Class trifinger_object_tracking::CubeDetector

class CubeDetector

Detect coloured cube in images from a three-camera setup.

Public Functions

CubeDetector(BaseCuboidModel::ConstPtr cube_model, const std::array<trifinger_cameras::CameraParameters, N_CAMERAS> &camera_params)
Parameters:

  • cube_model – The model that is used for detecting the cube.

  • camera_params – Calibration parameters of the cameras.

CubeDetector(BaseCuboidModel::ConstPtr cube_model, const std::array<std::string, N_CAMERAS> &camera_param_files)
Parameters:

  • cube_model – The model that is used for detecting the cube.

  • camera_param_files – Paths to the camera calibration files.

ObjectPose detect_cube_single_thread(const std::array<cv::Mat, N_CAMERAS> &images)
ObjectPose detect_cube(const std::array<cv::Mat, N_CAMERAS> &images)

Detect cube in the given images.

Parameters:

images – Images from cameras camera60, camera180, camera300.

Returns:

Pose of the cube.

cv::Mat create_debug_image(bool fill_faces = false) const

Create debug image for the last call of detect_cube.

Parameters:

fill_faces – If true, the cube is drawn with filled faces, otherwise only a wire frame is drawn.

Returns:

Aggregate image showing different stages of the cube detection.

CubeDetector(BaseCuboidModel::ConstPtr cube_model, const std::array<trifinger_cameras::CameraParameters, N_CAMERAS> &camera_params)
Parameters:

  • cube_model – The model that is used for detecting the cube.

  • camera_params – Calibration parameters of the cameras.

CubeDetector(BaseCuboidModel::ConstPtr cube_model, const std::array<std::string, N_CAMERAS> &camera_param_files)
Parameters:

  • cube_model – The model that is used for detecting the cube.

  • camera_param_files – Paths to the camera calibration files.

ObjectPose detect_cube_single_thread(const std::array<cv::Mat, N_CAMERAS> &images)
ObjectPose detect_cube(const std::array<cv::Mat, N_CAMERAS> &images)

Detect cube in the given images.

Parameters:

images – Images from cameras camera60, camera180, camera300.

Returns:

Pose of the cube.

cv::Mat create_debug_image(bool fill_faces = false) const

Create debug image for the last call of detect_cube.

Parameters:

fill_faces – If true, the cube is drawn with filled faces, otherwise only a wire frame is drawn.

Returns:

Aggregate image showing different stages of the cube detection.

Public Static Attributes

static constexpr unsigned int N_CAMERAS = 3