visp_tracker::Tracker Class Reference

#include <tracker.hh>

List of all members.

Public Types
typedef vpImage< unsigned char >	image_t
typedef boost::function< bool(visp_tracker::Init::Request &, visp_tracker::Init::Response &res)>	initCallback_t
typedef dynamic_reconfigure::Server < visp_tracker::ModelBasedSettingsConfig >	reconfigureSrv_t
enum	State { WAITING_FOR_INITIALIZATION, TRACKING, LOST }
Public Member Functions
void	spin ()
	Tracker (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
	~Tracker ()
Protected Member Functions
void	checkInputs ()
bool	initCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void	objectPositionHintCallback (const geometry_msgs::TransformStampedConstPtr &)
void	updateKltPoints (visp_tracker::KltPointsPtr klt)
void	updateMovingEdgeSites (visp_tracker::MovingEdgeSitesPtr sites)
void	waitForImage ()
Private Member Functions
bool	exiting ()
void	spinOnce ()
Private Attributes
std::string	cameraInfoTopic_
vpCameraParameters	cameraParameters_
std::string	cameraPrefix_
image_transport::CameraSubscriber	cameraSubscriber_
image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist.
std::string	childFrameId_
vpHomogeneousMatrix	cMo_
bool	compensateRobotMotion_
volatile bool &	exiting_
std_msgs::Header	header_
image_t	image_
image_transport::ImageTransport	imageTransport_
sensor_msgs::CameraInfoConstPtr	info_
ros::ServiceServer	initService_
ros::Publisher	kltPointsPublisher_
vpKltOpencv	kltTracker_
unsigned	lastTrackedImage_
tf::TransformListener	listener_
vpMe	movingEdge_
ros::Publisher	movingEdgeSitesPublisher_
boost::recursive_mutex	mutex_
ros::NodeHandle &	nodeHandle_
ros::NodeHandle &	nodeHandlePrivate_
geometry_msgs::TransformStamped	objectPositionHint_
ros::Subscriber	objectPositionHintSubscriber_
unsigned	queueSize_
reconfigureSrv_t	reconfigureSrv_
std::string	rectifiedImageTopic_
ros::Publisher	resultPublisher_
State	state_
tf::TransformBroadcaster	tfBroadcaster_
vpMbTracker *	tracker_
std::string	trackerType_
ros::Publisher	transformationPublisher_
tf::TransformBroadcaster	transformBroadcaster_
boost::filesystem::path	vrmlPath_
std::string	worldFrameId_

---

Detailed Description

Definition at line 35 of file tracker.hh.

---

Member Typedef Documentation

typedef vpImage<unsigned char> visp_tracker::Tracker::image_t

Definition at line 38 of file tracker.hh.

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::Tracker::initCallback_t

Definition at line 45 of file tracker.hh.

typedef dynamic_reconfigure::Server<visp_tracker::ModelBasedSettingsConfig> visp_tracker::Tracker::reconfigureSrv_t

Definition at line 41 of file tracker.hh.

---

Member Enumeration Documentation

enum visp_tracker::Tracker::State

Enumerator:

WAITING_FOR_INITIALIZATION
TRACKING
LOST

Definition at line 47 of file tracker.hh.

---

Constructor & Destructor Documentation

visp_tracker::Tracker::Tracker	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	privateNh,
		volatile bool &	exiting,
		unsigned	queueSize = 5u
	)

Definition at line 211 of file libvisp_tracker/tracker.cpp.

visp_tracker::Tracker::~Tracker

(

)

Definition at line 386 of file libvisp_tracker/tracker.cpp.

---

Member Function Documentation

void visp_tracker::Tracker::checkInputs

(

)

[protected]

Definition at line 204 of file libvisp_tracker/tracker.cpp.

bool visp_tracker::Tracker::exiting

(

)

[inline, private]

Definition at line 76 of file tracker.hh.

bool visp_tracker::Tracker::initCallback	(	visp_tracker::Init::Request &	req,
		visp_tracker::Init::Response &	res
	)		[protected]

Definition at line 39 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::objectPositionHintCallback

(

const geometry_msgs::TransformStampedConstPtr &

transform

)

[protected]

Definition at line 571 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::spin

(

)

Definition at line 391 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::spinOnce

(

)

[inline, private]

Definition at line 81 of file tracker.hh.

void visp_tracker::Tracker::updateKltPoints

(

visp_tracker::KltPointsPtr

klt

)

[protected]

Definition at line 171 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::updateMovingEdgeSites

(

visp_tracker::MovingEdgeSitesPtr

sites

)

[protected]

Definition at line 130 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::waitForImage

(

)

[protected]

Definition at line 556 of file libvisp_tracker/tracker.cpp.

