classify_features.cpp File Reference

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/PoseWithCovariance.h"
#include "tf/transform_listener.h"
#include "mtt/TargetList.h"
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include "opencv/cv.h"
#include "opencv/ml.h"
#include <vector>
#include <iostream>

Include dependency graph for classify_features.cpp:

Go to the source code of this file.

Functions
void	drawPose (const geometry_msgs::Pose &input, uint target, double classification)
int	main (int argc, char **argv)
void	targetsCallback (const mtt::TargetList &list)
ros::Time	time_last_msg (0)

Variables
CvBoost	adaboost
	Code for feature extraction. More...
double	angle_to_robot
uint	badLeader = 0
uint	counter = 0
ros::Duration	duration_btw_msg
geometry_msgs::Twist	features
double	heading_diff
double	label
double	lateral_disp
visualization_msgs::MarkerArray	ma
ros::Publisher	marker_pub
std::list < geometry_msgs::PoseWithCovariance >	matlab_list
geometry_msgs::PoseWithCovariance	nfeatures
ros::Publisher	nfeatures_pub
tf::TransformListener *	p_listener
double	position_diff
double	robot_theta
double	robot_vel
double	robot_x
double	robot_y
CvMat *	sample_to_classify = 0
uint	single_target = 0
uint	target_id = 0
double	target_theta
double	target_vel
double	target_x
double	target_y
ros::Duration	time_elapsed
tf::StampedTransform	transform
geometry_msgs::Twist	twist
double	velocity_diff
CvMat *	weak_responses = 0

Function Documentation

void drawPose	(	const geometry_msgs::Pose &	input,
		uint	target,
		double	classification
	)

Definition at line 89 of file classify_features.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 202 of file classify_features.cpp.

void targetsCallback

(

const mtt::TargetList &

list

)

/// ROBOT PART //////

/// TARGETS PART //////

Definition at line 139 of file classify_features.cpp.

ros::Time time_last_msg

(

0

)

Variable Documentation

CvBoost adaboost

Code for feature extraction.

extract features from targets received from MTT wrt the robot the features are printed in the command line and should be stored in a file (txt) for further processing with matlab the features will be used for training a classifier

it is also responsible of publishing these features to a matlab classifier that will then output a message with the classification of the target based on its features

Definition at line 54 of file classify_features.cpp.

double angle_to_robot

Definition at line 80 of file classify_features.cpp.

uint badLeader = 0

Definition at line 84 of file classify_features.cpp.

uint counter = 0

Definition at line 87 of file classify_features.cpp.

ros::Duration duration_btw_msg

Definition at line 61 of file classify_features.cpp.

geometry_msgs::Twist features

Definition at line 69 of file classify_features.cpp.

double heading_diff

Definition at line 79 of file classify_features.cpp.

double label

Definition at line 83 of file classify_features.cpp.

double lateral_disp

Definition at line 82 of file classify_features.cpp.

visualization_msgs::MarkerArray ma

Definition at line 71 of file classify_features.cpp.

ros::Publisher marker_pub

Definition at line 63 of file classify_features.cpp.

std::list<geometry_msgs::PoseWithCovariance> matlab_list

Definition at line 73 of file classify_features.cpp.

geometry_msgs::PoseWithCovariance nfeatures

Definition at line 70 of file classify_features.cpp.

ros::Publisher nfeatures_pub

Definition at line 62 of file classify_features.cpp.

tf::TransformListener* p_listener

Definition at line 65 of file classify_features.cpp.

double position_diff

Definition at line 79 of file classify_features.cpp.

double robot_theta

Definition at line 78 of file classify_features.cpp.

double robot_vel

Definition at line 78 of file classify_features.cpp.

double robot_x

Definition at line 77 of file classify_features.cpp.

double robot_y

Definition at line 77 of file classify_features.cpp.

CvMat* sample_to_classify = 0

Definition at line 55 of file classify_features.cpp.

uint single_target = 0

Definition at line 86 of file classify_features.cpp.

uint target_id = 0

Definition at line 85 of file classify_features.cpp.

double target_theta

Definition at line 76 of file classify_features.cpp.

double target_vel

Definition at line 76 of file classify_features.cpp.

double target_x

Definition at line 75 of file classify_features.cpp.

double target_y

Definition at line 75 of file classify_features.cpp.

ros::Duration time_elapsed

Definition at line 60 of file classify_features.cpp.

tf::StampedTransform transform

Definition at line 66 of file classify_features.cpp.

geometry_msgs::Twist twist

Definition at line 68 of file classify_features.cpp.

double velocity_diff

Definition at line 81 of file classify_features.cpp.

CvMat* weak_responses = 0

Definition at line 56 of file classify_features.cpp.