#include <body_tracker.h>

Public Member Functions
	BodyTracker (ros::NodeHandle nh)
void	finalize ()
void	runTracker ()
virtual	~BodyTracker ()
Public Attributes
std::string	depth_optical_frame_
openni::VideoStream	depthSensor_
openni::Device	device_
std::string	rel_frame_
bool	shutdown_
std::string	tf_prefix_
Private Member Functions
	BodyTracker (const BodyTracker &)
void	calculateHistogram (float *pHistogram, int histogramSize, const openni::VideoFrameRef &depthFrame)
unsigned long	convertColorImageMessageToMat (const sensor_msgs::Image::ConstPtr &color_image_msg, cv_bridge::CvImageConstPtr &color_image_ptr, cv::Mat &color_image)
void	convertColorImageMsgToMat (const sensor_msgs::Image::ConstPtr &color_image_msg, cv_bridge::CvImageConstPtr &color_image_ptr, cv::Mat &color_image)
geometry_msgs::Pose	convertNiteJointToMsgs (nite::SkeletonJoint joint)
void	drawCircle (const double r, const double g, const double b, const nite::Point3f &pose)
void	drawFrames (const nite::UserData &user)
void	drawLimb (nite::UserTracker *pUserTracker, const nite::SkeletonJoint &joint1, const nite::SkeletonJoint &joint2, int color)
void	drawLine (const double r, const double g, const double b, const nite::Point3f &pose_start, const nite::Point3f &pose_end)
void	drawPointCloud ()
void	drawSkeleton (nite::UserTracker *pUserTracker, const nite::UserData &userData)
void	drawUserName (const nite::UserData &user, cv::Mat &color_image, cv::Point &tag_coords)
void	imageCallback (const sensor_msgs::ImageConstPtr &rgb_image_msg)
void	imgConnectCB (const image_transport::SingleSubscriberPublisher &pub)
void	imgDisconnectCB (const image_transport::SingleSubscriberPublisher &pub)
void	init ()
BodyTracker &	operator= (BodyTracker &)
void	pointcloudCallback (const sensor_msgs::PointCloud2::ConstPtr &pointcloud)
void	publishJoints (ros::NodeHandle &nh, tf::TransformBroadcaster &br, std::string joint_name, nite::SkeletonJoint joint, std::string tf_prefix, std::string rel_frame, int id)
void	publishTrackedUserMsg ()
void	updateUserState (const nite::UserData &user, uint64_t ts)
Private Attributes
bool	drawBackground_
bool	drawBoundingBox_
bool	drawCenterOfMass_
bool	drawDepth_
bool	drawFrames_
bool	drawSkeleton_
bool	drawUserName_
image_transport::Publisher	image_pub_
image_transport::SubscriberFilter	image_sub_
int	init_counter_color_image_
int	init_counter_point_cloud_
image_transport::ImageTransport *	it_
unsigned int	m_nTexMapX
unsigned int	m_nTexMapY
float	m_pDepthHist [MAX_DEPTH]
uint64_t	m_poseTime_
nite::UserId	m_poseUser
openni::RGB888Pixel *	m_pTexMap_
nite::UserTracker *	m_pUserTracker
char	m_strSampleName [ONI_MAX_STR]
unsigned int	marker_id_
ros::NodeHandle	nh_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	pcl_cloud_
ros::Publisher	pcl_pub_
ros::Subscriber	pcl_sub_
ros::Publisher	people_pub_
int	poseTimeoutToExit_
ros::Publisher	skeleton_pub_
std::list< nite::UserData > *	tracked_users_
tf::TransformBroadcaster	transform_broadcaster_
tf::TransformListener	transform_listener_
ros::Publisher	vis_pub_

Detailed Description

Definition at line 104 of file body_tracker.h.

Constructor & Destructor Documentation

BodyTracker::BodyTracker ( ros::NodeHandle nh )

Definition at line 111 of file body_tracker.cpp.

BodyTracker::~BodyTracker ( ) [virtual]

Definition at line 273 of file body_tracker.cpp.

BodyTracker::BodyTracker ( const BodyTracker & ) [private]

Member Function Documentation

void BodyTracker::calculateHistogram	(	float *	pHistogram,
		int	histogramSize,
		const openni::VideoFrameRef &	depthFrame
	)		`[private]`

Definition at line 865 of file body_tracker.cpp.

unsigned long BodyTracker::convertColorImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	color_image_msg,
		cv_bridge::CvImageConstPtr &	color_image_ptr,
		cv::Mat &	color_image
	)		`[private]`

void BodyTracker::convertColorImageMsgToMat	(	const sensor_msgs::Image::ConstPtr &	color_image_msg,
		cv_bridge::CvImageConstPtr &	color_image_ptr,
		cv::Mat &	color_image
	)		`[private]`

geometry_msgs::Pose BodyTracker::convertNiteJointToMsgs ( nite::SkeletonJoint joint ) [private]

Definition at line 680 of file body_tracker.cpp.

void BodyTracker::drawCircle	(	const double	r,
		const double	g,
		const double	b,
		const nite::Point3f &	pose
	)		`[private]`

Definition at line 845 of file body_tracker.cpp.

void BodyTracker::drawFrames ( const nite::UserData & user ) [private]

Definition at line 759 of file body_tracker.cpp.

void BodyTracker::drawLimb	(	nite::UserTracker *	pUserTracker,
		const nite::SkeletonJoint &	joint1,
		const nite::SkeletonJoint &	joint2,
		int	color
	)		`[private]`

Definition at line 716 of file body_tracker.cpp.

void BodyTracker::drawLine	(	const double	r,
		const double	g,
		const double	b,
		const nite::Point3f &	pose_start,
		const nite::Point3f &	pose_end
	)		`[private]`

A helper function to draw a simple line in rviz.

Definition at line 812 of file body_tracker.cpp.

void BodyTracker::drawPointCloud ( ) [private]

Definition at line 700 of file body_tracker.cpp.

void BodyTracker::drawSkeleton	(	nite::UserTracker *	pUserTracker,
		const nite::UserData &	userData
	)		`[private]`

Definition at line 723 of file body_tracker.cpp.

void BodyTracker::drawUserName	(	const nite::UserData &	user,
		cv::Mat &	color_image,
		cv::Point &	tag_coords
	)		`[private]`

Definition at line 746 of file body_tracker.cpp.

void BodyTracker::finalize ( )

Definition at line 279 of file body_tracker.cpp.

void BodyTracker::imageCallback ( const sensor_msgs::ImageConstPtr & rgb_image_msg ) [private]

Definition at line 208 of file body_tracker.cpp.

void BodyTracker::imgConnectCB ( const image_transport::SingleSubscriberPublisher & pub ) [private]

void BodyTracker::imgDisconnectCB ( const image_transport::SingleSubscriberPublisher & pub ) [private]

void BodyTracker::init ( ) [private]

Definition at line 297 of file body_tracker.cpp.

BodyTracker& BodyTracker::operator= ( BodyTracker & ) [private]

void BodyTracker::pointcloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & pointcloud ) [private]

Definition at line 267 of file body_tracker.cpp.

void BodyTracker::publishJoints	(	ros::NodeHandle &	nh,
		tf::TransformBroadcaster &	br,
		std::string	joint_name,
		nite::SkeletonJoint	joint,
		std::string	tf_prefix,
		std::string	rel_frame,
		int	id
	)		`[private]`