---

Member Data Documentation

std::string visp_tracker::Tracker::cameraInfoTopic_ [private]

Definition at line 102 of file tracker.hh.

vpCameraParameters visp_tracker::Tracker::cameraParameters_ [private]

Definition at line 124 of file tracker.hh.

std::string visp_tracker::Tracker::cameraPrefix_ [private]

Definition at line 100 of file tracker.hh.

image_transport::CameraSubscriber visp_tracker::Tracker::cameraSubscriber_ [private]

Definition at line 106 of file tracker.hh.

image_proc::AdvertisementChecker visp_tracker::Tracker::checkInputs_ [private]

Helper used to check that subscribed topics exist.

Definition at line 130 of file tracker.hh.

std::string visp_tracker::Tracker::childFrameId_ [private]

Definition at line 139 of file tracker.hh.

vpHomogeneousMatrix visp_tracker::Tracker::cMo_ [private]

Definition at line 132 of file tracker.hh.

bool visp_tracker::Tracker::compensateRobotMotion_ [private]

Definition at line 136 of file tracker.hh.

volatile bool& visp_tracker::Tracker::exiting_ [private]

Definition at line 87 of file tracker.hh.

std_msgs::Header visp_tracker::Tracker::header_ [private]

Definition at line 119 of file tracker.hh.

image_t visp_tracker::Tracker::image_ [private]

Definition at line 98 of file tracker.hh.

image_transport::ImageTransport visp_tracker::Tracker::imageTransport_ [private]

Definition at line 93 of file tracker.hh.

sensor_msgs::CameraInfoConstPtr visp_tracker::Tracker::info_ [private]

Definition at line 120 of file tracker.hh.

ros::ServiceServer visp_tracker::Tracker::initService_ [private]

Definition at line 117 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::kltPointsPublisher_ [private]

Definition at line 115 of file tracker.hh.

vpKltOpencv visp_tracker::Tracker::kltTracker_ [private]

Definition at line 122 of file tracker.hh.

unsigned visp_tracker::Tracker::lastTrackedImage_ [private]

Definition at line 127 of file tracker.hh.

tf::TransformListener visp_tracker::Tracker::listener_ [private]

Definition at line 134 of file tracker.hh.

vpMe visp_tracker::Tracker::movingEdge_ [private]

Definition at line 123 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::movingEdgeSitesPublisher_ [private]

Definition at line 114 of file tracker.hh.

boost::recursive_mutex visp_tracker::Tracker::mutex_ [private]

Definition at line 108 of file tracker.hh.

ros::NodeHandle& visp_tracker::Tracker::nodeHandle_ [private]

Definition at line 91 of file tracker.hh.

ros::NodeHandle& visp_tracker::Tracker::nodeHandlePrivate_ [private]

Definition at line 92 of file tracker.hh.

geometry_msgs::TransformStamped visp_tracker::Tracker::objectPositionHint_ [private]

Definition at line 142 of file tracker.hh.

ros::Subscriber visp_tracker::Tracker::objectPositionHintSubscriber_ [private]

Definition at line 141 of file tracker.hh.

unsigned visp_tracker::Tracker::queueSize_ [private]

Definition at line 89 of file tracker.hh.

reconfigureSrv_t visp_tracker::Tracker::reconfigureSrv_ [private]

Definition at line 109 of file tracker.hh.

std::string visp_tracker::Tracker::rectifiedImageTopic_ [private]

Definition at line 101 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::resultPublisher_ [private]

Definition at line 111 of file tracker.hh.

State visp_tracker::Tracker::state_ [private]

Definition at line 95 of file tracker.hh.

tf::TransformBroadcaster visp_tracker::Tracker::tfBroadcaster_ [private]

Definition at line 113 of file tracker.hh.

vpMbTracker* visp_tracker::Tracker::tracker_ [private]

Definition at line 125 of file tracker.hh.

std::string visp_tracker::Tracker::trackerType_ [private]

Definition at line 96 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::transformationPublisher_ [private]

Definition at line 112 of file tracker.hh.

tf::TransformBroadcaster visp_tracker::Tracker::transformBroadcaster_ [private]

Definition at line 138 of file tracker.hh.

boost::filesystem::path visp_tracker::Tracker::vrmlPath_ [private]

Definition at line 104 of file tracker.hh.

std::string visp_tracker::Tracker::worldFrameId_ [private]

Definition at line 135 of file tracker.hh.

---

The documentation for this class was generated from the following files:

• tracker.hh
• libvisp_tracker/tracker.cpp