#include <posetracker.h>
Classes | |
| struct | MarkerEval |
Public Member Functions | |
| void | init (const std::string &propFile, double scale, tf::TransformBroadcaster *bc, double _sqrErrThreshold, bool _useRansac, unsigned int _numRansacSamples) |
| PoseTracker () | |
| void | process (const visualization_msgs::MarkerArray::ConstPtr &msg) |
| void | setDebug (bool d) |
Protected Member Functions | |
| bool | calculatePose (const visualization_msgs::MarkerArray::ConstPtr &m) |
| double | getConsensus (std::vector< MarkerEval > &points, Eigen::Affine3d &p, int &numInliers) |
| returns sum of squared errors of inliers given model p | |
| void | parsePropFile (const std::string &logfile, double scale) |
Protected Attributes | |
| std::vector< std::string > | bodyMarkerNames |
| std::vector< Eigen::Vector3d > | bodyMarkerPositions |
| std::string | bodyName |
| tf::TransformBroadcaster * | broadcaster |
| bool | debug |
| bool | initialized |
| std::vector< MarkerEval > | markerEval |
| int | numRansacSamples |
| double | sqrErrThreshold |
| squared error threshold for accepting a point as inlier | |
| bool | useRansac |
Definition at line 25 of file posetracker.h.
Definition at line 18 of file posetracker.cpp.
| bool PoseTracker::calculatePose | ( | const visualization_msgs::MarkerArray::ConstPtr & | m | ) | [protected] |
Definition at line 60 of file posetracker.cpp.
| double PoseTracker::getConsensus | ( | std::vector< MarkerEval > & | points, |
| Eigen::Affine3d & | p, | ||
| int & | numInliers | ||
| ) | [protected] |
returns sum of squared errors of inliers given model p
Definition at line 193 of file posetracker.cpp.
| void PoseTracker::init | ( | const std::string & | propFile, |
| double | scale, | ||
| tf::TransformBroadcaster * | bc, | ||
| double | _sqrErrThreshold, | ||
| bool | _useRansac, | ||
| unsigned int | _numRansacSamples | ||
| ) |
Definition at line 29 of file posetracker.cpp.
| void PoseTracker::parsePropFile | ( | const std::string & | logfile, |
| double | scale | ||
| ) | [protected] |
Definition at line 255 of file posetracker.cpp.
| void PoseTracker::process | ( | const visualization_msgs::MarkerArray::ConstPtr & | msg | ) |
Definition at line 52 of file posetracker.cpp.
| void PoseTracker::setDebug | ( | bool | d | ) |
Definition at line 24 of file posetracker.cpp.
std::vector<std::string> PoseTracker::bodyMarkerNames [protected] |
Definition at line 54 of file posetracker.h.
std::vector<Eigen::Vector3d> PoseTracker::bodyMarkerPositions [protected] |
Definition at line 53 of file posetracker.h.
std::string PoseTracker::bodyName [protected] |
Definition at line 52 of file posetracker.h.
tf::TransformBroadcaster* PoseTracker::broadcaster [protected] |
Definition at line 56 of file posetracker.h.
bool PoseTracker::debug [protected] |
Definition at line 49 of file posetracker.h.
bool PoseTracker::initialized [protected] |
Definition at line 44 of file posetracker.h.
std::vector<MarkerEval> PoseTracker::markerEval [protected] |
Definition at line 45 of file posetracker.h.
int PoseTracker::numRansacSamples [protected] |
Definition at line 47 of file posetracker.h.
double PoseTracker::sqrErrThreshold [protected] |
squared error threshold for accepting a point as inlier
Definition at line 48 of file posetracker.h.
bool PoseTracker::useRansac [protected] |
Definition at line 46 of file posetracker.h.
