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+| algorithm (defined in roboticslab::ColorRegionDetector) | roboticslab::ColorRegionDetector | private |
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| confThreshold (defined in roboticslab::DnnDetector) | roboticslab::DnnDetector | private |
| detect(const yarp::sig::Image &inYarpImg, yarp::os::Bottle &detectedObjects) override (defined in roboticslab::DnnDetector) | roboticslab::DnnDetector | virtual |
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| ~IDetector() (defined in roboticslab::IDetector) | roboticslab::IDetector | inlinevirtual |
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| reset()=0 (defined in roboticslab::KinectFusion) | roboticslab::KinectFusion | pure virtual |
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| getPoints(yarp::sig::PointCloudXYZ &cloud) const override (defined in roboticslab::KinectFusionImpl< T >) | roboticslab::KinectFusionImpl< T > | inlinevirtual |
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| mtx (defined in roboticslab::KinectFusionImpl< T >) | roboticslab::KinectFusionImpl< T > | mutableprivate |
| render(yarp::sig::FlexImage &image) const override (defined in roboticslab::KinectFusionImpl< T >) | roboticslab::KinectFusionImpl< T > | inlinevirtual |
| reset() override (defined in roboticslab::KinectFusionImpl< T >) | roboticslab::KinectFusionImpl< T > | inlinevirtual |
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| ~KinectFusion()=default (defined in roboticslab::KinectFusion) | roboticslab::KinectFusion | virtual |
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+ vision
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++Private Attributes | |
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1.9.1
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This is the complete list of members for roboticslab::LineCallbackPort, including all inherited members.
+| onRead(yarp::os::Bottle &b) (defined in roboticslab::LineCallbackPort) | roboticslab::LineCallbackPort | protected |
| setSharedArea(SharedArea *_sharedArea) (defined in roboticslab::LineCallbackPort) | roboticslab::LineCallbackPort | |
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| +void | onRead (yarp::os::Bottle &b) |
+Protected Attributes | |
| +SharedArea * | sharedArea |
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This is the complete list of members for roboticslab::PointAtObjectServer, including all inherited members.
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| init() (defined in roboticslab::PointAtObjectServer) | roboticslab::PointAtObjectServer | |
| lineCallbackPort (defined in roboticslab::PointAtObjectServer) | roboticslab::PointAtObjectServer | protected |
| makeFloorActor(vtkActor *_floorActor) (defined in roboticslab::PointAtObjectServer) | roboticslab::PointAtObjectServer | protected |
| PointAtObjectServer() (defined in roboticslab::PointAtObjectServer) | roboticslab::PointAtObjectServer | inline |
| sharedArea (defined in roboticslab::PointAtObjectServer) | roboticslab::PointAtObjectServer | protected |
| timerCallback (defined in roboticslab::PointAtObjectServer) | roboticslab::PointAtObjectServer | protected |
1.9.1
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#include <PointAtObjectServer.hpp>
+Public Member Functions | |
| +bool | init () |
| +bool | close () |
+Protected Member Functions | |
| +void | makeFloorActor (vtkActor *_floorActor) |
+Protected Attributes | |
| +LineCallbackPort | lineCallbackPort |
| +vtkSmartPointer< vtkTimerCallback > | timerCallback |
| +SharedArea | sharedArea |
PointAtObjectServer is the main class. PointAtObjectServer creates:
1.9.1
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+ vision
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+ |
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This is the complete list of members for roboticslab::QrDetector, including all inherited members.
+| detect(const yarp::sig::Image &inYarpImg, yarp::os::Bottle &detectedObjects) override (defined in roboticslab::QrDetector) | roboticslab::QrDetector | virtual |
| open(yarp::os::Searchable &config) override (defined in roboticslab::QrDetector) | roboticslab::QrDetector | |
| qrcode (defined in roboticslab::QrDetector) | roboticslab::QrDetector | private |
| ~IDetector() (defined in roboticslab::IDetector) | roboticslab::IDetector | inlinevirtual |
1.9.1
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| +cv::QRCodeDetector | qrcode |
1.9.1
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+ 1.9.1
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+ vision
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+ |
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+Public Types | |
| enum class | update_result { ACQUISITION_FAILED +, KINFU_FAILED +, SUCCESS + } |
+Public Member Functions | |
| + | RenderUpdater (KinectFusion &_kinfu, yarp::dev::IRGBDSensor *_sensor) |
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| +virtual bool | openPort (const std::string &name)=0 |
| +virtual void | interruptPort ()=0 |
| +virtual void | closePort ()=0 |
| +virtual update_result | update ()=0 |
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| +KinectFusion & | kinfu |
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+ vision
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This is the complete list of members for roboticslab::RgbDetection, including all inherited members.
+ 1.9.1
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2D detection. +
+ +#include <RgbDetection.hpp>
+ +Private Attributes | |
| +yarp::dev::PolyDriver | sensorDevice |
| +yarp::dev::IFrameGrabberImage * | frameGrabber |
| +yarp::dev::PolyDriver | detectorDevice |
| +IDetector * | iDetector |
| +yarp::os::BufferedPort< yarp::os::Bottle > | statePort |
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| +double | period |
1.9.1
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+ vision
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2.5D detection. +
+ +#include <RgbdDetection.hpp>
+ +Private Attributes | |
| +yarp::dev::PolyDriver | sensorDevice |
| +yarp::dev::IRGBDSensor * | iRGBDSensor |
| +yarp::sig::IntrinsicParams | depthIntrinsicParams |
| +yarp::dev::PolyDriver | detectorDevice |
| +IDetector * | iDetector |
| +yarp::os::BufferedPort< yarp::os::Bottle > | statePort |
| +yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > > | imagePort |
| +yarp::os::BufferedPort< yarp::os::Bottle > | cropPort |
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| +double | period |
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+ vision
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+ |
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Exposes Kinect Fusion as a YARP service via RPC. +
+ +#include <SceneReconstruction.hpp>
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| +double | period |
| +std::atomic_bool | isRunning {false} |
| +std::unique_ptr< KinectFusion > | kinfu {nullptr} |
| +yarp::dev::PolyDriver | cameraDriver |
| +yarp::dev::IRGBDSensor * | iRGBDSensor {nullptr} |
| +std::unique_ptr< RenderUpdater > | renderUpdater {nullptr} |
| +yarp::os::RpcServer | rpcServer |
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+ vision
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+ |
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Implements voxelOccupancyDetection PeriodicThread. +
+ +#include <SegmentorThread.hpp>
+ +Private Attributes | |
| +yarp::dev::IRGBDSensor * | iRGBDSensor |
| +yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelMono16 > > * | pOutImg |
| +yarp::os::Port * | pOutPort |
| +std::string | algorithm |
| +std::string | locate |
| +int | maxNumBlobs |
| +double | morphClosing |
| +double | morphOpening |
| +int | outFeaturesFormat |
| +int | outImage |
| +int | seeBounding |
| +int | threshold |
| +double | fx_d |
| +double | fy_d |
| +double | cx_d |
| +double | cy_d |
| +double | fx_rgb |
| +double | fy_rgb |
| +double | cx_rgb |
| +double | cy_rgb |
| +yarp::os::Bottle | outFeatures |
| +int | cropSelector |
| +yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > > * | outCropSelectorImg |
| +yarp::os::Port * | inCropSelectorPort |
| +DataProcessor | processor |
| +int | searchAreaDilatation |
| +float | depthLowThreshold |
| +float | depthHighThreshold |
| +int | occupancyThreshold |
| +int | voxelResolution |
| +float | utilityDepthLowThreshold |
| +float | utilityDepthHighThreshold |
| +int | numberUtilityVoxels |
| +float | lowWThreshold |
| +float | highWThreshold |
| +float | lowHThreshold |
| +float | highHThreshold |
1.9.1
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This is the complete list of members for roboticslab::SharedArea, including all inherited members.
+| getLC(double _lineCoords[6]) (defined in roboticslab::SharedArea) | roboticslab::SharedArea | |
| getLongLC(double _longLineCoords[6]) (defined in roboticslab::SharedArea) | roboticslab::SharedArea | |
| init() (defined in roboticslab::SharedArea) | roboticslab::SharedArea | |
| lcMutex (defined in roboticslab::SharedArea) | roboticslab::SharedArea | private |
| lineCoords (defined in roboticslab::SharedArea) | roboticslab::SharedArea | private |
| setLC(const double _lineCoords[6]) (defined in roboticslab::SharedArea) | roboticslab::SharedArea |
1.9.1
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diff --git a/classroboticslab_1_1SharedArea.html b/classroboticslab_1_1SharedArea.html
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+ vision
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+ |
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+Public Member Functions | |
| +void | init () |
| +void | setLC (const double _lineCoords[6]) |
| +void | getLC (double _lineCoords[6]) |
| +void | getLongLC (double _longLineCoords[6]) |
+Private Attributes | |
| +double | lineCoords [6] |
| +std::mutex | lcMutex |
1.9.1
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+
+
diff --git a/classroboticslab_1_1Travis-members.html b/classroboticslab_1_1Travis-members.html
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+ vision
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+ |
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This is the complete list of members for roboticslab::Travis, including all inherited members.
