IRI ROS Specific Algorithm Class. More...
#include <people_tracking_rai_alg_node.h>
IRI ROS Specific Algorithm Class.
Definition at line 79 of file people_tracking_rai_alg_node.h.
Constructor.
This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.
Definition at line 3 of file people_tracking_rai_alg_node.cpp.
Destructor.
This destructor frees all necessary dynamic memory allocated within this this class.
Definition at line 92 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::addNodeDiagnostics | ( | void | ) | [protected, virtual] |
node add diagnostics
In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.
Implements algorithm_base::IriBaseAlgorithm< PeopleTrackingRaiAlgorithm >.
Definition at line 773 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::bodyDetections_callback | ( | const pal_vision_msgs::HogDetections::ConstPtr & | msg | ) | [private] |
Definition at line 630 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::faceDetections_callback | ( | const pal_vision_msgs::FaceDetections::ConstPtr & | msg | ) | [private] |
Definition at line 596 of file people_tracking_rai_alg_node.cpp.
Fill output messages.
Fills main output and debug messages
Definition at line 116 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::followMe_callback | ( | const std_msgs::Int32::ConstPtr & | msg | ) | [private] |
Definition at line 548 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::image_callback | ( | const sensor_msgs::ImageConstPtr & | msg | ) | [private] |
Definition at line 742 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::initCamera | ( | ) | [private] |
Definition at line 100 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::legDetections_callback | ( | const pal_vision_msgs::LegDetections::ConstPtr & | msg | ) | [private] |
Definition at line 718 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::mainNodeThread | ( | void | ) | [protected, virtual] |
main node thread
This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.
Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.
Implements algorithm_base::IriBaseAlgorithm< PeopleTrackingRaiAlgorithm >.
Definition at line 420 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::node_config_update | ( | Config & | config, |
uint32_t | level | ||
) | [protected, virtual] |
dynamic reconfigure server callback
This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.
config | an object with new configuration from all algorithm parameters defined in the config file. |
level | integer referring the level in which the configuration has been changed. |
Implements algorithm_base::IriBaseAlgorithm< PeopleTrackingRaiAlgorithm >.
Definition at line 766 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::odometry_callback | ( | const nav_msgs::Odometry::ConstPtr & | msg | ) | [private] |
Definition at line 691 of file people_tracking_rai_alg_node.cpp.
void PeopleTrackingRaiAlgNode::tldDetections_callback | ( | const tld_msgs::BoundingBox::ConstPtr & | msg | ) | [private] |
Definition at line 556 of file people_tracking_rai_alg_node.cpp.
CMutex PeopleTrackingRaiAlgNode::bodyDetections_mutex_ [private] |
Definition at line 119 of file people_tracking_rai_alg_node.h.
Definition at line 117 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::config_mutex [private] |
Definition at line 131 of file people_tracking_rai_alg_node.h.
Definition at line 96 of file people_tracking_rai_alg_node.h.
unsigned int PeopleTrackingRaiAlgNode::exeMode [private] |
Definition at line 83 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::faceDetections_mutex_ [private] |
Definition at line 116 of file people_tracking_rai_alg_node.h.
Definition at line 114 of file people_tracking_rai_alg_node.h.
pFilterParameters PeopleTrackingRaiAlgNode::filterParams [private] |
Definition at line 142 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::followMe_mutex_ [private] |
Definition at line 110 of file people_tracking_rai_alg_node.h.
Definition at line 108 of file people_tracking_rai_alg_node.h.
unsigned int PeopleTrackingRaiAlgNode::frameCount [private] |
Definition at line 152 of file people_tracking_rai_alg_node.h.
unsigned int PeopleTrackingRaiAlgNode::hogDetCount [private] |
Definition at line 152 of file people_tracking_rai_alg_node.h.
std::ofstream PeopleTrackingRaiAlgNode::hogFile [private] |
Definition at line 148 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::image_mutex_ [private] |
Definition at line 128 of file people_tracking_rai_alg_node.h.
Definition at line 105 of file people_tracking_rai_alg_node.h.
Definition at line 126 of file people_tracking_rai_alg_node.h.
Definition at line 95 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::legDetections_mutex_ [private] |
Definition at line 125 of file people_tracking_rai_alg_node.h.
Definition at line 123 of file people_tracking_rai_alg_node.h.
visualization_msgs::MarkerArray PeopleTrackingRaiAlgNode::MarkerArray_msg_ [private] |
Definition at line 102 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::odometry_mutex_ [private] |
Definition at line 122 of file people_tracking_rai_alg_node.h.
Definition at line 120 of file people_tracking_rai_alg_node.h.
Definition at line 101 of file people_tracking_rai_alg_node.h.
Definition at line 103 of file people_tracking_rai_alg_node.h.
iri_perception_msgs::peopleTrackingArray PeopleTrackingRaiAlgNode::peopleTrackingArray_msg_ [private] |
Definition at line 104 of file people_tracking_rai_alg_node.h.
CodometryObservation PeopleTrackingRaiAlgNode::platformOdometry [private] |
Definition at line 145 of file people_tracking_rai_alg_node.h.
double PeopleTrackingRaiAlgNode::ratioParticlesDisplayed [private] |
Definition at line 151 of file people_tracking_rai_alg_node.h.
tld_msgs::Target PeopleTrackingRaiAlgNode::tldBB_msg_ [private] |
Definition at line 100 of file people_tracking_rai_alg_node.h.
Definition at line 99 of file people_tracking_rai_alg_node.h.
CMutex PeopleTrackingRaiAlgNode::tldDetections_mutex_ [private] |
Definition at line 113 of file people_tracking_rai_alg_node.h.
Definition at line 111 of file people_tracking_rai_alg_node.h.
Definition at line 89 of file people_tracking_rai_alg_node.h.
CpeopleTracker PeopleTrackingRaiAlgNode::tracker [private] |
Definition at line 144 of file people_tracking_rai_alg_node.h.
trackerParameters PeopleTrackingRaiAlgNode::trackerParams [private] |
Definition at line 143 of file people_tracking_rai_alg_node.h.
bool PeopleTrackingRaiAlgNode::verboseMode [private] |
Definition at line 149 of file people_tracking_rai_alg_node.h.
Definition at line 150 of file people_tracking_rai_alg_node.h.