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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __ARUCO_DETECTOR_HPP__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/DeviceDriver.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;opencv2/objdetect/aruco_detector.hpp&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &quot;IDetector.hpp&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;{</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classroboticslab_1_1ArucoDetector.html"> 21</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1ArucoDetector.html">ArucoDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; <span class="keywordtype">bool</span> open(yarp::os::Searchable&amp; config) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image&amp; inYarpImg, yarp::os::Bottle&amp; detectedObjects) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; cv::aruco::DetectorParameters detectorParams;</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; cv::aruco::Dictionary dictionary;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;};</div>
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<div class="ttc" id="aclassroboticslab_1_1ArucoDetector_html"><div class="ttname"><a href="classroboticslab_1_1ArucoDetector.html">roboticslab::ArucoDetector</a></div><div class="ttdef"><b>Definition:</b> ArucoDetector.hpp:23</div></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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117 changes: 117 additions & 0 deletions ColorRegionDetector_8hpp_source.html
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;{</div>
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<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classroboticslab_1_1ColorRegionDetector.html"> 18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1ColorRegionDetector.html">ColorRegionDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160; <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;{</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; <span class="keywordtype">bool</span> open(yarp::os::Searchable&amp; config) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160; <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image&amp; inYarpImg, yarp::os::Bottle&amp; detectedObjects) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; std::string algorithm;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; <span class="keywordtype">double</span> morphClosing;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keywordtype">int</span> threshold;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; <span class="keywordtype">int</span> maxNumBlobs;</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;};</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; </div>
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<div class="ttc" id="aclassroboticslab_1_1ColorRegionDetector_html"><div class="ttname"><a href="classroboticslab_1_1ColorRegionDetector.html">roboticslab::ColorRegionDetector</a></div><div class="ttdef"><b>Definition:</b> ColorRegionDetector.hpp:20</div></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;{</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classroboticslab_1_1DnnDetector.html"> 20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1DnnDetector.html">DnnDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;{</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="keywordtype">bool</span> open(yarp::os::Searchable &amp; config) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image &amp; inYarpImg, yarp::os::Bottle &amp; detectedObjects) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; cv::dnn::Net net;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; std::vector&lt;std::string&gt; classes;</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; std::vector&lt;std::string&gt; outNames;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keywordtype">float</span> confThreshold; <span class="comment">// Confidence threshold</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keywordtype">float</span> nmsThreshold; <span class="comment">// Non-max supression threshold</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keywordtype">float</span> scale;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; cv::Scalar mean;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; <span class="keywordtype">void</span> preprocess(<span class="keyword">const</span> cv::Mat &amp; frame);</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; <span class="keywordtype">void</span> postprocess(<span class="keyword">const</span> cv::Size &amp; size, <span class="keyword">const</span> std::vector&lt;cv::Mat&gt; &amp; outs, yarp::os::Bottle &amp; detectedObjects);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;};</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __DNN_DETECTOR_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1DnnDetector_html"><div class="ttname"><a href="classroboticslab_1_1DnnDetector.html">roboticslab::DnnDetector</a></div><div class="ttdef"><b>Definition:</b> DnnDetector.hpp:22</div></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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122 changes: 122 additions & 0 deletions HaarDetector_8hpp_source.html
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<li class="navelem"><a class="el" href="dir_bc0718b08fb2015b8e59c47b2805f60c.html">libraries</a></li><li class="navelem"><a class="el" href="dir_f98f57c538677273d6e3d52c55355c28.html">YarpPlugins</a></li><li class="navelem"><a class="el" href="dir_37280351e954bf28682c2c71ec87d62a.html">HaarDetector</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="preprocessor">#ifndef __HAAR_DETECTOR_HPP__</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __HAAR_DETECTOR_HPP__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/DeviceDriver.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;opencv2/objdetect.hpp&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#ifdef HAVE_CV_FACE</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor"># include &lt;opencv2/face/facemark.hpp&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#include &quot;IDetector.hpp&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;{</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classroboticslab_1_1HaarDetector.html"> 23</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1HaarDetector.html">HaarDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;{</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; <span class="keywordtype">bool</span> open(yarp::os::Searchable&amp; config) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image&amp; inYarpImg, yarp::os::Bottle&amp; detectedObjects) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; cv::CascadeClassifier object_cascade;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#ifdef HAVE_CV_FACE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; cv::Ptr&lt;cv::face::Facemark&gt; facemark;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;};</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __HAAR_DETECTOR_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1HaarDetector_html"><div class="ttname"><a href="classroboticslab_1_1HaarDetector.html">roboticslab::HaarDetector</a></div><div class="ttdef"><b>Definition:</b> HaarDetector.hpp:25</div></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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108 changes: 108 additions & 0 deletions IDetector_8hpp_source.html