+| _contours | roboticslab::Travis | protected |
| _img | roboticslab::Travis | protected |
| _imgBin | roboticslab::Travis | protected |
| _imgBin3 | roboticslab::Travis | protected |
| _imgHsv | roboticslab::Travis | protected |
| _minRotatedRects | roboticslab::Travis | protected |
| _overwrite | roboticslab::Travis | protected |
| _quiet | roboticslab::Travis | protected |
| binarize(const char *algorithm) | roboticslab::Travis | |
| binarize(const char *algorithm, const double &threshold) | roboticslab::Travis | |
| binarize(const char *algorithm, const double &min, const double &max) | roboticslab::Travis | |
| blobize(const int &maxNumBlobs) | roboticslab::Travis | |
| getBlobsAngle(const int &method, std::vector< double > &angles) | roboticslab::Travis | |
| getBlobsArea(std::vector< double > &areas) | roboticslab::Travis | |
| getBlobsAspectRatio(std::vector< double > &aspectRatios, std::vector< double > &axisFirsts, std::vector< double > &axisSeconds) | roboticslab::Travis | |
| getBlobsHSV(std::vector< double > &hues, std::vector< double > &vals, std::vector< double > &sats, std::vector< double > &hueStdDevs, std::vector< double > &valStdDevs, std::vector< double > &satStdDevs) | roboticslab::Travis | |
| getBlobsPerimeter(std::vector< double > &perimeters) (defined in roboticslab::Travis) | roboticslab::Travis | |
| getBlobsRect(std::vector< cv::Rect > &rects) (defined in roboticslab::Travis) | roboticslab::Travis | |
| getBlobsRectangularity(std::vector< double > &rectangularities) | roboticslab::Travis | |
| getBlobsSolidity(std::vector< double > &solidities) | roboticslab::Travis | |
| getBlobsXY(std::vector< cv::Point2d > &locations) | roboticslab::Travis | |
| getCvMat(const int &image, const int &vizualization) | roboticslab::Travis | |
| morphClosing(const int &closure) | roboticslab::Travis | |
| morphOpening(const int &opening) | roboticslab::Travis | |
| pushContour(const std::vector< cv::Point > &contour) | roboticslab::Travis | |
| release() | roboticslab::Travis | |
| setBinCvMat(const cv::Mat &image) | roboticslab::Travis | |
| setCvMat(const cv::Mat &image) | roboticslab::Travis | |
| Travis(bool quiet=true, bool overwrite=true) | roboticslab::Travis | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1Travis.html b/classroboticslab_1_1Travis.html
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+
+|
+ vision
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+ |
+
The Travis class implements all the algorithms on a single image. +
+ +#include <TravisLib.hpp>
+Public Member Functions | |
| Travis (bool quiet=true, bool overwrite=true) | |
| bool | setCvMat (const cv::Mat &image) |
| bool | setBinCvMat (const cv::Mat &image) |
| bool | binarize (const char *algorithm) |
| bool | binarize (const char *algorithm, const double &threshold) |
| bool | binarize (const char *algorithm, const double &min, const double &max) |
| void | morphClosing (const int &closure) |
| void | morphOpening (const int &opening) |
| int | blobize (const int &maxNumBlobs) |
| void | pushContour (const std::vector< cv::Point > &contour) |
| bool | getBlobsXY (std::vector< cv::Point2d > &locations) |
| bool | getBlobsArea (std::vector< double > &areas) |
| bool | getBlobsSolidity (std::vector< double > &solidities) |
| +bool | getBlobsRect (std::vector< cv::Rect > &rects) |
| bool | getBlobsAngle (const int &method, std::vector< double > &angles) |
| bool | getBlobsAspectRatio (std::vector< double > &aspectRatios, std::vector< double > &axisFirsts, std::vector< double > &axisSeconds) |
| +bool | getBlobsPerimeter (std::vector< double > &perimeters) |
| bool | getBlobsRectangularity (std::vector< double > &rectangularities) |
| bool | getBlobsHSV (std::vector< double > &hues, std::vector< double > &vals, std::vector< double > &sats, std::vector< double > &hueStdDevs, std::vector< double > &valStdDevs, std::vector< double > &satStdDevs) |
| cv::Mat & | getCvMat (const int &image, const int &vizualization) |
| void | release () |
+Protected Attributes | |
| bool | _quiet |
| bool | _overwrite |
| cv::Mat | _img |
| cv::Mat | _imgHsv |
| cv::Mat | _imgBin |
| cv::Mat | _imgBin3 |
| std::vector< std::vector< cv::Point > > | _contours |
| std::vector< cv::RotatedRect > | _minRotatedRects |
+
|
+ +inline | +
Travis class constructor.
| quiet | suppress messages displayed upon success/failure. |
| overwrite | will not make a copy (faster, less memory), but will overwrite the image you pass. |
| bool roboticslab::Travis::binarize | +( | +const char * | +algorithm | ) | ++ |
Binarize the image.
| algorithm | implemented: "redMinusGreen", "greenMinusRed". |
| bool roboticslab::Travis::binarize | +( | +const char * | +algorithm, | +
| + | + | const double & | +min, | +
| + | + | const double & | +max | +
| + | ) | ++ |
Binarize the image.
| algorithm | implemented: "redMinusGreen", "greenMinusRed". |
| min | i.e. 110. |
| max | i.e. 130. |
| bool roboticslab::Travis::binarize | +( | +const char * | +algorithm, | +
| + | + | const double & | +threshold | +
| + | ) | ++ |
Binarize the image.
| algorithm | implemented: "redMinusGreen", "greenMinusRed". |
| threshold | i.e. 50. |
| int roboticslab::Travis::blobize | +( | +const int & | +maxNumBlobs | ) | ++ |
Use findContours to get what we use as blobs.
| maxNumBlobs | the number of max blobs to keep, the rest get truncated. |
| bool roboticslab::Travis::getBlobsAngle | +( | +const int & | +method, | +
| + | + | std::vector< double > & | +angles | +
| + | ) | ++ |
This function calculates ALPHA, and _minRotatedRects as a side effect.
| method | 0=box, 1=ellipse. |
| angles | returned. |
| bool roboticslab::Travis::getBlobsArea | +( | +std::vector< double > & | +areas | ) | ++ |
This function calculates the Area of the blobs (contours).
| areas | returned. |
| bool roboticslab::Travis::getBlobsAspectRatio | +( | +std::vector< double > & | +aspectRatios, | +
| + | + | std::vector< double > & | +axisFirsts, | +
| + | + | std::vector< double > & | +axisSeconds | +
| + | ) | ++ |
This function calculates the Aspect Ratios and Axes of the stored _minRotatedRects.
| aspectRatios | returned. |
| axisFirsts | returned. |
| axisSeconds | returned. |
| bool roboticslab::Travis::getBlobsHSV | +( | +std::vector< double > & | +hues, | +
| + | + | std::vector< double > & | +vals, | +
| + | + | std::vector< double > & | +sats, | +
| + | + | std::vector< double > & | +hueStdDevs, | +
| + | + | std::vector< double > & | +valStdDevs, | +
| + | + | std::vector< double > & | +satStdDevs | +
| + | ) | ++ |
This function calculates HSV Means and Standard Deviations.
| hues | returned. |
| vals | returned. |
| sats | returned. |
| hueStdDevs | returned. |
| valStdDevs | returned. |
| satStdDevs | returned. |
| bool roboticslab::Travis::getBlobsRectangularity | +( | +std::vector< double > & | +rectangularities | ) | ++ |
This function calculates the Rectangularities of the stored _minRotatedRects.
| rectangularities | returned. |
| bool roboticslab::Travis::getBlobsSolidity | +( | +std::vector< double > & | +solidities | ) | ++ |
This function calculates the Solidity of the blobs (contours).
| solidities | returned. |
| bool roboticslab::Travis::getBlobsXY | +( | +std::vector< cv::Point2d > & | +locations | ) | ++ |
This function calculates X and Y as moments directly extracted from the stored contours.
| locations | returned. |
| cv::Mat & roboticslab::Travis::getCvMat | +( | +const int & | +image, | +
| + | + | const int & | +vizualization | +
| + | ) | ++ |
Get the image in cv::Mat format.
| image | |
| vizualization | param, 0=None,1=Box,2=Contour,3=Both. |
| void roboticslab::Travis::morphClosing | +( | +const int & | +closure | ) | ++ |
Morphologically closing the binarized image.
| closure | i.e. 4 for a 100x100 image, 15 for higher resolution. |
| void roboticslab::Travis::morphOpening | +( | +const int & | +opening | ) | ++ |
Morphologically opening the binarized image.
| opening | i.e. 4 for a 100x100 image, 15 for higher resolution. |
| void roboticslab::Travis::pushContour | +( | +const std::vector< cv::Point > & | +contour | ) | ++ |
Push a contour.
| contour | to be pushed on to the stack. Use with care. |
| void roboticslab::Travis::release | +( | +) | ++ |
Release _img and _imgBin3 to prevent memory leaks.
+ +| bool roboticslab::Travis::setBinCvMat | +( | +const cv::Mat & | +image | ) | ++ |
Set the image in cv::Mat format.
| image | the image to set, in cv::Mat format. |
| bool roboticslab::Travis::setCvMat | +( | +const cv::Mat & | +image | ) | ++ |
Set the image in cv::Mat format.
| image | the image to set, in cv::Mat format. |
+
|
+ +protected | +
Store the contours (blob contours).
+ +
+
|
+ +protected | +
Store the image in cv::Mat format.
+ +
+
|
+ +protected | +
Store the binary image in cv::Mat format.
+ +
+
|
+ +protected | +
Store the binary image fit for 3 layer sending in cv::Mat format.
+ +
+
|
+ +protected | +
Store the hsv image in cv::Mat format.
+ +
+
|
+ +protected | +
Store the box.
+ +
+
|
+ +protected | +
Store the overwrite parameter.
+ +
+
|
+ +protected | +
Store the verbosity level.
+ + 1.9.1
+
+
+
diff --git a/classroboticslab_1_1VoxelOccupancyDetection-members.html b/classroboticslab_1_1VoxelOccupancyDetection-members.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
This is the complete list of members for roboticslab::VoxelOccupancyDetection, including all inherited members.
+ 1.9.1
+
+
+
diff --git a/classroboticslab_1_1VoxelOccupancyDetection.html b/classroboticslab_1_1VoxelOccupancyDetection.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Computer Vision 1. +
+ +#include <VoxelOccupancyDetection.hpp>
+ +Public Member Functions | |
| +bool | configure (yarp::os::ResourceFinder &rf) |
+Private Member Functions | |
| +bool | interruptModule () |
| +double | getPeriod () |
| +bool | updateModule () |
+Private Attributes | |
| +SegmentorThread | segmentorThread |
| +yarp::dev::PolyDriver | dd |
| +yarp::dev::IRGBDSensor * | iRGBDSensor |
| +yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelMono16 > > | outImg |
| +yarp::os::Port | outPort |
| +int | cropSelector |
| +yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > > | outCropSelectorImg |
| +yarp::os::Port | inCropSelectorPort |
| +double | watchdog |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1VoxelOccupancyDetection.png b/classroboticslab_1_1VoxelOccupancyDetection.png
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+ vision
+
+ |
+
This is the complete list of members for roboticslab::YarpCropCallback, including all inherited members.
+| cropMutex (defined in roboticslab::YarpCropCallback) | roboticslab::YarpCropCallback | mutableprivate |
| cropVertices (defined in roboticslab::YarpCropCallback) | roboticslab::YarpCropCallback | private |
| getVertices() const (defined in roboticslab::YarpCropCallback) | roboticslab::YarpCropCallback | |
| isCropping (defined in roboticslab::YarpCropCallback) | roboticslab::YarpCropCallback | private |
| onRead(yarp::os::Bottle &bot, const yarp::os::TypedReader< yarp::os::Bottle > &reader) override (defined in roboticslab::YarpCropCallback) | roboticslab::YarpCropCallback | |
| VertexType typedef (defined in roboticslab::YarpCropCallback) | roboticslab::YarpCropCallback |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1YarpCropCallback.html b/classroboticslab_1_1YarpCropCallback.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
+ +Public Types | |
| +using | VertexType = std::pair< int, int > |
+Public Member Functions | |
| +void | onRead (yarp::os::Bottle &bot, const yarp::os::TypedReader< yarp::os::Bottle > &reader) override |
| +yarp::sig::VectorOf< VertexType > | getVertices () const |
+Private Attributes | |
| +yarp::sig::VectorOf< VertexType > | cropVertices |
| +std::mutex | cropMutex |
| +bool | isCropping {false} |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1YarpCropCallback.png b/classroboticslab_1_1YarpCropCallback.png
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+ vision
+
+ |
+
This is the complete list of members for roboticslab::test::ArucoDetectorTest, including all inherited members.
