#include <tracker-client.hh>

Public Types
typedef vpImage< unsigned char >	image_t
typedef std::vector< vpImagePoint >	imagePoints_t
typedef std::vector< vpPoint >	points_t
typedef dynamic_reconfigure::Server < visp_tracker::ModelBasedSettingsConfig > ::CallbackType	reconfigureCallback_t
typedef dynamic_reconfigure::Server < visp_tracker::ModelBasedSettingsConfig >	reconfigureSrv_t
Public Member Functions
void	spin ()
	TrackerClient (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
	~TrackerClient ()
Protected Member Functions
void	checkInputs ()
	Make sure the topics we subscribe already exist.
std::string	fetchResource (const std::string &)
void	init ()
void	initPoint (unsigned &i, points_t &points, imagePoints_t &imagePoints, ros::Rate &rate, vpPose &pose)
points_t	loadInitializationPoints ()
vpHomogeneousMatrix	loadInitialPose ()
void	loadModel ()
bool	makeModelFile (boost::filesystem::ofstream &modelStream, const std::string &resourcePath, std::string &fullModelPath)
void	saveInitialPose (const vpHomogeneousMatrix &cMo)
void	sendcMo (const vpHomogeneousMatrix &cMo)
bool	validatePose (const vpHomogeneousMatrix &cMo)
void	waitForImage ()
Private Member Functions
bool	exiting ()
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.
bool	confirmInit_
volatile bool &	exiting_
std_msgs::Header	header_
image_t	image_
image_transport::ImageTransport	imageTransport_
sensor_msgs::CameraInfoConstPtr	info_
boost::filesystem::path	initPath_
vpKltOpencv	kltTracker_
std::string	modelName_
std::string	modelPath_
vpMe	movingEdge_
boost::recursive_mutex	mutex_
ros::NodeHandle &	nodeHandle_
ros::NodeHandle &	nodeHandlePrivate_
unsigned	queueSize_
reconfigureSrv_t	reconfigureSrv_
std::string	rectifiedImageTopic_
resource_retriever::Retriever	resourceRetriever_
bool	startFromSavedPose_
vpMbTracker *	tracker_
std::string	trackerType_
boost::filesystem::path	vrmlPath_

Detailed Description

Definition at line 37 of file tracker-client.hh.

Member Typedef Documentation

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

Definition at line 40 of file tracker-client.hh.

typedef std::vector<vpImagePoint> visp_tracker::TrackerClient::imagePoints_t

Definition at line 42 of file tracker-client.hh.

typedef std::vector<vpPoint> visp_tracker::TrackerClient::points_t

Definition at line 41 of file tracker-client.hh.

typedef dynamic_reconfigure::Server<visp_tracker::ModelBasedSettingsConfig>::CallbackType visp_tracker::TrackerClient::reconfigureCallback_t

Definition at line 49 of file tracker-client.hh.

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

Definition at line 45 of file tracker-client.hh.

Constructor & Destructor Documentation

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

Definition at line 43 of file tracker-client.cpp.

visp_tracker::TrackerClient::~TrackerClient ( )

Definition at line 311 of file tracker-client.cpp.

Member Function Documentation

void visp_tracker::TrackerClient::checkInputs ( ) [protected]

Make sure the topics we subscribe already exist.

Definition at line 210 of file tracker-client.cpp.

bool visp_tracker::TrackerClient::exiting ( ) [inline, private]

Definition at line 89 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::fetchResource ( const std::string & s ) [protected]

Definition at line 653 of file tracker-client.cpp.

void visp_tracker::TrackerClient::init ( ) [protected]

Definition at line 547 of file tracker-client.cpp.

void visp_tracker::TrackerClient::initPoint	(	unsigned &	i,
		points_t &	points,
		imagePoints_t &	imagePoints,
		ros::Rate &	rate,
		vpPose &	pose
	)		`[protected]`

Definition at line 600 of file tracker-client.cpp.

TrackerClient::points_t visp_tracker::TrackerClient::loadInitializationPoints ( ) [protected]

Definition at line 482 of file tracker-client.cpp.

vpHomogeneousMatrix visp_tracker::TrackerClient::loadInitialPose ( ) [protected]

Definition at line 418 of file tracker-client.cpp.

void visp_tracker::TrackerClient::loadModel ( ) [protected]

Definition at line 358 of file tracker-client.cpp.

bool visp_tracker::TrackerClient::makeModelFile	(	boost::filesystem::ofstream &	modelStream,
		const std::string &	resourcePath,
		std::string &	fullModelPath
	)		`[protected]`