Performs the ground truth detection. More...
#include <ros/ros.h>#include <image_transport/image_transport.h>#include <image_geometry/pinhole_camera_model.h>#include <boost/thread/mutex.hpp>#include <boost/lexical_cast.hpp>#include <pcl/point_types.h>#include <pcl_visualization/pcl_visualizer.h>#include <pcl/registration/transforms.h>#include <pcl/filters/extract_indices.h>#include <pcl/segmentation/extract_clusters.h>#include <terminal_tools/parse.h>#include <Eigen/Core>#include <color_table/common.h>#include <ground_truth/field_provider.h>
Include dependency graph for detect.cc:
Go to the source code of this file.
Defines | |
| #define | FULL 1 |
| #define | RELEVANT 2 |
Functions | |
| void | cloudCallback (const sensor_msgs::PointCloud2ConstPtr &cloudPtrFromMsg) |
| Callback function for the point cloud message received from the kinect driver. | |
| void | detectBall (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloudIn, std::vector< pcl::PointXYZ > &ballPositions, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloudOut) |
| Function to detect the ball given the transformed point cloud from the kinect. | |
| void | detectRobots (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloudIn, std::vector< pcl::PointXYZ > &robotPositions, pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloudOut) |
| Function to detect robots given the transformed point cloud from the kinect. | |
| void | getParameters (ros::NodeHandle &nh, int argc, char **argv) |
| Helper function to get parameters from the command line, or a ROS parameter server. | |
| double | getSystemTime () |
| Helper function to return time in seconds with micro-second precision. | |
| std::string | getUniqueName (const std::string &baseName, int uniqueId) |
| void | loadColorTable () |
| Loads color table from file into array. | |
| int | main (int argc, char **argv) |
Detailed Description
Performs the ground truth detection.
This ROS node detects the ground truth locations of the ball and the robots on the field. It uses the collected calibration info as well as the color table
License: Modified BSD License
$ Id: 08/10/2011 12:48:11 PM piyushk $
Definition in file detect.cc.
Define Documentation
Function Documentation
| void cloudCallback | ( | const sensor_msgs::PointCloud2ConstPtr & | cloudPtrFromMsg | ) |
| void detectBall | ( | pcl::PointCloud< pcl::PointXYZRGB >::Ptr | cloudIn, |
| std::vector< pcl::PointXYZ > & | ballPositions, | ||
| pcl::PointCloud< pcl::PointXYZRGB >::Ptr | cloudOut | ||
| ) |
Function to detect the ball given the transformed point cloud from the kinect.
- Parameters:
-
cloudIn The transformed point cloud from the Kinect ballPositions The detected ball positions (can be more than 1) cloudOut The clusters contributing to the detected balls
| void detectRobots | ( | pcl::PointCloud< pcl::PointXYZRGB >::Ptr | cloudIn, |
| std::vector< pcl::PointXYZ > & | robotPositions, | ||
| pcl::PointCloud< pcl::PointXYZRGB >::Ptr | cloudOut | ||
| ) |
| void getParameters | ( | ros::NodeHandle & | nh, |
| int | argc, | ||
| char ** | argv | ||
| ) |
| double getSystemTime | ( | ) |
| std::string getUniqueName | ( | const std::string & | baseName, |
| int | uniqueId | ||
| ) | [inline] |
| void loadColorTable | ( | ) |