+| detectorDevice (defined in roboticslab::test::ArucoDetectorTest) | roboticslab::test::ArucoDetectorTest | protected |
| expectedValues (defined in roboticslab::test::ArucoDetectorTest) | roboticslab::test::ArucoDetectorTest | protectedstatic |
| iDetector (defined in roboticslab::test::ArucoDetectorTest) | roboticslab::test::ArucoDetectorTest | protected |
| SetUp() override (defined in roboticslab::test::ArucoDetectorTest) | roboticslab::test::ArucoDetectorTest | inline |
| TearDown() override (defined in roboticslab::test::ArucoDetectorTest) | roboticslab::test::ArucoDetectorTest | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1ArucoDetectorTest.html b/classroboticslab_1_1test_1_1ArucoDetectorTest.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Tests ArucoDetector. +
+
+ +Public Member Functions | |
| +void | SetUp () override |
| +void | TearDown () override |
+Protected Attributes | |
| +roboticslab::IDetector * | iDetector |
| +yarp::dev::PolyDriver | detectorDevice |
+Static Protected Attributes | |
| +static std::unordered_set< yarp::os::Property, PropertyHasher, PropertyComparer > | expectedValues |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1ArucoDetectorTest.png b/classroboticslab_1_1test_1_1ArucoDetectorTest.png
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+ vision
+
+ |
+
This is the complete list of members for roboticslab::test::ColorRegionDetectorTest, including all inherited members.
+| detectorDevice (defined in roboticslab::test::ColorRegionDetectorTest) | roboticslab::test::ColorRegionDetectorTest | protected |
| iDetector (defined in roboticslab::test::ColorRegionDetectorTest) | roboticslab::test::ColorRegionDetectorTest | protected |
| SetUp() override (defined in roboticslab::test::ColorRegionDetectorTest) | roboticslab::test::ColorRegionDetectorTest | inline |
| TearDown() override (defined in roboticslab::test::ColorRegionDetectorTest) | roboticslab::test::ColorRegionDetectorTest | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1ColorRegionDetectorTest.html b/classroboticslab_1_1test_1_1ColorRegionDetectorTest.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Tests ColorRegionDetector. +
+
+ +Public Member Functions | |
| +void | SetUp () override |
| +void | TearDown () override |
+Protected Attributes | |
| +roboticslab::IDetector * | iDetector |
| +yarp::dev::PolyDriver | detectorDevice |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1ColorRegionDetectorTest.png b/classroboticslab_1_1test_1_1ColorRegionDetectorTest.png
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+ vision
+
+ |
+
This is the complete list of members for roboticslab::test::DnnDetectorTest, including all inherited members.
+| detectorDevice (defined in roboticslab::test::DnnDetectorTest) | roboticslab::test::DnnDetectorTest | protected |
| iDetector (defined in roboticslab::test::DnnDetectorTest) | roboticslab::test::DnnDetectorTest | protected |
| SetUp() override (defined in roboticslab::test::DnnDetectorTest) | roboticslab::test::DnnDetectorTest | inline |
| TearDown() override (defined in roboticslab::test::DnnDetectorTest) | roboticslab::test::DnnDetectorTest | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1DnnDetectorTest.html b/classroboticslab_1_1test_1_1DnnDetectorTest.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Tests DnnDetector. +
+
+ +Public Member Functions | |
| +void | SetUp () override |
| +void | TearDown () override |
+Protected Attributes | |
| +roboticslab::IDetector * | iDetector |
| +yarp::dev::PolyDriver | detectorDevice |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1DnnDetectorTest.png b/classroboticslab_1_1test_1_1DnnDetectorTest.png
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+ vision
+
+ |
+
This is the complete list of members for roboticslab::test::HaarDetectorTest, including all inherited members.
+| detectorDevice (defined in roboticslab::test::HaarDetectorTest) | roboticslab::test::HaarDetectorTest | protected |
| iDetector (defined in roboticslab::test::HaarDetectorTest) | roboticslab::test::HaarDetectorTest | protected |
| SetUp() override (defined in roboticslab::test::HaarDetectorTest) | roboticslab::test::HaarDetectorTest | inline |
| TearDown() override (defined in roboticslab::test::HaarDetectorTest) | roboticslab::test::HaarDetectorTest | inline |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1HaarDetectorTest.html b/classroboticslab_1_1test_1_1HaarDetectorTest.html
new file mode 100644
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Tests ColorRegionDetector. +
+
+ +Public Member Functions | |
| +void | SetUp () override |
| +void | TearDown () override |
+Protected Attributes | |
| +roboticslab::IDetector * | iDetector |
| +yarp::dev::PolyDriver | detectorDevice |
1.9.1
+
+
+
diff --git a/classroboticslab_1_1test_1_1HaarDetectorTest.png b/classroboticslab_1_1test_1_1HaarDetectorTest.png
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+ vision
+
+ |
+
This is the complete list of members for roboticslab::test::QrDetectorTest, including all inherited members.
+| detectorDevice (defined in roboticslab::test::QrDetectorTest) | roboticslab::test::QrDetectorTest | protected |
| expectedValues (defined in roboticslab::test::QrDetectorTest) | roboticslab::test::QrDetectorTest | protectedstatic |
| iDetector (defined in roboticslab::test::QrDetectorTest) | roboticslab::test::QrDetectorTest | protected |
| SetUp() override (defined in roboticslab::test::QrDetectorTest) | roboticslab::test::QrDetectorTest | inline |
| TearDown() override (defined in roboticslab::test::QrDetectorTest) | roboticslab::test::QrDetectorTest | inline |
1.9.1
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1.9.1
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+ vision
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+ |
+
1.9.1
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+ vision
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+ |
+
1.9.1
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+ vision
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+ |
+
1.9.1
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+ vision
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+ |
+
1.9.1
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diff --git a/doc.png b/doc.png
new file mode 100644
index 0000000000000000000000000000000000000000..17edabff95f7b8da13c9516a04efe05493c29501
GIT binary patch
literal 746
zcmV|
+ vision
+
+ |
+
| ▼ libraries | |
| ▼ TravisLib | |
| TravisLib.hpp | |
| ▼ YarpCloudUtils | |
| LogComponent.hpp | |
| tinyply.h | |
| YarpCloudUtils-pcl-impl.hpp | |
| YarpCloudUtils-pcl-inst.hpp | |
| YarpCloudUtils-pcl-traits.hpp | |
| YarpCloudUtils-pcl.hpp | |
| YarpCloudUtils.hpp | |
| ▼ YarpCropCallback | |
| YarpCropCallback.hpp | |
| ▼ YarpPlugins | |
| ▼ ArucoDetector | |
| ArucoDetector.hpp | |
| ▼ ColorRegionDetector | |
| ColorRegionDetector.hpp | |
| ▼ DnnDetector | |
| DnnDetector.hpp | |
| ▼ HaarDetector | |
| HaarDetector.hpp | |
| ▼ QrDetector | |
| QrDetector.hpp | |
| IDetector.hpp | |
| ▼ programs | |
| ▼ pointAtObjectServer | |
| LineCallbackPort.hpp | |
| PointAtObjectServer.hpp | |
| SharedArea.hpp | |
| vtkTimerCallback.hpp | |
| ▼ rgbdDetection | |
| RgbdDetection.hpp | |
| ▼ rgbDetection | |
| RgbDetection.hpp | |
| ▼ sceneReconstruction | |
| KinectFusion.hpp | |
| KinectFusionImpl.hpp | |
| LogComponent.hpp | |
| SceneReconstruction.hpp | |
| ▼ voxelOccupancyDetection | |
| SegmentorThread.hpp | |
| VoxelOccupancyDetection.hpp |
1.9.1
+
+
+
diff --git a/folderclosed.png b/folderclosed.png
new file mode 100644
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zcmV-u0+;=XP)|
+ vision
+
+ |
+
1.9.1
+
+
+
diff --git a/functions_func.html b/functions_func.html
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+ vision
+
+ |
+
1.9.1
+
+
+
diff --git a/functions_vars.html b/functions_vars.html
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+ vision
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+ |
+
1.9.1
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+
diff --git a/group__ArucoDetector.html b/group__ArucoDetector.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Contains roboticslab::ArucoDetector. +
+ 1.9.1
+
+
+
diff --git a/group__ColorRegionDetector.html b/group__ColorRegionDetector.html
new file mode 100644
index 00000000..e289eef5
--- /dev/null
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+
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+
+|
+ vision
+
+ |
+
Contains roboticslab::ColorRegionDetector. +
+ 1.9.1
+
+
+
diff --git a/group__DnnDetector.html b/group__DnnDetector.html
new file mode 100644
index 00000000..d105ba21
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+
+
+
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+
+
+
+|
+ vision
+
+ |
+
Contains roboticslab::DnnDetector. +
+ 1.9.1
+
+
+
diff --git a/group__HaarDetector.html b/group__HaarDetector.html
new file mode 100644
index 00000000..5f13c1af
--- /dev/null
+++ b/group__HaarDetector.html
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
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+ vision
+
+ |
+
Contains roboticslab::HaarDetector. +
+ 1.9.1
+
+
+
diff --git a/group__QrDetector.html b/group__QrDetector.html
new file mode 100644
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+
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+
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+ vision
+
+ |
+
Contains roboticslab::QrDetector. +
+ 1.9.1
+
+
+
diff --git a/group__TravisLib.html b/group__TravisLib.html
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+ vision
+
+ |
+
+Classes | |
| class | roboticslab::Travis |
| The Travis class implements all the algorithms on a single image. More... | |
1.9.1
+
+
+
diff --git a/group__YarpCloudUtils.html b/group__YarpCloudUtils.html
new file mode 100644
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@@ -0,0 +1,523 @@
+
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+
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+
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+ vision
+
+ |
+
Collection of cloud-related utilities for YARP. +More...
