ros_detector.h
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00001 #ifndef CHECKERBOARD_POSE_ESTIMATION_ROS_DETECTOR_H
00002 #define CHECKERBOARD_POSE_ESTIMATION_ROS_DETECTOR_H
00003 
00004 #include <ros/ros.h>
00005 #include <image_transport/image_transport.h>
00006 #include <tf/tf.h>
00007 #include <tf/transform_broadcaster.h>
00008 #include <checkerboard_pose_estimation/detector.h>
00009 #include <checkerboard_pose_estimation/estimator.h>
00010 
00011 namespace checkerboard_pose_estimation {
00012 
00013 class RosDetector
00014 {
00015 public:
00016   RosDetector(const std::string& name = ros::this_node::getName());
00017 
00018   bool initFromParameters(const ros::NodeHandle& nh = ros::NodeHandle("~"));
00019 
00020   Detector& getDetector() { return detector_; }
00021   const Detector& getDetector() const { return detector_; }
00022   
00023   visual_pose_estimation::PoseEstimator& getPoseEstimator() { return pose_estimator_; }
00024   const visual_pose_estimation::PoseEstimator& getPoseEstimator() const { return pose_estimator_; }
00025 
00026   // detected object = checkerboard, target = plug
00027   bool detectObject(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg,
00028                     const tf::Stamped<tf::Pose>& target_prior, const tf::Transformer& transformer,
00029                     tf::Stamped<tf::Pose>& target_pose);
00030 
00031   void publishDisplayImage(const cv::Mat& source, const std::vector<cv::Point2f>& corners, bool success);
00032   
00033 protected:
00034   ros::NodeHandle nh_;
00035   image_transport::ImageTransport it_;
00036   std::string name_;
00037 
00038   // Publications
00039   tf::TransformBroadcaster tf_broadcaster_;
00040   image_transport::Publisher display_pub_;
00041   sensor_msgs::Image display_img_;
00042   cv::Mat display_img_cv_;
00043   ros::Publisher marker_pub_;
00044 
00045   // Message processing
00046   image_geometry::PinholeCameraModel cam_model_;
00047   Detector detector_;
00048   visual_pose_estimation::PoseEstimator pose_estimator_;
00050   tf::Transform target_in_detected_object_;
00051   tf::Stamped<tf::Pose> target_prior_;
00052 };
00053 
00054 } //namespace checkerboard_pose_estimation
00055 
00056 #endif


checkerboard_pose_estimation
Author(s): Patrick Mihelich
autogenerated on Thu Aug 27 2015 14:30:00