Cells API

object_recognition_core.ecto_cells.db

ObservationInserter

Brief doc

Inserts observations into the database.

Parameters

• db_params   type: object_recognition_core::db::ObjectDbParameters    not required   default: [not visible from python]

  The database parameters

• object_id   type: std::string    required   no default value

  The object id, to associate this frame with.

• session_id   type: std::string    required   no default value

  The session id, to associate this frame with.

Inputs

• K   type: cv::Mat   

  The camera intrinsic matrix

• R   type: cv::Mat   

  The orientation.

• T   type: cv::Mat   

  The translation.

• depth   type: cv::Mat   

  The 16bit depth image.

• frame_number   type: int   

  The frame number

• image   type: cv::Mat   

  An rgb full frame image.

• mask   type: cv::Mat   

  The mask.

ModelWriter

Brief doc

Takes a document, that should be considered as a Model, and persists it. Also stores common meta data that is useful for searching.

Parameters

• json_params   type: std::string    required   default:

  The non-discriminative parameters used, as JSON.

• method   type: std::string    required   default:

  The method used to compute the model (e.g. ‘TOD’ ...).

Inputs

• db_document   type: object_recognition_core::db::Document   

• json_db   type: std::string   

  The DB parameters

• object_id   type: std::string   

  The object id, to associate this model with.

ObservationReader

Brief doc

Reads observations from the database.

Inputs

• document   type: object_recognition_core::db::Document   

  The observation id to load.

Outputs

• K   type: cv::Mat   

  The camera intrinsic matrix

• R   type: cv::Mat   

  The orientation.

• T   type: cv::Mat   

  The translation.

• depth   type: cv::Mat   

  The 16bit depth image.

• frame_number   type: int   

  The frame number

• image   type: cv::Mat   

  An rgb full frame image.

• mask   type: cv::Mat   

  The mask.

object_recognition_core.ecto_cells.io

GuessTerminalWriter

Brief doc

Given guesses, writes them to the terminal.

Parameters

• base_directory   type: std::string    not required   no default value

  Base directory

• config_file   type: std::string    not required   no default value

  Configuration file

Inputs

• pose_results   type: std::vector<object_recognition_core::common::PoseResult, std::allocator<object_recognition_core::common::PoseResult> >   

  The results of object recognition

GuessCsvWriter

Brief doc

Given guesses, writes them to a CSV in the NIST format.

Parameters

• run_number   type: int    not required   no default value

  The run number

• team_name   type: std::string    not required   no default value

  The name of the team to consider

Inputs

• pose_results   type: std::vector<object_recognition_core::common::PoseResult, std::allocator<object_recognition_core::common::PoseResult> >   

  The results of object recognition

PipelineInfo

Brief doc

Spits out the parameters given as a JSON sting.

Parameters

• parameters   type: std::string    not required   default:

  The JSON parameters of the pipeline.

Outputs

• parameters   type: or_json::Value_impl<or_json::Config_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >   

  The parameters as a JSON dict.

• parameters_str   type: std::string   

  The parameters as a JSON string.

object_recognition_ros.ecto_cells.io_ros

MsgAssembler

Brief doc

Given object ids and poses, fill the object recognition message.

Parameters

• publish_clusters   type: bool    not required   default: True

  Sets whether the point cloud clusters have to be published or not

Inputs

• frame_id   type: std::string   

  The frame_id where the objects are seen. It can be obtained from image_message too.

• image_message   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

  The image message to get the header

• pose_results   type: std::vector<object_recognition_core::common::PoseResult, std::allocator<object_recognition_core::common::PoseResult> >   

  The results of object recognition

Outputs

• msg   type: boost::shared_ptr<object_recognition_msgs::RecognizedObjectArray_<std::allocator<void> > const>   

  The poses

Publisher_MarkerArray

Brief doc

Publishes a visualization_msgs::MarkerArray.

Parameters

• latched   type: bool    not required   default: False

  Is this a latched topic?

• queue_size   type: int    not required   default: 2

  The amount to buffer incoming messages.

• topic_name   type: std::string    required   default: /ros/topic/name

  The topic name to publish to. May be remapped.

Inputs

• input   type: boost::shared_ptr<visualization_msgs::MarkerArray_<std::allocator<void> > const>   

  The message to publish.

Outputs

• has_subscribers   type: bool   

  Has currently connected subscribers.

Subscriber_Marker

Brief doc

Subscribes to a visualization_msgs::Marker.

Parameters

• queue_size   type: int    not required   default: 2

  The amount to buffer incoming messages.

• tcp_nodelay   type: bool    not required   default: False

  Enable/disable nagle’s algorithm on bundling small packets together.

• topic_name   type: std::string    required   default: /ros/topic/name

  The topic name to subscribe to.

Outputs

• output   type: boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void> > const>   

  The received message.

Subscriber_MarkerArray

Brief doc

Subscribes to a visualization_msgs::MarkerArray.

Parameters

• queue_size   type: int    not required   default: 2

  The amount to buffer incoming messages.

• tcp_nodelay   type: bool    not required   default: False

  Enable/disable nagle’s algorithm on bundling small packets together.

• topic_name   type: std::string    required   default: /ros/topic/name

  The topic name to subscribe to.

Outputs

• output   type: boost::shared_ptr<visualization_msgs::MarkerArray_<std::allocator<void> > const>   

  The received message.

Bagger_MarkerArray

Brief doc

A bagger for messages of a given type. Can enable read/write to ros bags.

Parameters

• bagger   type: boost::shared_ptr<ecto_ros::Bagger_base const>    not required   default: [not visible from python]

  The bagger.

• topic_name   type: std::string    required   default: /ros/topic/name

  The topic name to subscribe to.

Bagger_Marker

Brief doc

A bagger for messages of a given type. Can enable read/write to ros bags.

Parameters

• bagger   type: boost::shared_ptr<ecto_ros::Bagger_base const>    not required   default: [not visible from python]

  The bagger.

• topic_name   type: std::string    required   default: /ros/topic/name

  The topic name to subscribe to.

Publisher_Marker

Brief doc

Publishes a visualization_msgs::Marker.

Parameters

• latched   type: bool    not required   default: False

  Is this a latched topic?

• queue_size   type: int    not required   default: 2

  The amount to buffer incoming messages.

• topic_name   type: std::string    required   default: /ros/topic/name

  The topic name to publish to. May be remapped.

Inputs

• input   type: boost::shared_ptr<visualization_msgs::Marker_<std::allocator<void> > const>   

  The message to publish.

Outputs

• has_subscribers   type: bool   

  Has currently connected subscribers.

object_recognition_core.ecto_cells.filters

depth_filter

Brief doc

Given a depth image, return the mask of what is between two depths.

Parameters

• d_max   type: float    not required   default: 3.40282346639e+38

  The maximal distance at which object become interesting (in meters)

• d_min   type: float    not required   default: -3.40282346639e+38

  The minimal distance at which object become interesting (in meters)

Inputs

• points3d   type: cv::Mat   

  The 3d points: width by height by 3 channels

Outputs

• mask   type: cv::Mat   

  The mask of what is within the depth range in the image

object_recognition_core.ecto_cells.voter

Aggregator

Brief doc

Simply aggregates the results from several pipelines

Parameters

• n_inputs   type: unsigned int    required   no default value

  Number of inputs to AND together

Outputs

• pose_results   type: std::vector<object_recognition_core::common::PoseResult, std::allocator<object_recognition_core::common::PoseResult> >   

  The results of object recognition