++Functions | |
| template<typename T > | |
| bool | roboticslab::YarpCloudUtils::savePLY (const std::string &filename, const yarp::sig::PointCloud< T > &cloud, const yarp::sig::VectorOf< int > &indices, bool isBinary=true) |
| Writes a triangular polygon mesh to file. More... | |
| template<typename T > | |
| bool | roboticslab::YarpCloudUtils::savePLY (const std::string &filename, const yarp::sig::PointCloud< T > &cloud, bool isBinary=true) |
| Writes a point cloud to file. More... | |
| template<typename T > | |
| bool | roboticslab::YarpCloudUtils::loadPLY (const std::string &filename, yarp::sig::PointCloud< T > &cloud, yarp::sig::VectorOf< int > &indices) |
| Reads a triangular polygon mesh from file. More... | |
| template<typename T > | |
| bool | roboticslab::YarpCloudUtils::loadPLY (const std::string &filename, yarp::sig::PointCloud< T > &cloud) |
| Reads a point cloud from file. More... | |
| template<typename T1 , typename T2 > | |
| bool | roboticslab::YarpCloudUtils::meshFromCloud (const yarp::sig::PointCloud< T1 > &cloud, yarp::sig::PointCloud< T2 > &meshPoints, yarp::sig::VectorOf< int > &meshIndices, const yarp::sig::VectorOf< yarp::os::Property > &options) |
| Constructs a triangular polygon mesh from a point cloud. More... | |
| template<typename T1 , typename T2 > | |
| bool | roboticslab::YarpCloudUtils::meshFromCloud (const yarp::sig::PointCloud< T1 > &cloud, yarp::sig::PointCloud< T2 > &meshPoints, yarp::sig::VectorOf< int > &meshIndices, const yarp::os::Searchable &config, const std::string &collection="meshPipeline") |
| Constructs a triangular polygon mesh from a point cloud. More... | |
| template<typename T1 , typename T2 > | |
| bool | roboticslab::YarpCloudUtils::processCloud (const yarp::sig::PointCloud< T1 > &in, yarp::sig::PointCloud< T2 > &out, const yarp::sig::VectorOf< yarp::os::Property > &options) |
| Processes a cloud of points. More... | |
| template<typename T1 , typename T2 > | |
| bool | roboticslab::YarpCloudUtils::processCloud (const yarp::sig::PointCloud< T1 > &in, yarp::sig::PointCloud< T2 > &out, const yarp::os::Searchable &config, const std::string &collection="cloudPipeline") |
| Processes a cloud of points. More... | |
| bool roboticslab::YarpCloudUtils::loadPLY | +( | +const std::string & | +filename, | +
| + | + | yarp::sig::PointCloud< T > & | +cloud | +
| + | ) | ++ |
alpha (RGBA types) and curvature (normal types).| filename | Path to a file with .ply extension. |
| cloud | Cloud of vertices. |
| bool roboticslab::YarpCloudUtils::loadPLY | +( | +const std::string & | +filename, | +
| + | + | yarp::sig::PointCloud< T > & | +cloud, | +
| + | + | yarp::sig::VectorOf< int > & | +indices | +
| + | ) | ++ |
alpha (RGBA types) and curvature (normal types).| filename | Path to a file with .ply extension. |
| cloud | Cloud of vertices. |
| indices | Vector of indices, each three consecutive values define a face. |
| bool roboticslab::YarpCloudUtils::meshFromCloud | +( | +const yarp::sig::PointCloud< T1 > & | +cloud, | +
| + | + | yarp::sig::PointCloud< T2 > & | +meshPoints, | +
| + | + | yarp::sig::VectorOf< int > & | +meshIndices, | +
| + | + | const yarp::os::Searchable & | +config, | +
| + | + | const std::string & | +collection = "meshPipeline" |
+
| + | ) | ++ |
| cloud | Input cloud. |
| meshPoints | Cloud of vertices of the resulting polygon mesh. |
| meshIndices | Vector if indices of the resulting polygon mesh, each three consecutive values define a face. |
| config | Configuration in YARP native format to read the pipeline from. |
| collection | Named section collection that identifies this pipeline in config. |
| bool roboticslab::YarpCloudUtils::meshFromCloud | +( | +const yarp::sig::PointCloud< T1 > & | +cloud, | +
| + | + | yarp::sig::PointCloud< T2 > & | +meshPoints, | +
| + | + | yarp::sig::VectorOf< int > & | +meshIndices, | +
| + | + | const yarp::sig::VectorOf< yarp::os::Property > & | +options | +
| + | ) | ++ |
| cloud | Input cloud. |
| meshPoints | Cloud of vertices of the resulting polygon mesh. |
| meshIndices | Vector if indices of the resulting polygon mesh, each three consecutive values define a face. |
| options | Vector of dictionaries, each element defines a step of the pipeline. |
| bool roboticslab::YarpCloudUtils::processCloud | +( | +const yarp::sig::PointCloud< T1 > & | +in, | +
| + | + | yarp::sig::PointCloud< T2 > & | +out, | +
| + | + | const yarp::os::Searchable & | +config, | +
| + | + | const std::string & | +collection = "cloudPipeline" |
+
| + | ) | ++ |
| cloud | Input cloud. |
| meshPoints | Cloud of vertices of the resulting polygon mesh. |
| meshIndices | Vector if indices of the resulting polygon mesh, each three consecutive values define a face. |
| config | Configuration in YARP native format to read the pipeline from. |
| collection | Named section collection that identifies this pipeline in config. |
| bool roboticslab::YarpCloudUtils::processCloud | +( | +const yarp::sig::PointCloud< T1 > & | +in, | +
| + | + | yarp::sig::PointCloud< T2 > & | +out, | +
| + | + | const yarp::sig::VectorOf< yarp::os::Property > & | +options | +
| + | ) | ++ |
| cloud | Input cloud. |
| meshPoints | Cloud of vertices of the resulting polygon mesh. |
| meshIndices | Vector if indices of the resulting polygon mesh, each three consecutive values define a face. |
| options | Vector of dictionaries, each element defines a step of the pipeline. |
| bool roboticslab::YarpCloudUtils::savePLY | +( | +const std::string & | +filename, | +
| + | + | const yarp::sig::PointCloud< T > & | +cloud, | +
| + | + | bool | +isBinary = true |
+
| + | ) | ++ |
| filename | Path to a file with .ply extension. |
| cloud | Cloud of points. |
| isBinary | Whether to save file with binary format or not. |
| bool roboticslab::YarpCloudUtils::savePLY | +( | +const std::string & | +filename, | +
| + | + | const yarp::sig::PointCloud< T > & | +cloud, | +
| + | + | const yarp::sig::VectorOf< int > & | +indices, | +
| + | + | bool | +isBinary = true |
+
| + | ) | ++ |
| filename | Path to a file with .ply extension. |
| cloud | Cloud of vertices. |
| indices | Vector of indices, each three consecutive values define a face. |
| isBinary | Whether to save file with binary format or not. |
1.9.1
+
+
+
diff --git a/group__YarpCropCallback.html b/group__YarpCropCallback.html
new file mode 100644
index 00000000..a8d8bf31
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
A typed callback reader for rectangular crop areas. +
+ 1.9.1
+
+
+
diff --git a/group__YarpPlugins.html b/group__YarpPlugins.html
new file mode 100644
index 00000000..089707c9
--- /dev/null
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@@ -0,0 +1,113 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Contains vision libraries that implement YARP device interfaces and therefore can be invoked as YARP plugins. +More...
++Modules | |
| ArucoDetector | |
| Contains roboticslab::ArucoDetector. | |
| ColorRegionDetector | |
| Contains roboticslab::ColorRegionDetector. | |
| DnnDetector | |
| Contains roboticslab::DnnDetector. | |
| HaarDetector | |
| Contains roboticslab::HaarDetector. | |
| QrDetector | |
| Contains roboticslab::QrDetector. | |
+Classes | |
| class | roboticslab::IDetector |
| Interface for object detection. More... | |
1.9.1
+
+
+
diff --git a/group__exampleArucoDetector.html b/group__exampleArucoDetector.html
new file mode 100644
index 00000000..036b4fd4
--- /dev/null
+++ b/group__exampleArucoDetector.html
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
exampleArucoDetector +
+ 1.9.1
+
+
+
diff --git a/group__exampleColorRegion.html b/group__exampleColorRegion.html
new file mode 100644
index 00000000..3a2a230a
--- /dev/null
+++ b/group__exampleColorRegion.html
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
exampleColorRegion +
+ 1.9.1
+
+
+
diff --git a/group__exampleDnnDetector.html b/group__exampleDnnDetector.html
new file mode 100644
index 00000000..d9ac9cdf
--- /dev/null
+++ b/group__exampleDnnDetector.html
@@ -0,0 +1,84 @@
+
+
+
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+
+
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+ vision
+
+ |
+
exampleDnnDetector +
+ 1.9.1
+
+
+
diff --git a/group__exampleHaarDetector.html b/group__exampleHaarDetector.html
new file mode 100644
index 00000000..5f76a7b5
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
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+ vision
+
+ |
+
exampleHaarDetector +
+ 1.9.1
+
+
+
diff --git a/group__exampleMeshFromCloud.html b/group__exampleMeshFromCloud.html
new file mode 100644
index 00000000..ea79b41c
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
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+
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+ vision
+
+ |
+
Sample usage of roboticslab::YarpCloudUtils::meshFromCloud. +
+ 1.9.1
+
+
+
diff --git a/group__exampleMeshFromLiveRGBD.html b/group__exampleMeshFromLiveRGBD.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
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+
+
+
+|
+ vision
+
+ |
+
Transform RGBD frame to cloud/mesh. +
+ 1.9.1
+
+
+
diff --git a/group__exampleProcessCloud.html b/group__exampleProcessCloud.html
new file mode 100644
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--- /dev/null
+++ b/group__exampleProcessCloud.html
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Sample usage of roboticslab::YarpCloudUtils::processCloud. +
+ 1.9.1
+
+
+
diff --git a/group__exampleQrDetector.html b/group__exampleQrDetector.html
new file mode 100644
index 00000000..d76c5d25
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
exampleQrDetector +
+ 1.9.1
+
+
+
diff --git a/group__exampleRemoteGrabber.html b/group__exampleRemoteGrabber.html
new file mode 100644
index 00000000..9d5fc1fb
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
This example connects to a remote grabber (generally, RGB) device. +
+ 1.9.1
+
+
+
diff --git a/group__exampleRemoteRGBDSensor.html b/group__exampleRemoteRGBDSensor.html
new file mode 100644
index 00000000..c37a930f
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
+
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+
+
+|
+ vision
+
+ |
+
This example connects to a remote IRGBDSensor device. +
+ 1.9.1
+
+
+
diff --git a/group__exampleSceneReconstructionClient.html b/group__exampleSceneReconstructionClient.html
new file mode 100644
index 00000000..0458de4c
--- /dev/null
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@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Sample usage of sceneReconstruction. +
+ 1.9.1
+
+
+
diff --git a/group__pointAtObjectServer.html b/group__pointAtObjectServer.html
new file mode 100644
index 00000000..791dfd72
--- /dev/null
+++ b/group__pointAtObjectServer.html
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Creates an instance of roboticslab::PointAtObjectServer. +
+ 1.9.1
+
+
+
diff --git a/group__rgbDetection.html b/group__rgbDetection.html
new file mode 100644
index 00000000..fb6b0d9b
--- /dev/null
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@@ -0,0 +1,132 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Creates an instance of roboticslab::RgbDetection. +More...
