MotldNode.cpp File Reference

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <image_transport/image_transport.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <cv_bridge/CvBridge.h>
#include <boost/thread/mutex.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/impl/transforms.hpp>
#include <sensor_msgs/PointCloud2.h>
#include <tf/tfMessage.h>
#include <tf/transform_broadcaster.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/subscriber_filter.h>
#include <motld/BoundingBox.h>
#include <motld/Save.h>
#include <motld/Config.h>
#include <motld/TrackedObjects.h>
#include <geometry_msgs/PoseArray.h>
#include <motld/MultiObjectTLD.h>

Include dependency graph for MotldNode.cpp:

Go to the source code of this file.

Classes
struct	CloudProperties
Defines
#define	SQR(X)   ((X)*(X))
Typedefs
typedef pcl::PointCloud< Point_t >	Cloud_t
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::PointCloud2 >	MySyncPolicy
typedef pcl::PointXYZ	Point_t
Functions
void	boundingBoxCallback (const motld::BoundingBoxConstPtr &msg)
CloudProperties	calculateCloudProperties (ObjectBox box)
std::string	camera_topic_ ("/camera/rgb/image_color")
void	configCallback (const motld::ConfigConstPtr &msg)
std::string	depth_topic_ ("/camera/depth_registered/points")
void	init ()
int	main (int argc, char **argv)
std::string	model_file_ ("")
void	prepareForProcessing (IplImage *image)
void	processAndPublish ()
void	processCloud ()
void	saveModelCallback (const motld::SaveConstPtr &msg)
void	synchronizedCallback (const sensor_msgs::ImageConstPtr &msg, const sensor_msgs::PointCloud2ConstPtr &msg_cloud)
void	trackerCallback (const sensor_msgs::ImageConstPtr &msg)
Variables
sensor_msgs::CvBridge	bridge_
const int	CHANNELS = 3
Cloud_t	cloud_
bool	debug = false
geometry_msgs::PoseArray	debug_objects_
ros::Publisher	debug_poses_pub_
bool	force_resize_ = true
std::string	frame_id_
bool	have_initial_box_ = false
int	height_ = 480
std::string	image_frame_
sensor_msgs::Image	image_msg_
image_transport::Publisher	image_pub_
unsigned char *	img_
bool	initialized_ = false
IplImage *	ipl_img_
bool	learningEnabled_ = true
Matrix	maBlue
Matrix	maGreen
Matrix	maRed
IplImage *	out_img_
ros::Publisher	poses_pub_
bool	read_model_from_file_ = false
float	resize_factor_ = 1.f
MOTLDSettings	settings = MOTLDSettings(COLOR_MODE_RGB)
bool	started_ = false
MultiObjectTLD	tld_ = MultiObjectTLD(width_, height_, settings)
boost::mutex	tld_mutex_
motld::TrackedObjects	tracked_objects_
bool	use_cloud_ = true
int	width_ = 640

---

Define Documentation

#define SQR

(

X

)

((X)*(X))

Definition at line 35 of file MotldNode.cpp.

---

Typedef Documentation

typedef pcl::PointCloud<Point_t> Cloud_t

Definition at line 42 of file MotldNode.cpp.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> MySyncPolicy

Definition at line 43 of file MotldNode.cpp.

typedef pcl::PointXYZ Point_t

Definition at line 41 of file MotldNode.cpp.

---

Function Documentation

void boundingBoxCallback

(

const motld::BoundingBoxConstPtr &

msg

)

Definition at line 377 of file MotldNode.cpp.

CloudProperties calculateCloudProperties

(

ObjectBox

box

)

Definition at line 102 of file MotldNode.cpp.

std::string camera_topic_

(

"/camera/rgb/image_color"

)

void configCallback

(

const motld::ConfigConstPtr &

msg

)

Definition at line 402 of file MotldNode.cpp.

std::string depth_topic_

(

"/camera/depth_registered/points"

)

void init

(

)

Definition at line 203 of file MotldNode.cpp.

int main	(	int	argc,
		char **	argv
	)

main() method

Definition at line 419 of file MotldNode.cpp.

std::string model_file_

(

""

)

void prepareForProcessing

(

IplImage *

image

)

Definition at line 221 of file MotldNode.cpp.

void processAndPublish

(

)

Definition at line 242 of file MotldNode.cpp.

void processCloud

(

)

Definition at line 270 of file MotldNode.cpp.

void saveModelCallback

(

const motld::SaveConstPtr &

msg

)

Definition at line 396 of file MotldNode.cpp.

void synchronizedCallback	(	const sensor_msgs::ImageConstPtr &	msg,
		const sensor_msgs::PointCloud2ConstPtr &	msg_cloud
	)

Definition at line 367 of file MotldNode.cpp.

void trackerCallback

(

const sensor_msgs::ImageConstPtr &

msg

)

Callbacks

Definition at line 340 of file MotldNode.cpp.

---

Variable Documentation

sensor_msgs::CvBridge bridge_

Definition at line 69 of file MotldNode.cpp.

const int CHANNELS = 3

Definition at line 54 of file MotldNode.cpp.

Cloud_t cloud_

Definition at line 62 of file MotldNode.cpp.

bool debug = false

Definition at line 51 of file MotldNode.cpp.

geometry_msgs::PoseArray debug_objects_

Definition at line 73 of file MotldNode.cpp.

ros::Publisher debug_poses_pub_

Definition at line 75 of file MotldNode.cpp.

bool force_resize_ = true

Definition at line 57 of file MotldNode.cpp.

std::string frame_id_

Definition at line 63 of file MotldNode.cpp.

bool have_initial_box_ = false

Definition at line 95 of file MotldNode.cpp.

int height_ = 480

Definition at line 56 of file MotldNode.cpp.

std::string image_frame_

Definition at line 68 of file MotldNode.cpp.

sensor_msgs::Image image_msg_

Definition at line 84 of file MotldNode.cpp.

image_transport::Publisher image_pub_

Definition at line 85 of file MotldNode.cpp.

unsigned char* img_

Definition at line 66 of file MotldNode.cpp.

bool initialized_ = false

Definition at line 94 of file MotldNode.cpp.

IplImage* ipl_img_

Definition at line 67 of file MotldNode.cpp.

bool learningEnabled_ = true

Definition at line 88 of file MotldNode.cpp.

Matrix maBlue

Definition at line 81 of file MotldNode.cpp.

Matrix maGreen

Definition at line 80 of file MotldNode.cpp.

Matrix maRed

Definition at line 79 of file MotldNode.cpp.

IplImage* out_img_

Definition at line 83 of file MotldNode.cpp.

ros::Publisher poses_pub_

Definition at line 74 of file MotldNode.cpp.

bool read_model_from_file_ = false

Definition at line 97 of file MotldNode.cpp.

float resize_factor_ = 1.f

Definition at line 58 of file MotldNode.cpp.

MOTLDSettings settings = MOTLDSettings(COLOR_MODE_RGB)

Definition at line 89 of file MotldNode.cpp.

bool started_ = false

Definition at line 96 of file MotldNode.cpp.

MultiObjectTLD tld_ = MultiObjectTLD(width_, height_, settings)

Definition at line 90 of file MotldNode.cpp.

boost::mutex tld_mutex_

Definition at line 91 of file MotldNode.cpp.

motld::TrackedObjects tracked_objects_

Definition at line 72 of file MotldNode.cpp.

bool use_cloud_ = true

Definition at line 61 of file MotldNode.cpp.

int width_ = 640

Definition at line 55 of file MotldNode.cpp.