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="preprocessor">#ifndef __DETECTOR_HPP__</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __DETECTOR_HPP__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/os/Bottle.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/Image.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;{</div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classroboticslab_1_1IDetector.html"> 16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;{</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160; <span class="keyword">virtual</span> ~<a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a>() {}</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image&amp; inYarpImg, yarp::os::Bottle&amp; detectedObjects) = 0;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;};</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __DETECTOR_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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<div class="title">KinectFusion.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="preprocessor">#ifndef __KINECT_FUSION_HPP__</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __KINECT_FUSION_HPP__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;yarp/os/Searchable.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/Image.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/IntrinsicParams.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/Matrix.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/PointCloud.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;{</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classroboticslab_1_1KinectFusion.html"> 17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1KinectFusion.html">KinectFusion</a></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;{</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; <span class="keyword">virtual</span> ~<a class="code" href="classroboticslab_1_1KinectFusion.html">KinectFusion</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> getCloud(yarp::sig::PointCloudXYZNormalRGBA &amp; cloudWithNormals) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160; </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> getPoints(yarp::sig::PointCloudXYZ &amp; cloud) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> getPose(yarp::sig::Matrix &amp; pose) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> update(<span class="keyword">const</span> yarp::sig::ImageOf&lt;yarp::sig::PixelFloat&gt; &amp; depthFrame, <span class="keyword">const</span> yarp::sig::FlexImage &amp; colorFrame = {}) = 0;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> reset() = 0;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> render(yarp::sig::FlexImage &amp; image) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;};</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;std::unique_ptr&lt;KinectFusion&gt; makeKinFu(<span class="keyword">const</span> yarp::os::Searchable &amp; config,</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; <span class="keyword">const</span> yarp::sig::IntrinsicParams &amp; intrinsic,</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="preprocessor">#ifdef HAVE_DYNAFU</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;std::unique_ptr&lt;KinectFusion&gt; makeDynaFu(<span class="keyword">const</span> yarp::os::Searchable &amp; config,</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <span class="keyword">const</span> yarp::sig::IntrinsicParams &amp; intrinsic,</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="preprocessor">#ifdef HAVE_KINFU_LS</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;std::unique_ptr&lt;KinectFusion&gt; makeKinFuLargeScale(<span class="keyword">const</span> yarp::os::Searchable &amp; config,</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; <span class="keyword">const</span> yarp::sig::IntrinsicParams &amp; intrinsic,</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="preprocessor">#ifdef HAVE_COLORED_KINFU</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;std::unique_ptr&lt;KinectFusion&gt; makeColoredKinFu(<span class="keyword">const</span> yarp::os::Searchable &amp; config,</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keyword">const</span> yarp::sig::IntrinsicParams &amp; depthIntrinsic,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keyword">const</span> yarp::sig::IntrinsicParams &amp; colorIntrinsic,</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keywordtype">int</span> depthWidth, <span class="keywordtype">int</span> depthHeight,</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keywordtype">int</span> colorWidth, <span class="keywordtype">int</span> colorHeight);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __KINECT_FUSION_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1KinectFusion_html"><div class="ttname"><a href="classroboticslab_1_1KinectFusion.html">roboticslab::KinectFusion</a></div><div class="ttdef"><b>Definition:</b> KinectFusion.hpp:18</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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110 changes: 110 additions & 0 deletions LineCallbackPort_8hpp_source.html
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="preprocessor">#ifndef __LINE_CALLBACK_PORT_HPP__</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define __LINE_CALLBACK_PORT_HPP__</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#include &lt;yarp/os/BufferedPort.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &quot;SharedArea.hpp&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a> {</div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classroboticslab_1_1LineCallbackPort.html"> 10</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1LineCallbackPort.html">LineCallbackPort</a> : <span class="keyword">public</span> yarp::os::BufferedPort&lt;yarp::os::Bottle&gt; {</div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160; <span class="keywordtype">void</span> onRead(yarp::os::Bottle&amp; b);</div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; <a class="code" href="classroboticslab_1_1SharedArea.html">SharedArea</a>* sharedArea;</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; <span class="keywordtype">void</span> setSharedArea(<a class="code" href="classroboticslab_1_1SharedArea.html">SharedArea</a>* _sharedArea);</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;};</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __LINE_CALLBACK_PORT_HPP__</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; </div>