++Classes | |
| class | roboticslab::RgbDetection |
| 2D detection. More... | |
| PROPERTY | DESCRIPTION | DEFAULT |
|---|---|---|
| from | file.ini | rgbDetection.ini |
| context | context name | rgbDetection |
| sensorDevice | sensor device name | frameGrabber_nwc_yarp |
| sensorRemote | if accesing remote, remote port name | /grabber |
| localPrefx | local port name prefix | /rgbDetection |
| period | update period (seconds) | 0.02 |
| detector | detector device name |
| PORT | CONTENT |
|---|---|
| <localPrefix>/crop:i | 4-int bottle with (x1,y1,x2,y2) vertices of the rectangular crop area |
| PORT | CONTENT |
|---|---|
| <localPrefix>/img:o | output camera image with object detection using squares |
| <localPrefix>/state:o | detected objects |
1.9.1
+
+
+
diff --git a/group__rgbdDetection.html b/group__rgbdDetection.html
new file mode 100644
index 00000000..7aaa3da0
--- /dev/null
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@@ -0,0 +1,132 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Creates an instance of roboticslab::RgbdDetection. +More...
++Classes | |
| class | roboticslab::RgbdDetection |
| 2.5D detection. More... | |
| PROPERTY | DESCRIPTION | DEFAULT |
|---|---|---|
| from | file.ini | rgbdDetection.ini |
| context | context name | rgbdDetection |
| sensorDevice | sensor device name | RGBDSensorClient |
| sensorRemote | if accesing remote, remote port name | /rgbd |
| localPrefx | local port name prefix | /rgbdDetection |
| period | update period (seconds) | 0.02 |
| detector | detector device name |
| PORT | CONTENT |
|---|---|
| <localPrefix>/crop:i | 4-int bottle with (x1,y1,x2,y2) vertices of the rectangular crop area |
| PORT | CONTENT |
|---|---|
| <localPrefix>/img:o | output camera image with object detection using squares |
| <localPrefix>/state:o | xyz coordinates of object detection (meters) |
1.9.1
+
+
+
diff --git a/group__sceneReconstruction.html b/group__sceneReconstruction.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,175 @@
+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Creates an instance of roboticslab::SceneReconstruction. +More...
++Classes | |
| class | roboticslab::SceneReconstruction |
| Exposes Kinect Fusion as a YARP service via RPC. More... | |
| PROPERTY | DESCRIPTION | DEFAULT |
|---|---|---|
| from | file.ini | sceneReconstruction.ini |
| context | context name | sceneReconstruction |
| period | update period (ms) | 20 |
| prefix | prefix for local port names | /sceneReconstruction |
| remote | remote port to connect to (optional) | |
| carrier | carrier name for remote depth stream |
| PORT | CONTENT |
|---|---|
| /<prefix>/rpc:s | RPC server for handling remote commands |
| /<prefix>/render:o | PixelMono Phong-rendered representation of the reconstructed surface |
| PROPERTY | DESCRIPTION | DEFAULT |
|---|---|---|
| algorithm | Kinect Fusion algorithm ("kinfu", "dynafu", "kinfu_ls") | kinfu |
| bilateralKernelSize | kernel size in pixels for bilateral smooth | 7 |
| bilateralSigmaDepth | depth sigma in meters for bilateral smooth | 0.04 |
| bilateralSigmaSpatial | spatial sigma in pixels for bilateral smooth | 4.5 |
| depthFactor | pre-scale per 1 meter for input values | 5000 |
| depthTruncThreshold | distance to truncate in meters (kinfu_ls/hashtsdf) | 0.0410156 |
| icpAngleThresh | angle threshold in radians for ICP | 0.523599 |
| icpDistThresh | distance threshold in meters for ICP | 0.1 |
| icpIterations | iterations per each ICP level | (10 5 4) |
| lightPose | light pose for rendering in meters | (0.0 0.0 0.0) |
| pyramidLevels | number of pyramid levels for ICP | 3 |
| raycastStepFactor | a lenght in voxel sizes for one raycast step | 0.25 |
| truncateThreshold | threshold for depth truncation in meters | 0.0 |
| tsdfMaxWeight | max number of frames per voxel | 64 |
| tsdfMinCameraMovement | minimal camera movement in meters | 0.0 |
| tsdfTruncDist | distance to truncate in meters | 0.0410156 |
| unitResolution | resolution of volumeUnit in voxel space (kinfu_ls/hashtsdf) | 0 |
| volumeDims | resolution of voxel space | (512 512 512) |
| volumePoseRot | volume pose (rotation matrix) in radians | (1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0) |
| volumePoseTransl | volume pose (translation vector) in meters | (-1.5 -1.5 0.5) |
| volumeType | type of voxel volume ("tsdf", "hashtsdf") | tsdf |
| voxelSize | size of voxel in meters | 0.00585938 |
1.9.1
+
+
+
diff --git a/group__vision__applications.html b/group__vision__applications.html
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+
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+ vision
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+ |
+
vision applications (collections of programs). +
+ 1.9.1
+
+
+
diff --git a/group__vision__examples.html b/group__vision__examples.html
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+
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vision examples. +More...
++Modules | |
| exampleArucoDetector | |
| exampleArucoDetector | |
| exampleColorRegion | |
| exampleColorRegion | |
| exampleDnnDetector | |
| exampleDnnDetector | |
| exampleHaarDetector | |
| exampleHaarDetector | |
| exampleMeshFromCloud | |
| Sample usage of roboticslab::YarpCloudUtils::meshFromCloud. | |
| exampleMeshFromLiveRGBD | |
| Transform RGBD frame to cloud/mesh. | |
| exampleProcessCloud | |
| Sample usage of roboticslab::YarpCloudUtils::processCloud. | |
| exampleQrDetector | |
| exampleQrDetector | |
| exampleRemoteGrabber | |
| This example connects to a remote grabber (generally, RGB) device. | |
| exampleRemoteRGBDSensor | |
| This example connects to a remote IRGBDSensor device. | |
| exampleSceneReconstructionClient | |
| Sample usage of sceneReconstruction. | |
1.9.1
+
+
+
diff --git a/group__vision__libraries.html b/group__vision__libraries.html
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+
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+ vision
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vision libraries. +More...
++Modules | |
| YarpPlugins | |
| Contains vision libraries that implement YARP device interfaces and therefore can be invoked as YARP plugins. | |
| TravisLib | |
| YarpCloudUtils | |
| Collection of cloud-related utilities for YARP. | |
| YarpCropCallback | |
| A typed callback reader for rectangular crop areas. | |
1.9.1
+
+
+
diff --git a/group__vision__programs.html b/group__vision__programs.html
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vision programs. +More...
++Modules | |
| PointAtObjectServer | |
| Creates an instance of roboticslab::PointAtObjectServer. | |
| rgbdDetection | |
| Creates an instance of roboticslab::RgbdDetection. | |
| rgbDetection | |
| Creates an instance of roboticslab::RgbDetection. | |
| sceneReconstruction | |
| Creates an instance of roboticslab::SceneReconstruction. | |
| voxelOccupancyDetection | |
| Creates an instance of roboticslab::VoxelOccupancyDetection. | |
1.9.1
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+
+
diff --git a/group__vision__tests.html b/group__vision__tests.html
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+
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+ vision
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vision tests. +More...
++Classes | |
| class | roboticslab::test::ArucoDetectorTest |
| Tests ArucoDetector. More... | |
| class | roboticslab::test::ColorRegionDetectorTest |
| Tests ColorRegionDetector. More... | |
| class | roboticslab::test::DnnDetectorTest |
| Tests DnnDetector. More... | |
| class | roboticslab::test::HaarDetectorTest |
| Tests ColorRegionDetector. More... | |
| class | roboticslab::test::QrDetectorTest |
| Tests QrDetector. More... | |
| class | roboticslab::test::YarpCloudUtilsTest |
| Tests YarpCloudUtils. More... | |
1.9.1
+
+
+
diff --git a/group__voxelOccupancyDetection.html b/group__voxelOccupancyDetection.html
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Creates an instance of roboticslab::VoxelOccupancyDetection. +More...
++Classes | |
| class | roboticslab::DataProcessor |
| Implements voxelOccupancyDetection callback on Bottle. More... | |
| class | roboticslab::SegmentorThread |
| Implements voxelOccupancyDetection PeriodicThread. More... | |
| class | roboticslab::VoxelOccupancyDetection |
| Computer Vision 1. More... | |
| PROPERTY | DESCRIPTION | DEFAULT |
|---|---|---|
| help | ||
| from | file.ini | |
| context | path | |
| cropSelector | 0 | |
| RGBDDevice | device we create | RGBDSensorClient |
| RGBDLocal | if accesing remote, local port name | /voxelOccupancyDetection |
| RGBDRemote | if accesing remote, remote port name | /rgbd |
| watchdog | 2.000000 |
| PROPERTY | DESCRIPTION | DEFAULT |
|---|---|---|
| help | ||
| from | file.ini | |
| context | path | |
| algorithm | blueMinusRed | |
| locate | centroid or bottom | centroid |
| maxNumBlobs | 2 | |
| morphClosing | percentage, 2 or 4 okay | 2.000000 |
| morphOpening | percentage, 2 or 4 okay | 0.000000 |
| outFeatures | mmX, mmY, mmZ, pxXpos, pxYpos, pxX, pxY, angle, area, aspectRatio, rectangularity, axisFirst, axisSecond solidity, hue, sat, val, hueStdDev, satStdDev, valStdDev, time | (mmX mmY mmZ) |
| outFeaturesFormat | 0=bottled,1=minimal | 0 |
| outImage | 0=rgb,1=bin | 1 |
| rateMs | 20 | |
| seeBounding | 0=none,1=box,2=contour,3=both | 3 |
| threshold | 55 |
1.9.1
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+
diff --git a/hierarchy.html b/hierarchy.html
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+
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1.9.1
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diff --git a/index.html b/index.html
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+
+
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+ vision
+
+ |
+
Vision processing.
+Link to Doxygen generated documentation: https://robots.uc3m.es/vision/
+Installation instructions for installing from source can be found here.
+
git checkout -b my-new-feature) off the master branch, following the Forking Git workflowgit push origin my-new-feature)If you found this project useful, please consider citing the following works:
+ +Bartek Łukawski, Alberto Rodríguez-Sanz, Elisabeth Menendez, Juan G. Victores, and Carlos Balaguer. A user-friendly point cloud processing pipeline for interfacing PCL with YARP. In XLV Jornadas de Automática. Universidade da Coruña, 2024.
