 7 of file ice_point_operators.cpp.

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evaluateOLP()

void visionx::evaluateOLP	(	OLPEvaluation *	p,
		bool	testRecognition
	)

Definition at line 44 of file OLPEvaluation.cpp.

ExtractAnglesFromRotationMatrix()

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

inline

Definition at line 174 of file HandLocalisation.cpp.

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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.

Definition at line 209 of file OpenCVUtil.cpp.

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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.

Definition at line 195 of file OpenCVUtil.cpp.

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fillColorArray()

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

Definition at line 44 of file CoinPointCloud.cpp.

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filterNaNs()

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

inline

Definition at line 116 of file tools.h.

fitPlaneSVD() [1/2]

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

Definition at line 53 of file tools.cpp.

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fitPlaneSVD() [2/2]

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

Definition at line 46 of file tools.cpp.

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FramedPointCloud() [1/2]

visionx::FramedPointCloud

(

PointCloudPtrT

pointCloudPtr

)

-> FramedPointCloud< typename PointCloudPtrT::element_type::PointType >

FramedPointCloud() [2/2]

visionx::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
	)

Definition at line 96 of file tools.cpp.

getPointCloudWithIndices() [1/2]

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

Definition at line 96 of file tools.h.

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getPointCloudWithIndices() [2/2]

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

Definition at line 87 of file tools.h.

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getPointCloudWithoutIndices()

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

Definition at line 77 of file tools.h.

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hsvDistance() [1/2]

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

Definition at line 118 of file tools.cpp.

hsvDistance() [2/2]

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

Definition at line 111 of file tools.cpp.

hsvMean() [1/2]

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

Definition at line 129 of file tools.cpp.

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hsvMean() [2/2]

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

Definition at line 51 of file tools.h.

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makeCameraMatrix() [1/2]

cv::Mat visionx::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.

Definition at line 77 of file OpenCVUtil.h.

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makeCameraMatrix() [2/2]

cv::Mat makeCameraMatrix

(

const visionx::CameraParameters &

cameraParams

)

Definition at line 25 of file opencv_conversions.cpp.

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operator!=() [1/3]

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

Definition at line 29 of file ice_point_operators.cpp.

operator!=() [2/3]

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

Definition at line 40 of file ice_point_operators.cpp.

operator!=() [3/3]

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

Definition at line 12 of file ice_point_operators.cpp.

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operator<<() [1/4]

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

Definition at line 34 of file ice_point_operators.cpp.

operator<<() [2/4]

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

Definition at line 45 of file ice_point_operators.cpp.

operator<<() [3/4]

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

Definition at line 17 of file ice_point_operators.cpp.

operator<<() [4/4]

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

Definition at line 23 of file ice_point_operators.cpp.

pointCloudMedian()

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

Definition at line 7 of file tools.cpp.

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sortPointClustersDescending()

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

inline

Definition at line 110 of file tools.h.

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toByte()

int visionx::toByte

(

float

f

)

Definition at line 426 of file UserAssistedSegmenterGuiWidgetController.cpp.

transformPointCloudFromTo()

void transformPointCloudFromTo	(	const pcl::PointCloud< PointT > &	sourceCloud,
		pcl::PointCloud< PointT > &	targetCloud,
		const std::string &	sourceFrame,
		const std::string &	targetFrame,
		const VirtualRobot::RobotPtr &	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.

Definition at line 129 of file FramedPointCloud.h.

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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
                                                      }

Definition at line 131 of file HandLocalisationConstants.h.

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"}},
    }

Definition at line 32 of file OpenPoseEstimationUtil.h.