Public Member Functions
	HeadDetectorNode (ros::NodeHandle nh)
	~HeadDetectorNode (void)
	Destructor.
Protected Member Functions
unsigned long	convertPclMessageToMat (const sensor_msgs::PointCloud2::ConstPtr &pointlcoud, cv::Mat &depth_image, cv::Mat &color_image)
void	pointcloud_callback (const sensor_msgs::PointCloud2::ConstPtr &pointcloud)
	Callback for incoming point clouds.
Protected Attributes
std::string	data_directory_
	path to the classifier model
bool	display_timing_
bool	fill_unassigned_depth_values_
	fills the unassigned depth values in the depth image, must be true for a kinect sensor
HeadDetector	head_detector_
	implementation of the head detector
ros::Publisher	head_position_publisher_
	publisher for the positions of the detected heads
ros::NodeHandle	node_handle_
ros::Subscriber	pointcloud_sub_
	subscribes to a colored point cloud

Detailed Description

Definition at line 79 of file head_detector_node.h.

Constructor & Destructor Documentation

HeadDetectorNode::HeadDetectorNode ( ros::NodeHandle nh )

Constructor

Parameters:

nh	ROS node handle

Definition at line 82 of file head_detector_node.cpp.

HeadDetectorNode::~HeadDetectorNode ( void )

Destructor.

Definition at line 120 of file head_detector_node.cpp.

unsigned long HeadDetectorNode::convertPclMessageToMat	(	const sensor_msgs::PointCloud2::ConstPtr &	pointlcoud,
		cv::Mat &	depth_image,
		cv::Mat &	color_image
	)		`[protected]`