object_tracker.cc File Reference

#include <cassert>
#include <limits>
#include <vector>
#include <sstream>
#include <boost/foreach.hpp>
#include <boost/thread.hpp>
#include "ros/ros.h"
#include "tf/transform_listener.h"
#include "tf/transform_broadcaster.h"
#include "semanticmodel/blob_store.h"
#include "pcl16/point_types.h"
#include "pcl16_ros/point_cloud.h"
#include "pcl16_ros/transforms.h"
#include "pcl16/surface/convex_hull.h"
#include "pcl16/segmentation/extract_clusters.h"
#include "pcl16/segmentation/sac_segmentation.h"
#include "pcl16/filters/extract_indices.h"
#include "pcl16/sample_consensus/method_types.h"
#include "pcl16/sample_consensus/model_types.h"
#include "image_geometry/pinhole_camera_model.h"
#include "opencv2/opencv.hpp"
#include "semanticmodel/centroid.hh"
#include "semanticmodel/miniatureoccupancygrid.hh"
#include "semanticmodel/Blobs.h"
#include "semanticmodel/Segment.h"
#include "semanticmodel/blob.hh"
#include "semanticmodel/GetCollectionNamespace.h"
#include "visualization_msgs/MarkerArray.h"
#include "dynamic_reconfigure/server.h"
#include "semanticmodel/ObjectTrackerConfig.h"

Include dependency graph for object_tracker.cc:

Go to the source code of this file.

Defines
#define	foreach BOOST_FOREACH
Typedefs
typedef pcl16::PointXYZRGB	Point
typedef pcl16::PointCloud< Point >	PointCloud
Functions
void	blobs_cb (const Blobs::ConstPtr &blobs)
void	cluster_objects (const PointCloud::ConstPtr &aboves, std::vector< PointCloud::Ptr > &clusters)
void	config_cb (const semanticmodel::ObjectTrackerConfig &_config, uint32_t i)
void	deplane_objects (std::vector< PointCloud::Ptr > &clusters)
void	fc_cb (const PointCloud::ConstPtr &input)
int	main (int argc, char **argv)
void	occupancy_trick (PointCloud::Ptr &input)
cv::RNG	prng (2)
void	push_one_frame_segment (const Blob *blob, const sensor_msgs::Image &rgb_img, const sensor_msgs::CameraInfo &rgb_info, const sensor_msgs::Image &depth_img, const sensor_msgs::CameraInfo &depth_info)
Variables
ros::Publisher	all_objects_pub
boost::shared_ptr < semanticmodel::BlobStore >	blob_store
boost::shared_ptr < tf::TransformBroadcaster >	broadcaster
ros::Subscriber	cluster_sub
vector< int >	colors
semanticmodel::ObjectTrackerConfig	config
ros::Publisher	flat_frames_publisher
ros::Subscriber	full_cloud_sub
boost::shared_ptr < tf::TransformListener >	listener
vector< Blob * >	objects
MiniatureOccupancyGrid	OG (0.05)
ros::Publisher	og_pub
ros::Publisher	viz_pub

Define Documentation

#define foreach BOOST_FOREACH

Definition at line 18 of file object_tracker.cc.

Typedef Documentation

typedef pcl16::PointXYZRGB Point

Definition at line 59 of file object_tracker.cc.

typedef pcl16::PointCloud<Point> PointCloud

Definition at line 60 of file object_tracker.cc.

Function Documentation

void blobs_cb ( const Blobs::ConstPtr & blobs )

Definition at line 256 of file object_tracker.cc.

void cluster_objects	(	const PointCloud::ConstPtr &	aboves,
		std::vector< PointCloud::Ptr > &	clusters
	)

Definition at line 105 of file object_tracker.cc.

void config_cb	(	const semanticmodel::ObjectTrackerConfig &	_config,
		uint32_t	i
	)

Definition at line 63 of file object_tracker.cc.

void deplane_objects ( std::vector< PointCloud::Ptr > & clusters )

Definition at line 145 of file object_tracker.cc.

void fc_cb ( const PointCloud::ConstPtr & input )

Definition at line 199 of file object_tracker.cc.

int main	(	int	argc,
		char **	argv
	)

Definition at line 379 of file object_tracker.cc.

void occupancy_trick ( PointCloud::Ptr & input )

Definition at line 229 of file object_tracker.cc.

cv::RNG prng ( 2 )

void push_one_frame_segment	(	const Blob *	blob,
		const sensor_msgs::Image &	rgb_img,
		const sensor_msgs::CameraInfo &	rgb_info,
		const sensor_msgs::Image &	depth_img,
		const sensor_msgs::CameraInfo &	depth_info
	)