visp_tracker::TrackerViewer Class Reference

Monitors the tracking result provided by the tracking node. More...

#include <tracker-viewer.hh>

Public Types
typedef vpImage< unsigned char >	image_t
	ViSP image type.
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites >	syncPolicy_t
	Synchronization policy.
Public Member Functions
void	spin ()
	Display camera image, tracked object position and moving edge sites.
	TrackerViewer (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
	Constructor.
Protected Member Functions
void	callback (const sensor_msgs::ImageConstPtr &imageConst, const sensor_msgs::CameraInfoConstPtr &infoConst, const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &trackingResult, const visp_tracker::MovingEdgeSites::ConstPtr &sitesConst)
	Callback used to received synchronized data.
void	checkInputs ()
	Make sure the topics we subscribe already exist.
void	displayMovingEdgeSites ()
	Display moving edge sites.
void	initializeTracker ()
	Initialize the tracker.
void	timerCallback ()
void	waitForImage ()
	Hang until the first image is received.
Private Member Functions
bool	exiting ()
Private Attributes
vpCameraParameters	cameraParameters_
	ViSP camera parameters.
image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist.
boost::optional < vpHomogeneousMatrix >	cMo_
	Last tracked object position, set to none if tracking failed.
volatile bool &	exiting_
image_t	image_
	ViSP image.
image_transport::ImageTransport	imageTransport_
	Image transport used to receive images.
sensor_msgs::CameraInfoConstPtr	info_
	Shared pointer to latest received camera information.
ros::NodeHandle &	nodeHandle_
ros::NodeHandle &	nodeHandlePrivate_
unsigned	queueSize_
	Queue size for all subscribers.
visp_tracker::MovingEdgeSites::ConstPtr	sites_
	Shared pointer to latest received moving edge sites.
vpMbEdgeTracker	tracker_
	ViSP edge tracker.
boost::filesystem::path	vrmlPath_
	VRML model path.
Subscribers and synchronizer.
Subscriber to image topic.
message_filters::Subscriber < sensor_msgs::CameraInfo >	cameraInfoSubscriber_
	Subscriber to camera information topic.
image_transport::SubscriberFilter	imageSubscriber_
message_filters::Subscriber < visp_tracker::MovingEdgeSites >	movingEdgeSitesSubscriber_
	Subscriber to moving edge sites topics..
message_filters::Synchronizer < syncPolicy_t >	synchronizer_
	Synchronizer with approximate time policy.
message_filters::Subscriber < geometry_msgs::PoseWithCovarianceStamped >	trackingResultSubscriber_
	Subscriber to tracking result topic.
Topics and services strings.

std::string	cameraInfoTopic_
	Full topic name for camera information.
std::string	rectifiedImageTopic_
	Full topic name for rectified image.
Synchronization check
}
unsigned	countAll_
unsigned	countCameraInfo_
unsigned	countImages_
unsigned	countMovingEdgeSites_
unsigned	countTrackingResult_
ros::WallTimer	timer_

Detailed Description

Monitors the tracking result provided by the tracking node.

Definition at line 29 of file tracker-viewer.hh.

Member Typedef Documentation

typedef vpImage<unsigned char> visp_tracker::TrackerViewer::image_t

ViSP image type.

Definition at line 33 of file tracker-viewer.hh.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites > visp_tracker::TrackerViewer::syncPolicy_t

Synchronization policy.

This is used to make sure that the image, the object position and the moving edge sites are synchronized. This may not be the case as these informations are published on different topics. The approximate time allows light differences in timestamps which are not critical as this is only a viewer.

Definition at line 46 of file tracker-viewer.hh.

Constructor & Destructor Documentation

visp_tracker::TrackerViewer::TrackerViewer	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	privateNh,
		volatile bool &	exiting,
		unsigned	queueSize = `5u`
	)

Constructor.

Definition at line 33 of file tracker-viewer.cpp.

Member Function Documentation

void visp_tracker::TrackerViewer::callback	(	const sensor_msgs::ImageConstPtr &	imageConst,
		const sensor_msgs::CameraInfoConstPtr &	infoConst,
		const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &	trackingResult,
		const visp_tracker::MovingEdgeSites::ConstPtr &	sitesConst
	)			`[protected]`