tracker-client.hh
Go to the documentation of this file.
00001 #ifndef VISP_TRACKER_TRACKER_CLIENT_HH
00002 # define VISP_TRACKER_TRACKER_CLIENT_HH
00003 # include <boost/filesystem/fstream.hpp>
00004 # include <boost/filesystem/path.hpp>
00005 # include <boost/thread/recursive_mutex.hpp>
00006 
00007 # include <dynamic_reconfigure/server.h>
00008 
00009 # include <image_proc/advertisement_checker.h>
00010 
00011 # include <image_transport/image_transport.h>
00012 # include <image_transport/subscriber_filter.h>
00013 
00014 # include <message_filters/subscriber.h>
00015 # include <message_filters/sync_policies/approximate_time.h>
00016 # include <message_filters/synchronizer.h>
00017 
00018 # include <sensor_msgs/Image.h>
00019 # include <sensor_msgs/CameraInfo.h>
00020 
00021 # include <resource_retriever/retriever.h>
00022 
00023 # include <visp_tracker/ModelBasedSettingsConfig.h>
00024 # include <visp_tracker/MovingEdgeSites.h>
00025 
00026 # include <visp/vpCameraParameters.h>
00027 # include <visp/vpHomogeneousMatrix.h>
00028 # include <visp/vpImage.h>
00029 # include <visp/vpMbTracker.h>
00030 # include <visp/vpMe.h>
00031 # include <visp/vpKltOpencv.h>
00032 # include <visp/vpPose.h>
00033 
00034 
00035 namespace visp_tracker
00036 {
00037   class TrackerClient
00038   {
00039   public:
00040     typedef vpImage<unsigned char> image_t;
00041     typedef std::vector<vpPoint> points_t;
00042     typedef std::vector<vpImagePoint> imagePoints_t;
00043 
00044     typedef dynamic_reconfigure::Server<visp_tracker::ModelBasedSettingsConfig>
00045     reconfigureSrv_t;
00046 
00047     typedef dynamic_reconfigure::Server
00048     <visp_tracker::ModelBasedSettingsConfig>::CallbackType
00049     reconfigureCallback_t;
00050 
00051 
00052     TrackerClient(ros::NodeHandle& nh,
00053                   ros::NodeHandle& privateNh,
00054                   volatile bool& exiting,
00055                   unsigned queueSize = 5u);
00056     
00057     ~TrackerClient();
00058 
00059     void spin();
00060   protected:
00062     void checkInputs();
00063 
00064     void loadModel();
00065 
00066     bool validatePose(const vpHomogeneousMatrix& cMo);
00067     vpHomogeneousMatrix loadInitialPose();
00068     void saveInitialPose(const vpHomogeneousMatrix& cMo);
00069     points_t loadInitializationPoints();
00070 
00071     void init();
00072     void initPoint(unsigned& i,
00073                    points_t& points,
00074                    imagePoints_t& imagePoints,
00075                    ros::Rate& rate,
00076                    vpPose& pose);
00077 
00078 
00079     void waitForImage();
00080 
00081     void sendcMo(const vpHomogeneousMatrix& cMo);
00082 
00083     std::string fetchResource(const std::string&);
00084     bool makeModelFile(boost::filesystem::ofstream& modelStream,
00085                        const std::string& resourcePath,
00086                        std::string& fullModelPath);
00087 
00088   private:
00089     bool exiting ()
00090     {
00091       return exiting_ || !ros::ok();
00092     }
00093 
00094     volatile bool& exiting_;
00095 
00096     unsigned queueSize_;
00097 
00098     ros::NodeHandle& nodeHandle_;
00099     ros::NodeHandle& nodeHandlePrivate_;
00100 
00101     image_transport::ImageTransport imageTransport_;
00102 
00103     image_t image_;
00104 
00105     std::string modelPath_;
00106     std::string modelName_;
00107 
00108     std::string cameraPrefix_;
00109     std::string rectifiedImageTopic_;
00110     std::string cameraInfoTopic_;
00111     std::string trackerType_;
00112 
00113     boost::filesystem::path vrmlPath_;
00114     boost::filesystem::path initPath_;
00115 
00116     image_transport::CameraSubscriber cameraSubscriber_;
00117 
00118     boost::recursive_mutex mutex_;
00119     reconfigureSrv_t reconfigureSrv_;
00120 
00121     std_msgs::Header header_;
00122     sensor_msgs::CameraInfoConstPtr info_;
00123 
00124     vpMe movingEdge_;
00125     vpKltOpencv kltTracker_;
00126     vpCameraParameters cameraParameters_;
00127     vpMbTracker *tracker_;
00128 
00129     bool startFromSavedPose_;
00130     bool confirmInit_;
00131 
00133     image_proc::AdvertisementChecker checkInputs_;
00134 
00135     resource_retriever::Retriever resourceRetriever_;
00136   };
00137 } // end of namespace visp_tracker.
00138 
00139 #endif //! VISP_TRACKER_TRACKER_CLIENT_HH


visp_tracker
Author(s): Thomas Moulard/thomas.moulard@gmail.com
autogenerated on Sat Dec 28 2013 17:46:03