+
1.9.1
+
+
+
diff --git a/jquery.js b/jquery.js
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+++ b/jquery.js
@@ -0,0 +1,35 @@
+/*! jQuery v3.4.1 | (c) JS Foundation and other contributors | jquery.org/license */
+!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],E=C.document,r=Object.getPrototypeOf,s=t.slice,g=t.concat,u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType},x=function(e){return null!=e&&e===e.window},c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof e?n[o.call(e)]||"object":typeof e}var f="3.4.1",k=function(e,t){return new k.fn.init(e,t)},p=/^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g;function d(e){var t=!!e&&"length"in e&&e.length,n=w(e);return!m(e)&&!x(e)&&("array"===n||0===t||"number"==typeof t&&0|
+ vision
+
+ |
+
1.9.1
+
+
+
diff --git a/md_doc_vision_install.html b/md_doc_vision_install.html
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+
+
+
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+
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+ vision
+
+ |
+
Our software integrates the previous dependencies. Note that you will be prompted for your password upon using '''sudo''' a couple of times:
+You may want to (from the same build dir):
For additional VISION options use ccmake instead of cmake.
+ 1.9.1
+
+
+
diff --git a/md_programs_sceneReconstruction_LICENSE_KinectFusion.html b/md_programs_sceneReconstruction_LICENSE_KinectFusion.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Copyright (c) 2012, Anatoly Baksheev All rights reserved.
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ 1.9.1
+
+
+
diff --git a/md_share_contexts_HaarDetector_README.html b/md_share_contexts_HaarDetector_README.html
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+
+
+
+
+
+
+
+|
+ vision
+
+ |
+
Bottle HAAR training.
Car HAAR training.
Chair HAAR training.
+Clock HAAR training.
Cup HAAR training.
Dog HAAR training.
+Lamp HAAR training.
Lemon HAAR training.
Sofa HAAR training.
TV HAAR training.
1.9.1
+
+
+
diff --git a/md_share_contexts_HaarDetector_tests_README.html b/md_share_contexts_HaarDetector_tests_README.html
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+
+
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+ |
+
1.9.1
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+
+
diff --git a/menu.js b/menu.js
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--- /dev/null
+++ b/menu.js
@@ -0,0 +1,51 @@
+/*
+ @licstart The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+ function makeTree(data,relPath) {
+ var result='';
+ if ('children' in data) {
+ result+='
|
+ vision
+
+ |
+
1.9.1
+
+
+
diff --git a/namespacemembers.html b/namespacemembers.html
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+
1.9.1
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+
diff --git a/namespacemembers_func.html b/namespacemembers_func.html
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+
+
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+
1.9.1
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+
+
diff --git a/namespaceroboticslab.html b/namespaceroboticslab.html
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+
+
+
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+
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+
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+ vision
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+ |
+
The main, catch-all namespace for Robotics Lab UC3M. +
++Namespaces | |
| test | |
| Contains classes related to unit testing. | |
| YarpCloudUtils | |
| Collection of cloud-related utilities for YARP. | |
+Classes | |
| class | Travis |
| The Travis class implements all the algorithms on a single image. More... | |
| class | YarpCropCallback |
| class | ArucoDetector |
| class | ColorRegionDetector |
| class | DnnDetector |
| class | HaarDetector |
| class | IDetector |
| Interface for object detection. More... | |
| class | QrDetector |
| class | LineCallbackPort |
| class | PointAtObjectServer |
| class | SharedArea |
| class | vtkTimerCallback |
| class | RgbdDetection |
| 2.5D detection. More... | |
| class | RgbDetection |
| 2D detection. More... | |
| class | KinectFusion |
| class | KinectFusionImpl |
| class | RenderUpdater |
| class | SceneReconstruction |
| Exposes Kinect Fusion as a YARP service via RPC. More... | |
| class | DataProcessor |
| Implements voxelOccupancyDetection callback on Bottle. More... | |
| class | SegmentorThread |
| Implements voxelOccupancyDetection PeriodicThread. More... | |
| class | VoxelOccupancyDetection |
| Computer Vision 1. More... | |
+Functions | |
| bool | compareContourAreas (std::vector< cv::Point > contour1, std::vector< cv::Point > contour2) |
| bool | travisCrop (const int x, const int y, const int width, const int height, cv::Mat &img) |
| std::vector< cv::Point > | getBiggestContour (const cv::Mat image) |
| void | calcLocationXY (float &locX, float &locY, const std::vector< cv::Point > biggestCont) |
| void | calcMask (cv::Mat &mask, const std::vector< cv::Point > biggestCont) |
| void | calcArea (float &area, const std::vector< cv::Point > biggestCont) |
| void | calcRectangularity (float &rectangularity, const std::vector< cv::Point > biggestCont) |
| void | calcAngle (float &angle, const std::vector< cv::Point > biggestCont) |
| void | calcMassCenter (float &massCenterLocX, float &massCenterLocY, const std::vector< cv::Point > biggestCont) |
| void | calcAspectRatio (float &aspectRatio, float &axisFirst, float &axisSecond, const std::vector< cv::Point > biggestCont) |
| void | calcSolidity (float &solidity, const std::vector< cv::Point > biggestCont) |
| void | calcHSVMeanStdDev (const cv::Mat image, const cv::Mat mask, float &hue_mean, float &hue_stddev, float &saturation_mean, float &saturation_stddev, float &value_mean, float &value_stddev) |
| void | calcHSVPeakColor (const cv::Mat image, const cv::Mat mask, float &hue_mode, float &hue_peak, float &value_mode, float &value_peak) |
| void | calcMoments (cv::Mat &theHuMoments, const std::vector< cv::Point > biggestCont) |
| void | calcArcLength (float &arc, const std::vector< cv::Point > biggestCont) |
| void | calcCircle (float &radius, const std::vector< cv::Point > biggestCont) |
| +std::unique_ptr< KinectFusion > | makeColoredKinFu (const yarp::os::Searchable &config, const yarp::sig::IntrinsicParams &depthIntrinsic, const yarp::sig::IntrinsicParams &colorIntrinsic, int depthWidth, int depthHeight, int colorWidth, int colorHeight) |
| +std::unique_ptr< KinectFusion > | makeDynaFu (const yarp::os::Searchable &config, const yarp::sig::IntrinsicParams &intrinsic, int width, int height) |
| +std::unique_ptr< KinectFusion > | makeKinFu (const yarp::os::Searchable &config, const yarp::sig::IntrinsicParams &intrinsic, int width, int height) |
| +template<typename T > | |
| T | getValue (const yarp::os::Value &v) |
| +template<typename TParams , typename TRet > | |
| void | updateParam (TParams ¶ms, TRet TParams::*param, const yarp::os::Searchable &config, const std::string &name, const std::string &description) |
| +std::unique_ptr< KinectFusion > | makeKinFuLargeScale (const yarp::os::Searchable &config, const yarp::sig::IntrinsicParams &intrinsic, int width, int height) |
| void roboticslab::calcAngle | +( | +float & | +angle, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the angle.
+ +| void roboticslab::calcArcLength | +( | +float & | +arc, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the arc length.
+ +| void roboticslab::calcArea | +( | +float & | +area, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the area.
+ +| void roboticslab::calcAspectRatio | +( | +float & | +aspectRatio, | +
| + | + | float & | +axisFirst, | +
| + | + | float & | +axisSecond, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the aspect ratio.
+ +| void roboticslab::calcCircle | +( | +float & | +radius, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the circle.
+ +| void roboticslab::calcHSVMeanStdDev | +( | +const cv::Mat | +image, | +
| + | + | const cv::Mat | +mask, | +
| + | + | float & | +hue_mean, | +
| + | + | float & | +hue_stddev, | +
| + | + | float & | +saturation_mean, | +
| + | + | float & | +saturation_stddev, | +
| + | + | float & | +value_mean, | +
| + | + | float & | +value_stddev | +
| + | ) | ++ |
This function calculates the HSV mean and std deviation.
+ +| void roboticslab::calcHSVPeakColor | +( | +const cv::Mat | +image, | +
| + | + | const cv::Mat | +mask, | +
| + | + | float & | +hue_mode, | +
| + | + | float & | +hue_peak, | +
| + | + | float & | +value_mode, | +
| + | + | float & | +value_peak | +
| + | ) | ++ |
This function calculates the HSV peak color.
+ +| void roboticslab::calcLocationXY | +( | +float & | +locX, | +
| + | + | float & | +locY, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates X and Y.
+ +| void roboticslab::calcMask | +( | +cv::Mat & | +mask, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the mask.
+ +| void roboticslab::calcMassCenter | +( | +float & | +massCenterLocX, | +
| + | + | float & | +massCenterLocY, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the mass center.
+ +| void roboticslab::calcMoments | +( | +cv::Mat & | +theHuMoments, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the moments.
+ +| void roboticslab::calcRectangularity | +( | +float & | +rectangularity, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the rectangularity.
+ +| void roboticslab::calcSolidity | +( | +float & | +solidity, | +
| + | + | const std::vector< cv::Point > | +biggestCont | +
| + | ) | ++ |
This function calculates the solidity.
+ +| bool roboticslab::compareContourAreas | +( | +std::vector< cv::Point > | +contour1, | +
| + | + | std::vector< cv::Point > | +contour2 | +
| + | ) | ++ |
Can be used as a comparison function object for sorting.
+ +| std::vector< cv::Point > roboticslab::getBiggestContour | +( | +const cv::Mat | +image | ) | ++ |
This function gets the biggest contour.
+ +| bool roboticslab::travisCrop | +( | +const int | +x, | +
| + | + | const int | +y, | +
| + | + | const int | +width, | +
| + | + | const int | +height, | +
| + | + | cv::Mat & | +img | +
| + | ) | ++ |
Crop the image.