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141 changes: 141 additions & 0 deletions PointAtObjectServer_8hpp_source.html
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<div class="title">PointAtObjectServer.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="preprocessor">#ifndef __POINT_AT_OBJECT_SERVER_HPP__</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define __POINT_AT_OBJECT_SERVER_HPP__</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#include &lt;vtkActor.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="preprocessor">#include &lt;vtkActorCollection.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;vtkAxesActor.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#include &lt;vtkCubeSource.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;vtkCylinderSource.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#include &lt;vtkCellArray.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &lt;vtkCommand.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#include &lt;vtkImageGridSource.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="preprocessor">#include &lt;vtkLine.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#include &lt;vtkLineSource.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#include &lt;vtkOBBTree.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#include &lt;vtkPoints.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &lt;vtkPointData.h&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;vtkPolyData.h&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor">#include &lt;vtkPolyDataMapper.h&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#include &lt;vtkPolygon.h&gt;</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="preprocessor">#include &quot;SharedArea.hpp&quot;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="preprocessor">#include &quot;LineCallbackPort.hpp&quot;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#include &quot;vtkTimerCallback.hpp&quot;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a> {</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classroboticslab_1_1PointAtObjectServer.html"> 47</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1PointAtObjectServer.html">PointAtObjectServer</a> {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <a class="code" href="classroboticslab_1_1LineCallbackPort.html">LineCallbackPort</a> lineCallbackPort;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; vtkSmartPointer&lt;vtkTimerCallback&gt; timerCallback;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <a class="code" href="classroboticslab_1_1SharedArea.html">SharedArea</a> sharedArea;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keywordtype">void</span> makeFloorActor(vtkActor* _floorActor);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <a class="code" href="classroboticslab_1_1PointAtObjectServer.html">PointAtObjectServer</a>() { }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">bool</span> init();</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keywordtype">bool</span> close();</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;};</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __POINT_AT_OBJECT_SERVER_HPP__</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; </div>
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<div class="ttc" id="aclassroboticslab_1_1PointAtObjectServer_html"><div class="ttname"><a href="classroboticslab_1_1PointAtObjectServer.html">roboticslab::PointAtObjectServer</a></div><div class="ttdef"><b>Definition:</b> PointAtObjectServer.hpp:47</div></div>
<div class="ttc" id="aclassroboticslab_1_1SharedArea_html"><div class="ttname"><a href="classroboticslab_1_1SharedArea.html">roboticslab::SharedArea</a></div><div class="ttdef"><b>Definition:</b> SharedArea.hpp:12</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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116 changes: 116 additions & 0 deletions QrDetector_8hpp_source.html
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="preprocessor">#ifndef __QR_DETECTOR_HPP__</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __QR_DETECTOR_HPP__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/DeviceDriver.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;opencv2/objdetect.hpp&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &quot;IDetector.hpp&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;{</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classroboticslab_1_1QrDetector.html"> 20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1QrDetector.html">QrDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;{</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="keywordtype">bool</span> open(yarp::os::Searchable&amp; config) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image&amp; inYarpImg, yarp::os::Bottle&amp; detectedObjects) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; cv::QRCodeDetector qrcode;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;};</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;}</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __QR_DETECTOR_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="aclassroboticslab_1_1QrDetector_html"><div class="ttname"><a href="classroboticslab_1_1QrDetector.html">roboticslab::QrDetector</a></div><div class="ttdef"><b>Definition:</b> QrDetector.hpp:22</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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140 changes: 140 additions & 0 deletions RgbDetection_8hpp_source.html
