#include <gltracker.h>
Public Member Functions | |
| const geometry_msgs::Pose | getCameraReferencePose () |
| Get the constant camera reference of Blort. | |
| TrackerConfidences | getConfidences () |
| Get some statistics of the actual tracking state. | |
| const std::vector < geometry_msgs::Pose > & | getDetections () |
| Get the results of the latest detections. | |
| cv::Mat | getImage () |
| Get the rendered image for visualization. | |
| std::string | getStatusString () |
| Get a status string describing the current state of the tracker. | |
| GLTracker (const sensor_msgs::CameraInfo camera_info, const std::string &config_root, bool visualize_obj_pose=false) | |
| void | reconfigure (blort_ros::TrackerConfig config) |
| Control the tracker using a ROS reconfigure_gui node. | |
| virtual void | recovery () |
| Method to run and handle recovery state. | |
| void | reset () |
| void | resetWithPose (const geometry_msgs::Pose &new_pose) |
| void | setPublisMode (TrackerPublishMode mode) |
| void | setVisualizeObjPose (bool enable) |
| virtual void | track () |
| Method to run and handle tracking. | |
| void | trackerControl (int code, int param=-1) |
| Control the tracker with a single int code. | |
| ~GLTracker () | |
Private Member Functions | |
| void | update () |
| Update confidences and state based on the state and confidences of the encapsulated tracker. Also pose result is updated if the state is apropriate. | |
| void | updatePoseResult () |
| Assemble pose result to be published based on class variables. The result is put in the corresponding variable. | |
Private Attributes | |
| TomGine::tgPose | cam_pose |
| double | conf_threshold |
| geometry_msgs::Pose | fixed_cam_pose |
| IplImage * | image |
| bool | last_reset |
| int | model_id |
| std::string | model_name |
| Tracking::movement_state | movement |
| std::string | pose_cal |
| int | publish_mode |
| Tracking::quality_state | quality |
| float | recovery_conf_threshold |
| std::vector< geometry_msgs::Pose > | result |
| std::string | sift_file |
| TomGine::tgCamera::Parameter | tgcam_params |
| TomGine::tgTimer | timer |
| Tracking::Tracker::Parameter | track_params |
| Tracking::TextureTracker | tracker |
| Tracking::confidence_state | tracker_confidence |
| TrackerConfidences | tracker_confidences |
| TomGine::tgPose | trPose |
| bool | visualize_obj_pose |
Definition at line 66 of file gltracker.h.
| GLTracker::GLTracker | ( | const sensor_msgs::CameraInfo | camera_info, | |
| const std::string & | config_root, | |||
| bool | visualize_obj_pose = false | |||
| ) |
Definition at line 51 of file gltracker.cpp.
| GLTracker::~GLTracker | ( | ) |
Definition at line 321 of file gltracker.cpp.
| const geometry_msgs::Pose blort_ros::GLTracker::getCameraReferencePose | ( | ) | [inline] |
Get the constant camera reference of Blort.
Definition at line 138 of file gltracker.h.
| TrackerConfidences blort_ros::GLTracker::getConfidences | ( | ) | [inline] |
Get some statistics of the actual tracking state.
Definition at line 132 of file gltracker.h.
| const std::vector<geometry_msgs::Pose>& blort_ros::GLTracker::getDetections | ( | ) | [inline] |
Get the results of the latest detections.
Definition at line 135 of file gltracker.h.
| cv::Mat GLTracker::getImage | ( | ) |
Get the rendered image for visualization.
Definition at line 236 of file gltracker.cpp.
| std::string GLTracker::getStatusString | ( | ) |
Get a status string describing the current state of the tracker.
Definition at line 223 of file gltracker.cpp.
| void GLTracker::reconfigure | ( | blort_ros::TrackerConfig | config | ) |
Control the tracker using a ROS reconfigure_gui node.
| Reconfigure_gui | messagetype |
Definition at line 172 of file gltracker.cpp.
| virtual void blort_ros::GLTracker::recovery | ( | ) | [inline, virtual] |
Method to run and handle recovery state.
Implements blort_ros::TrackerInterface.
Definition at line 112 of file gltracker.h.
| void GLTracker::reset | ( | ) | [virtual] |
Reimplemented from blort_ros::TrackerInterface.
Definition at line 316 of file gltracker.cpp.
| void GLTracker::resetWithPose | ( | const geometry_msgs::Pose & | new_pose | ) |
Definition at line 160 of file gltracker.cpp.
| void blort_ros::GLTracker::setPublisMode | ( | TrackerPublishMode | mode | ) | [inline] |
Definition at line 148 of file gltracker.h.
| void blort_ros::GLTracker::setVisualizeObjPose | ( | bool | enable | ) | [inline] |
Definition at line 146 of file gltracker.h.
| void GLTracker::track | ( | ) | [virtual] |
Method to run and handle tracking.
Implements blort_ros::TrackerInterface.
Definition at line 108 of file gltracker.cpp.
| void GLTracker::trackerControl | ( | int | code, | |
| int | param = -1 | |||
| ) |
Control the tracker with a single int code.
| code | integer code associated with command, can be used with enums. | |
| param | parameter of the command |
Definition at line 188 of file gltracker.cpp.
| void GLTracker::update | ( | void | ) | [private] |
Update confidences and state based on the state and confidences of the encapsulated tracker. Also pose result is updated if the state is apropriate.
Definition at line 274 of file gltracker.cpp.
| void GLTracker::updatePoseResult | ( | ) | [private] |
Assemble pose result to be published based on class variables. The result is put in the corresponding variable.
Definition at line 254 of file gltracker.cpp.
Definition at line 79 of file gltracker.h.
double blort_ros::GLTracker::conf_threshold [private] |
Definition at line 70 of file gltracker.h.
Definition at line 100 of file gltracker.h.
IplImage* blort_ros::GLTracker::image [private] |
Definition at line 96 of file gltracker.h.
bool blort_ros::GLTracker::last_reset [private] |
Definition at line 104 of file gltracker.h.
int blort_ros::GLTracker::model_id [private] |
Definition at line 90 of file gltracker.h.
std::string blort_ros::GLTracker::model_name [private] |
Definition at line 85 of file gltracker.h.
Definition at line 91 of file gltracker.h.
std::string blort_ros::GLTracker::pose_cal [private] |
Definition at line 86 of file gltracker.h.
int blort_ros::GLTracker::publish_mode [private] |
Definition at line 72 of file gltracker.h.
Definition at line 92 of file gltracker.h.
float blort_ros::GLTracker::recovery_conf_threshold [private] |
Definition at line 74 of file gltracker.h.
std::vector<geometry_msgs::Pose> blort_ros::GLTracker::result [private] |
Definition at line 101 of file gltracker.h.
std::string blort_ros::GLTracker::sift_file [private] |
Definition at line 85 of file gltracker.h.
Definition at line 77 of file gltracker.h.
TomGine::tgTimer blort_ros::GLTracker::timer [private] |
Definition at line 78 of file gltracker.h.
Definition at line 80 of file gltracker.h.
Definition at line 82 of file gltracker.h.
Definition at line 93 of file gltracker.h.
Definition at line 99 of file gltracker.h.
TomGine::tgPose blort_ros::GLTracker::trPose [private] |
Definition at line 89 of file gltracker.h.
bool blort_ros::GLTracker::visualize_obj_pose [private] |
Definition at line 71 of file gltracker.h.