| image | the image to set, in cv::Mat format. |
1.9.1
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diff --git a/namespaceroboticslab_1_1YarpCloudUtils.html b/namespaceroboticslab_1_1YarpCloudUtils.html
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+ vision
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+
Collection of cloud-related utilities for YARP. +
++Functions | |
| template<typename T1 , typename T2 > | |
| bool | meshFromCloud (const yarp::sig::PointCloud< T1 > &cloud, yarp::sig::PointCloud< T2 > &meshPoints, yarp::sig::VectorOf< int > &meshIndices, const yarp::sig::VectorOf< yarp::os::Property > &options) |
| Constructs a triangular polygon mesh from a point cloud. More... | |
| template<typename T1 , typename T2 > | |
| bool | meshFromCloud (const yarp::sig::PointCloud< T1 > &cloud, yarp::sig::PointCloud< T2 > &meshPoints, yarp::sig::VectorOf< int > &meshIndices, const yarp::os::Searchable &config, const std::string &collection="meshPipeline") |
| Constructs a triangular polygon mesh from a point cloud. More... | |
| template<typename T1 , typename T2 > | |
| bool | processCloud (const yarp::sig::PointCloud< T1 > &in, yarp::sig::PointCloud< T2 > &out, const yarp::sig::VectorOf< yarp::os::Property > &options) |
| Processes a cloud of points. More... | |
| template<typename T1 , typename T2 > | |
| bool | processCloud (const yarp::sig::PointCloud< T1 > &in, yarp::sig::PointCloud< T2 > &out, const yarp::os::Searchable &config, const std::string &collection="cloudPipeline") |
| Processes a cloud of points. More... | |
| template<typename T > | |
| bool | savePLY (const std::string &filename, const yarp::sig::PointCloud< T > &cloud, const yarp::sig::VectorOf< int > &indices, bool isBinary=true) |
| Writes a triangular polygon mesh to file. More... | |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudXY &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudXYZ &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudNormal &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudXYZRGBA &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudXYZI &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudInterestPointXYZ &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudXYZNormal &, const yarp::sig::VectorOf< int > &, bool) |
| +template bool | savePLY (const std::string &, const yarp::sig::PointCloudXYZNormalRGBA &, const yarp::sig::VectorOf< int > &, bool) |
| template<typename T > | |
| bool | loadPLY (const std::string &filename, yarp::sig::PointCloud< T > &cloud, yarp::sig::VectorOf< int > &indices) |
| Reads a triangular polygon mesh from file. More... | |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudXY &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudXYZ &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudNormal &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudXYZRGBA &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudXYZI &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudInterestPointXYZ &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudXYZNormal &, yarp::sig::VectorOf< int > &) |
| +template bool | loadPLY (const std::string &, yarp::sig::PointCloudXYZNormalRGBA &, yarp::sig::VectorOf< int > &) |
| template<typename T > | |
| bool | savePLY (const std::string &filename, const yarp::sig::PointCloud< T > &cloud, bool isBinary=true) |
| Writes a point cloud to file. More... | |
| template<typename T > | |
| bool | loadPLY (const std::string &filename, yarp::sig::PointCloud< T > &cloud) |
| Reads a point cloud from file. More... | |
1.9.1
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+
+
diff --git a/namespaceroboticslab_1_1test.html b/namespaceroboticslab_1_1test.html
new file mode 100644
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Contains classes related to unit testing. +
++Classes | |
| struct | PropertyHasher |
| struct | PropertyComparer |
| class | ArucoDetectorTest |
| Tests ArucoDetector. More... | |
| class | ColorRegionDetectorTest |
| Tests ColorRegionDetector. More... | |
| class | DnnDetectorTest |
| Tests DnnDetector. More... | |
| class | HaarDetectorTest |
| Tests ColorRegionDetector. More... | |
| class | QrDetectorTest |
| Tests QrDetector. More... | |
| class | YarpCloudUtilsTest |
| Tests YarpCloudUtils. More... | |
+Functions | |
| + | TEST_F (ArucoDetectorTest, ArucoDetector1) |
| + | TEST_F (ArucoDetectorTest, ArucoDetector2) |
| + | TEST_F (ColorRegionDetectorTest, ColorRegionDetector1) |
| + | TEST_F (ColorRegionDetectorTest, ColorRegionDetector2) |
| + | TEST_F (DnnDetectorTest, DnnDetector1) |
| + | TEST_F (DnnDetectorTest, DnnDetector2) |
| + | TEST_F (HaarDetectorTest, HaarDetector1) |
| + | TEST_F (HaarDetectorTest, HaarDetector2) |
| + | TEST_F (QrDetectorTest, QrDetector1) |
| + | TEST_F (QrDetectorTest, QrDetector2) |
| +template<typename T , typename Fn > | |
| void | populateCloud (yarp::sig::PointCloud< T > &cloud, int iterations, Fn &&generator) |
| +template<typename Fn > | |
| void | populateIndices (yarp::sig::VectorOf< int > &indices, int faces, Fn &&generator) |
| +unsigned char | rnu () |
| +float | rnf () |
| +template<typename T > | |
| bool | testEquality (const yarp::sig::PointCloud< T > &cloud1, const yarp::sig::PointCloud< T > &cloud2) |
| + | TEST_F (YarpCloudUtilsTest, PLY_XY) |
| + | TEST_F (YarpCloudUtilsTest, PLY_XYZ) |
| + | TEST_F (YarpCloudUtilsTest, PLY_Normal) |
| + | TEST_F (YarpCloudUtilsTest, PLY_XYZ_RGBA) |
| + | TEST_F (YarpCloudUtilsTest, PLY_XYZI) |
| + | TEST_F (YarpCloudUtilsTest, PLY_InterestPoint_XYZ) |
| + | TEST_F (YarpCloudUtilsTest, PLY_XYZ_Normal) |
| + | TEST_F (YarpCloudUtilsTest, PLY_XYZ_Normal_RGBA) |
| + | TEST_F (YarpCloudUtilsTest, meshFromCloud) |
| + | TEST_F (YarpCloudUtilsTest, processCloud) |
| + | TEST_F (YarpCloudUtilsTest, pipelineFromConfig) |
1.9.1
+
+
+
diff --git a/namespaces.html b/namespaces.html
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| NexampleArucoDetector | |
| NexampleColorRegionDetector | |
| NexampleDnnDetector | |
| NexampleHaarDetector | |
| NexampleQrDetector | |
| ▼Nroboticslab | The main, catch-all namespace for Robotics Lab UC3M |
| ▼Ntest | Contains classes related to unit testing |
| CPropertyHasher | |
| CPropertyComparer | |
| CArucoDetectorTest | Tests ArucoDetector |
| CColorRegionDetectorTest | Tests ColorRegionDetector |
| CDnnDetectorTest | Tests DnnDetector |
| CHaarDetectorTest | Tests ColorRegionDetector |
| CQrDetectorTest | Tests QrDetector |
| CYarpCloudUtilsTest | Tests YarpCloudUtils |
| NYarpCloudUtils | Collection of cloud-related utilities for YARP |
| CTravis | Implements all the algorithms on a single image |
| CYarpCropCallback | |
| CArucoDetector | |
| CColorRegionDetector | |
| CDnnDetector | |
| CHaarDetector | |
| CIDetector | Interface for object detection |
| CQrDetector | |
| CLineCallbackPort | |
| CPointAtObjectServer | |
| CSharedArea | |
| CvtkTimerCallback | |
| CRgbdDetection | 2.5D detection |
| CRgbDetection | 2D detection |
| CKinectFusion | |
| CKinectFusionImpl | |
| CRenderUpdater | |
| CSceneReconstruction | Exposes Kinect Fusion as a YARP service via RPC |
| CDataProcessor | Implements voxelOccupancyDetection callback on Bottle |
| CSegmentorThread | Implements voxelOccupancyDetection PeriodicThread |
| CVoxelOccupancyDetection | Computer Vision 1 |
| ▼Ntinyply | |
| CPropertyInfo | |
| ▼CBuffer | |
| Cdelete_array | |
| CPlyData | |
| CPlyProperty | |
| CPlyElement | |
| CPlyFile |
1.9.1
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+
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diff --git a/nav_f.png b/nav_f.png
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+ vision
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+ |
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1.9.1
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+
+
diff --git a/programs_2sceneReconstruction_2LogComponent_8hpp_source.html b/programs_2sceneReconstruction_2LogComponent_8hpp_source.html
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1.9.1
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diff --git a/search/all_0.html b/search/all_0.html
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+ vision
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This is the complete list of members for roboticslab::test::PropertyComparer, including all inherited members.
+| operator()(const yarp::os::Property &lhs, const yarp::os::Property &rhs) const (defined in roboticslab::test::PropertyComparer) | roboticslab::test::PropertyComparer | inline |
| operator()(const yarp::os::Property &lhs, const yarp::os::Property &rhs) const (defined in roboticslab::test::PropertyComparer) | roboticslab::test::PropertyComparer | inline |
1.9.1
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diff --git a/structroboticslab_1_1test_1_1PropertyComparer.html b/structroboticslab_1_1test_1_1PropertyComparer.html
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1.9.1
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diff --git a/structroboticslab_1_1test_1_1PropertyHasher-members.html b/structroboticslab_1_1test_1_1PropertyHasher-members.html
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This is the complete list of members for roboticslab::test::PropertyHasher, including all inherited members.
+| operator()(const yarp::os::Property &prop) const (defined in roboticslab::test::PropertyHasher) | roboticslab::test::PropertyHasher | inline |
| operator()(const yarp::os::Property &prop) const (defined in roboticslab::test::PropertyHasher) | roboticslab::test::PropertyHasher | inline |
1.9.1
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+
diff --git a/structroboticslab_1_1test_1_1PropertyHasher.html b/structroboticslab_1_1test_1_1PropertyHasher.html
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+Public Member Functions | |
| +std::size_t | operator() (const yarp::os::Property &prop) const |
| +std::size_t | operator() (const yarp::os::Property &prop) const |
1.9.1
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+
+
diff --git a/structtinyply_1_1Buffer_1_1delete__array-members.html b/structtinyply_1_1Buffer_1_1delete__array-members.html
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+ vision
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This is the complete list of members for tinyply::Buffer::delete_array, including all inherited members.
+| operator()(uint8_t *p) (defined in tinyply::Buffer::delete_array) | tinyply::Buffer::delete_array | inline |
1.9.1
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+
+
diff --git a/structtinyply_1_1Buffer_1_1delete__array.html b/structtinyply_1_1Buffer_1_1delete__array.html
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+ vision
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+ |
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+Public Member Functions | |
| +void | operator() (uint8_t *p) |
1.9.1
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diff --git a/structtinyply_1_1PlyData-members.html b/structtinyply_1_1PlyData-members.html
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+|
+ vision
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+ |
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This is the complete list of members for tinyply::PlyData, including all inherited members.
+| buffer (defined in tinyply::PlyData) | tinyply::PlyData | |
| count (defined in tinyply::PlyData) | tinyply::PlyData | |
| isList (defined in tinyply::PlyData) | tinyply::PlyData | |
| t (defined in tinyply::PlyData) | tinyply::PlyData |
1.9.1
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diff --git a/structtinyply_1_1PlyData.html b/structtinyply_1_1PlyData.html
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+Public Attributes | |
| +Type | t |
| +Buffer | buffer |
| +size_t | count {0} |
| +bool | isList {false} |
1.9.1
+
+
+
diff --git a/structtinyply_1_1PlyElement-members.html b/structtinyply_1_1PlyElement-members.html
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+ vision
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This is the complete list of members for tinyply::PlyElement, including all inherited members.
+| name (defined in tinyply::PlyElement) | tinyply::PlyElement | |
| PlyElement(std::istream &istream) (defined in tinyply::PlyElement) | tinyply::PlyElement | |
| PlyElement(const std::string &_name, size_t count) (defined in tinyply::PlyElement) | tinyply::PlyElement | inline |
| properties (defined in tinyply::PlyElement) | tinyply::PlyElement | |
| size (defined in tinyply::PlyElement) | tinyply::PlyElement |
1.9.1
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diff --git a/structtinyply_1_1PlyElement.html b/structtinyply_1_1PlyElement.html
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+Public Member Functions | |
| + | PlyElement (std::istream &istream) |
| + | PlyElement (const std::string &_name, size_t count) |
+Public Attributes | |
| +std::string | name |
| +size_t | size {0} |
| +std::vector< PlyProperty > | properties |
1.9.1
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+
+
diff --git a/structtinyply_1_1PlyFile-members.html b/structtinyply_1_1PlyFile-members.html
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This is the complete list of members for tinyply::PlyFile, including all inherited members.