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/os/Bottle.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#include &lt;yarp/os/BufferedPort.h&gt;</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/PolyDriver.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/IFrameGrabberImage.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/Image.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#include &quot;IDetector.hpp&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &quot;YarpCropCallback.hpp&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;{</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classroboticslab_1_1RgbDetection.html"> 25</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1RgbDetection.html">RgbDetection</a> : <span class="keyword">public</span> yarp::os::RFModule</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;{</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; ~<a class="code" href="classroboticslab_1_1RgbDetection.html">RgbDetection</a>()<span class="keyword"> override</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="keyword"> </span>{ close(); }</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; <span class="keywordtype">bool</span> configure(yarp::os::ResourceFinder &amp; rf) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keywordtype">double</span> getPeriod() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keywordtype">bool</span> updateModule() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keywordtype">bool</span> interruptModule() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="keywordtype">bool</span> close() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; yarp::dev::PolyDriver sensorDevice;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; yarp::dev::IFrameGrabberImage * frameGrabber;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; yarp::dev::PolyDriver detectorDevice;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a> * iDetector;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; yarp::os::BufferedPort&lt;yarp::os::Bottle&gt; statePort;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; yarp::os::BufferedPort&lt;yarp::sig::ImageOf&lt;yarp::sig::PixelRgb&gt;&gt; imagePort;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; yarp::os::BufferedPort&lt;yarp::os::Bottle&gt; cropPort;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; <a class="code" href="classroboticslab_1_1YarpCropCallback.html">YarpCropCallback</a> cropCallback;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keywordtype">double</span> period;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;};</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __RGB_DETECTION_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="aclassroboticslab_1_1RgbDetection_html"><div class="ttname"><a href="classroboticslab_1_1RgbDetection.html">roboticslab::RgbDetection</a></div><div class="ttdoc">2D detection.</div><div class="ttdef"><b>Definition:</b> RgbDetection.hpp:26</div></div>
<div class="ttc" id="aclassroboticslab_1_1YarpCropCallback_html"><div class="ttname"><a href="classroboticslab_1_1YarpCropCallback.html">roboticslab::YarpCropCallback</a></div><div class="ttdef"><b>Definition:</b> YarpCropCallback.hpp:23</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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<li class="navelem"><a class="el" href="dir_7b0a5d1507c7f681cbfa1deb5990c6ea.html">programs</a></li><li class="navelem"><a class="el" href="dir_29602fbee921084ef6cffd0531461981.html">rgbdDetection</a></li> </ul>
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<div class="title">RgbdDetection.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="preprocessor">#ifndef __RGBD_DETECTION_HPP__</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __RGBD_DETECTION_HPP__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/os/Bottle.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#include &lt;yarp/os/BufferedPort.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;yarp/os/RFModule.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/PolyDriver.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/IRGBDSensor.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/Image.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#include &lt;yarp/sig/IntrinsicParams.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &quot;IDetector.hpp&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &quot;YarpCropCallback.hpp&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;{</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classroboticslab_1_1RgbdDetection.html"> 26</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1RgbdDetection.html">RgbdDetection</a> : <span class="keyword">public</span> yarp::os::RFModule</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;{</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; ~<a class="code" href="classroboticslab_1_1RgbdDetection.html">RgbdDetection</a>()<span class="keyword"> override</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword"> </span>{ close(); }</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keywordtype">bool</span> configure(yarp::os::ResourceFinder &amp;rf) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keywordtype">double</span> getPeriod() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; <span class="keywordtype">bool</span> updateModule() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="keywordtype">bool</span> interruptModule() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; <span class="keywordtype">bool</span> close() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; yarp::dev::PolyDriver sensorDevice;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; yarp::dev::IRGBDSensor * iRGBDSensor;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; yarp::sig::IntrinsicParams depthIntrinsicParams;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; yarp::dev::PolyDriver detectorDevice;</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a> * iDetector;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; yarp::os::BufferedPort&lt;yarp::os::Bottle&gt; statePort;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; yarp::os::BufferedPort&lt;yarp::sig::ImageOf&lt;yarp::sig::PixelRgb&gt;&gt; imagePort;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; yarp::os::BufferedPort&lt;yarp::os::Bottle&gt; cropPort;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <a class="code" href="classroboticslab_1_1YarpCropCallback.html">YarpCropCallback</a> cropCallback;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keywordtype">double</span> period;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;};</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __RGBD_DETECTION_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div>
<div class="ttc" id="aclassroboticslab_1_1RgbdDetection_html"><div class="ttname"><a href="classroboticslab_1_1RgbdDetection.html">roboticslab::RgbdDetection</a></div><div class="ttdoc">2.5D detection.</div><div class="ttdef"><b>Definition:</b> RgbdDetection.hpp:27</div></div>
<div class="ttc" id="aclassroboticslab_1_1YarpCropCallback_html"><div class="ttname"><a href="classroboticslab_1_1YarpCropCallback.html">roboticslab::YarpCropCallback</a></div><div class="ttdef"><b>Definition:</b> YarpCropCallback.hpp:23</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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