Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
BodyTracker Class Reference

#include <body_tracker.h>

List of all members.

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 ()
BodyTrackeroperator= (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::ImageTransportit_
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

Definition at line 111 of file body_tracker.cpp.

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.

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::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]

Definition at line 656 of file body_tracker.cpp.

Definition at line 559 of file body_tracker.cpp.

Definition at line 353 of file body_tracker.cpp.

void BodyTracker::updateUserState ( const nite::UserData &  user,
uint64_t  ts 
) [private]

Definition at line 613 of file body_tracker.cpp.


Member Data Documentation

Definition at line 112 of file body_tracker.h.

openni::VideoStream BodyTracker::depthSensor_

Definition at line 114 of file body_tracker.h.

openni::Device BodyTracker::device_

Definition at line 113 of file body_tracker.h.

Definition at line 159 of file body_tracker.h.

Definition at line 158 of file body_tracker.h.

Definition at line 156 of file body_tracker.h.

bool BodyTracker::drawDepth_ [private]

Definition at line 160 of file body_tracker.h.

bool BodyTracker::drawFrames_ [private]

Definition at line 161 of file body_tracker.h.

Definition at line 155 of file body_tracker.h.

Definition at line 157 of file body_tracker.h.

Definition at line 133 of file body_tracker.h.

Definition at line 131 of file body_tracker.h.

Definition at line 163 of file body_tracker.h.

Definition at line 164 of file body_tracker.h.

Definition at line 130 of file body_tracker.h.

unsigned int BodyTracker::m_nTexMapX [private]

Definition at line 143 of file body_tracker.h.

unsigned int BodyTracker::m_nTexMapY [private]

Definition at line 144 of file body_tracker.h.

Definition at line 140 of file body_tracker.h.

uint64_t BodyTracker::m_poseTime_ [private]

Definition at line 151 of file body_tracker.h.

nite::UserId BodyTracker::m_poseUser [private]

Definition at line 147 of file body_tracker.h.

openni::RGB888Pixel* BodyTracker::m_pTexMap_ [private]

Definition at line 149 of file body_tracker.h.

nite::UserTracker* BodyTracker::m_pUserTracker [private]

Definition at line 146 of file body_tracker.h.

char BodyTracker::m_strSampleName[ONI_MAX_STR] [private]

Definition at line 141 of file body_tracker.h.

unsigned int BodyTracker::marker_id_ [private]

Definition at line 152 of file body_tracker.h.

Definition at line 123 of file body_tracker.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr BodyTracker::pcl_cloud_ [private]

Definition at line 134 of file body_tracker.h.

Definition at line 128 of file body_tracker.h.

Definition at line 129 of file body_tracker.h.

Definition at line 128 of file body_tracker.h.

Definition at line 153 of file body_tracker.h.

Definition at line 112 of file body_tracker.h.

Definition at line 118 of file body_tracker.h.

Definition at line 128 of file body_tracker.h.

Definition at line 112 of file body_tracker.h.

std::list<nite::UserData>* BodyTracker::tracked_users_ [private]

Definition at line 138 of file body_tracker.h.

Definition at line 127 of file body_tracker.h.

Definition at line 126 of file body_tracker.h.

Definition at line 128 of file body_tracker.h.


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


cob_openni2_tracker
Author(s): Marcus Liebhardt , Olha Meyer
autogenerated on Mon May 6 2019 02:32:19