+| add_properties_to_element(const std::string &elementKey, const std::vector< std::string > propertyKeys, const Type type, const size_t count, const uint8_t *data, const Type listType, const size_t listCount) (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| get_comments() (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| get_elements() const (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| get_info() const (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| impl (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| is_binary_file() const (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| parse_header(std::istream &is) (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| PlyFile() (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| read(std::istream &is) (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| request_properties_from_element(const std::string &elementKey, const std::vector< std::string > propertyKeys, const uint32_t list_size_hint=0) (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| write(std::ostream &os, bool isBinary) (defined in tinyply::PlyFile) | tinyply::PlyFile | |
| ~PlyFile() (defined in tinyply::PlyFile) | tinyply::PlyFile |
1.9.1
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diff --git a/structtinyply_1_1PlyFile.html b/structtinyply_1_1PlyFile.html
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+ vision
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+Public Member Functions | |
| +bool | parse_header (std::istream &is) |
| +void | read (std::istream &is) |
| +void | write (std::ostream &os, bool isBinary) |
| +std::vector< PlyElement > | get_elements () const |
| +std::vector< std::string > | get_info () const |
| +std::vector< std::string > & | get_comments () |
| +bool | is_binary_file () const |
| +std::shared_ptr< PlyData > | request_properties_from_element (const std::string &elementKey, const std::vector< std::string > propertyKeys, const uint32_t list_size_hint=0) |
| +void | add_properties_to_element (const std::string &elementKey, const std::vector< std::string > propertyKeys, const Type type, const size_t count, const uint8_t *data, const Type listType, const size_t listCount) |
+Public Attributes | |
| +std::unique_ptr< PlyFileImpl > | impl |
1.9.1
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+
+
diff --git a/structtinyply_1_1PlyProperty-members.html b/structtinyply_1_1PlyProperty-members.html
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This is the complete list of members for tinyply::PlyProperty, including all inherited members.
+| isList (defined in tinyply::PlyProperty) | tinyply::PlyProperty | |
| listCount (defined in tinyply::PlyProperty) | tinyply::PlyProperty | |
| listType (defined in tinyply::PlyProperty) | tinyply::PlyProperty | |
| name (defined in tinyply::PlyProperty) | tinyply::PlyProperty | |
| PlyProperty(std::istream &is) (defined in tinyply::PlyProperty) | tinyply::PlyProperty | |
| PlyProperty(Type type, std::string &_name) (defined in tinyply::PlyProperty) | tinyply::PlyProperty | inline |
| PlyProperty(Type list_type, Type prop_type, std::string &_name, size_t list_count) (defined in tinyply::PlyProperty) | tinyply::PlyProperty | inline |
| propertyType (defined in tinyply::PlyProperty) | tinyply::PlyProperty |
1.9.1
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diff --git a/structtinyply_1_1PlyProperty.html b/structtinyply_1_1PlyProperty.html
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+Public Attributes | |
| +std::string | name |
| +Type | propertyType { Type::INVALID } |
| +bool | isList { false } |
| +Type | listType { Type::INVALID } |
| +size_t | listCount {0} |
1.9.1
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+
+
diff --git a/structtinyply_1_1PropertyInfo-members.html b/structtinyply_1_1PropertyInfo-members.html
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This is the complete list of members for tinyply::PropertyInfo, including all inherited members.
+| PropertyInfo() (defined in tinyply::PropertyInfo) | tinyply::PropertyInfo | inline |
| PropertyInfo(int stride, std::string str) (defined in tinyply::PropertyInfo) | tinyply::PropertyInfo | inline |
| str (defined in tinyply::PropertyInfo) | tinyply::PropertyInfo | |
| stride (defined in tinyply::PropertyInfo) | tinyply::PropertyInfo |
1.9.1
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diff --git a/structtinyply_1_1PropertyInfo.html b/structtinyply_1_1PropertyInfo.html
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+ vision
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+Public Member Functions | |
| + | PropertyInfo (int stride, std::string str) |
+Public Attributes | |
| +int | stride {0} |
| +std::string | str |
1.9.1
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+
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diff --git a/vtkTimerCallback_8hpp_source.html b/vtkTimerCallback_8hpp_source.html
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1.9.1
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This library contains a collection of free functions that aim to provide support for the family of yarp::sig::PointCloud<T> template specializations. For the time being, roboticslab::YarpCloudUtils allows users to:
Supported data types are:
+yarp::sig::DataXY (only for data import/export via .ply)yarp::sig::DataXYZyarp::sig::DataNormal (only for data import/export via .ply)yarp::sig::DataXYZRGBAyarp::sig::DataXYZIyarp::sig::DataInterestPointXYZyarp::sig::DataXYZNormalyarp::sig::DataXYZNormalRGBAXY and plain-normal types are not available for surface meshing and cloud processing.
+Both roboticslab::YarpCloudUtils::meshFromCloud and roboticslab::YarpCloudUtils::processCloud implement a set of Point Cloud Library (PCL) algorithms. A variety of PCL classes are exposed in a highly configurable pipeline:
| PCL class | usage | point types | notes |
|---|---|---|---|
pcl::transformPointCloud | affine transformation | any | translation (meters) and rotation (scaled axis-angle, radians) |
pcl::transformPointCloudWithNormals | affine transformation | any normal type | see above |
pcl::ApproximateVoxelGrid | cloud resampling | any | |
pcl::BilateralFilter | cloud filtering | XYZI(Normal) | |
pcl::BilateralUpsampling | cloud processing | XYZRGBA | organized clouds only |
pcl::ConcaveHull | mesh construction | any | |
pcl::ConvexHull | mesh construction | any | |
pcl::CropBox | cloud filtering | any | |
pcl::FastBilateralFilter | cloud filtering | XYZ(RGBA) | organized clouds only |
pcl::FastBilateralFilterOMP | cloud filtering | XYZ(RGBA) | organized clouds only |
pcl::GreedyProjectionTriangulation | mesh construction | XYZ/XYZI/XYZRGBA + Normal | |
pcl::GridMinimum | cloud resampling | any | |
pcl::GridProjection | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
pcl::LocalMaximum | cloud resampling | any | |
pcl::MarchingCubesHoppe | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
pcl::MarchingCubesRBF | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | |
pcl::MedianFilter | cloud filtering | any | organized clouds only |
pcl::MeshQuadricDecimationVTK | mesh processing | (mesh) | |
pcl::MeshSmoothingLaplacianVTK | mesh processing | (mesh) | |
pcl::MeshSmoothingWindowedSincVTK | mesh processing | (mesh) | |
pcl::MeshSubdivisionVTK | mesh processing | (mesh) | |
pcl::MovingLeastSquares | cloud processing | any | requires PCL 1.9+ |
pcl::NormalEstimation | normal estimation | any | |
pcl::NormalEstimationOMP | normal estimation | any | |
pcl::OrganizedFastMesh | mesh construction | XYZ(RGBA) | organized clouds only |
pcl::PassThrough | cloud filtering | any | |
pcl::Poisson | surface reconstruction | XYZ/XYZI/XYZRGBA + Normal | threads requires PCL 1.12+ |
pcl::RadiusOutlierRemoval | cloud filtering | any | |
pcl::RandomSample | cloud resampling | any | |
pcl::SamplingSurfaceNormal | cloud resampling | XYZ/XYZI/XYZRGBA + Normal | |
pcl::ShadowPoints | cloud filtering | any normal type | only normal types |
pcl::SimplificationRemoveUnusedVertices | mesh simplification | (mesh) | |
pcl::StatisticalOutlierRemoval | cloud filtering | any | |
pcl::UniformSampling | cloud resampling | any | |
pcl::VoxelGrid | cloud resampling | any |
Mesh construction methods preserve the original point cloud as the surface vertices and simply construct the mesh on top, while surface reconstruction changes the topology of the input cloud.
+YARP mechanisms are taken advantage of to set up the pipeline, especially in terms of the dictionary of key-values provided by yarp::os::Property. Depending on the selected function overload, each step of the pipeline corresponds either to an element of a vector of such dictionaries, or a group/dictionary within a named section collection context.
As a rule of thumb, there will always be a key named algorithm which corresponds to one of the supported PCL classes, i.e. the paired value must be equal to the class name of the selected algorithm.
Remaining keys of the configured step, if any, correspond to configuration setters pertaining to the algorithm, always following the camelCase naming convention. For instance, in order to access the pcl::Poisson::setMinDepth setter, one would create a dictionary key named minDepth and assign it an integer value. In a similar manner, dictionary values are mapped to enumerations, e.g. pcl::OrganizedFastMesh::TriangulationType:QUAD_MESH can be requested by assigning quadMesh to key triangulationType.
In absence of key-value entries (beyond the mandatory algorithm one), the pipeline assumes default values as defined by each class constructor.
Note: mind input/output types for each step. If the output of step N is not compatible with the expected input of step N+1, an error will be reported.
+The most straightforward way to configure a pipeline is using the VectorOf<Property> overload. Each element of the vector is one step of the pipeline, order is preserved:
The above pipeline will first downsample the input cloud using the pcl::VoxelGrid algorithm with a leaf size of 2 cm. Since pcl::Poisson requires an input normal type, we estimate normals with an intermediate NormalEstimation step, and then perform surface reconstruction.
Handy overloads are provided for both meshFromCloud and processCloud to parse the pipeline from a configuration file or similar context (e.g. command line) using the YARP native configuration format (see YARP config files).
The same behavior shown in the previous section can be achieved with an .ini file such as:
+Then, in C++ code:
+The myPipeline element is the name of the section collection which is common to all steps in this configuration (see YARP docs). We can express this intent also directly in C++ code:
Or, via command line:
+In case you want to maintain a collection of pipeline configurations, each one placed within its own .ini file, then select the most appropriate for the task at hand, it is advised to use the include feature combined with simultaneous section collection (docs). Refer to YARP documentation for further examples and a similar functionality related to directory inclusion.
Bartek Łukawski, Alberto Rodríguez-Sanz, Elisabeth Menendez, Juan G. Victores, and Carlos Balaguer. A user-friendly point cloud processing pipeline for interfacing PCL with YARP. In XLV Jornadas de Automática. Universidade da Coruña, 2024.
+```bibtex @inproceedings{lukawski2024jjaa, author = {{\L}ukawski, Bartek and Rodríguez-Sanz, Alberto and Menendez, Elisabeth and Victores, Juan G. and Balaguer, Carlos}, title = {A user-friendly point cloud processing pipeline for interfacing {PCL} with {YARP}}, booktitle = {XLV Jornadas de Automática}, year = {2024}, publisher = {Universidade da Coruña}, doi = {10.17979/ja-cea.2024.45.10925} }
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