Public Member Functions | |
FiducialsNode (ros::NodeHandle &nh) | |
~FiducialsNode () | |
Private Member Functions | |
void | camInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg) |
visualization_msgs::Marker | createMarker (std::string ns, int id) |
void | fiducial_cb (int id, int direction, double world_diagonal, double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3) |
void | imageCallback (const sensor_msgs::ImageConstPtr &msg) |
void | location_cb (int id, double x, double y, double z, double bearing) |
void | processImage (const sensor_msgs::ImageConstPtr &msg) |
geometry_msgs::Pose | scale_position (double x, double y, double z, double theta) |
void | tag_cb (int id, double x, double y, double z, double twist, double dx, double dy, double dz, bool visible) |
Static Private Member Functions | |
static void | arc_announce (void *t, int from_id, double from_x, double from_y, double from_z, int to_id, double to_x, double to_y, double to_z, double goodness, bool in_spanning_tree) |
static void | fiducial_announce (void *t, int id, int direction, double world_diagonal, double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3) |
static void | location_announce (void *t, int id, double x, double y, double z, double bearing) |
static void | tag_announce (void *t, int id, double x, double y, double z, double twist, double diagonal, double distance_per_pixel, bool visible, int hop_count) |
Private Attributes | |
ros::Subscriber | caminfo_sub |
std::string | data_directory |
std::vector < fiducial_pose::Fiducial > | detected_fiducials |
bool | estimate_pose |
double | fiducial_len |
std::string | fiducial_namespace |
Fiducials | fiducials |
fiducial_pose::FiducialTransformArray | fiducialTransformArray |
std_msgs::ColorRGBA | hidden_tag_color |
image_transport::Publisher | image_pub |
image_transport::Subscriber | img_sub |
std::string | last_camera_frame |
int | last_image_seq |
ros::Time | last_image_time |
std::string | log_file |
std::string | map_file |
ros::Publisher * | marker_pub |
std::string | odom_frame |
RosRpp * | pose_est |
std::string | pose_frame |
ros::Publisher * | pose_pub |
std_msgs::ColorRGBA | position_color |
std::string | position_namespace |
bool | processing_image |
bool | publish_images |
bool | publish_markers |
bool | publish_tf |
const double | scale |
std_msgs::ColorRGBA | tag_color |
std::string | tag_height_file |
tf2_ros::Buffer | tf_buffer |
tf2_ros::TransformBroadcaster | tf_pub |
tf2_ros::TransformListener | tf_sub |
bool | undistort_points |
boost::thread * | update_thread |
bool | use_odom |
ros::Publisher * | vertices_pub |
std::string | world_frame |
Definition at line 61 of file fiducial_detect.cpp.
Definition at line 506 of file fiducial_detect.cpp.
Definition at line 161 of file fiducial_detect.cpp.
void FiducialsNode::arc_announce | ( | void * | t, |
int | from_id, | ||
double | from_x, | ||
double | from_y, | ||
double | from_z, | ||
int | to_id, | ||
double | to_x, | ||
double | to_y, | ||
double | to_z, | ||
double | goodness, | ||
bool | in_spanning_tree | ||
) | [static, private] |
Definition at line 190 of file fiducial_detect.cpp.
void FiducialsNode::camInfoCallback | ( | const sensor_msgs::CameraInfo::ConstPtr & | msg | ) | [private] |
Definition at line 423 of file fiducial_detect.cpp.
visualization_msgs::Marker FiducialsNode::createMarker | ( | std::string | ns, |
int | id | ||
) | [private] |
Definition at line 181 of file fiducial_detect.cpp.
void FiducialsNode::fiducial_announce | ( | void * | t, |
int | id, | ||
int | direction, | ||
double | world_diagonal, | ||
double | x0, | ||
double | y0, | ||
double | x1, | ||
double | y1, | ||
double | x2, | ||
double | y2, | ||
double | x3, | ||
double | y3 | ||
) | [static, private] |
Definition at line 208 of file fiducial_detect.cpp.
void FiducialsNode::fiducial_cb | ( | int | id, |
int | direction, | ||
double | world_diagonal, | ||
double | x0, | ||
double | y0, | ||
double | x1, | ||
double | y1, | ||
double | x2, | ||
double | y2, | ||
double | x3, | ||
double | y3 | ||
) | [private] |
Definition at line 219 of file fiducial_detect.cpp.
void FiducialsNode::imageCallback | ( | const sensor_msgs::ImageConstPtr & | msg | ) | [private] |
Definition at line 430 of file fiducial_detect.cpp.
void FiducialsNode::location_announce | ( | void * | t, |
int | id, | ||
double | x, | ||
double | y, | ||
double | z, | ||
double | bearing | ||
) | [static, private] |
Definition at line 305 of file fiducial_detect.cpp.
void FiducialsNode::location_cb | ( | int | id, |
double | x, | ||
double | y, | ||
double | z, | ||
double | bearing | ||
) | [private] |
Definition at line 311 of file fiducial_detect.cpp.
void FiducialsNode::processImage | ( | const sensor_msgs::ImageConstPtr & | msg | ) | [private] |
Definition at line 446 of file fiducial_detect.cpp.
geometry_msgs::Pose FiducialsNode::scale_position | ( | double | x, |
double | y, | ||
double | z, | ||
double | theta | ||
) | [private] |
Definition at line 169 of file fiducial_detect.cpp.
void FiducialsNode::tag_announce | ( | void * | t, |
int | id, | ||
double | x, | ||
double | y, | ||
double | z, | ||
double | twist, | ||
double | diagonal, | ||
double | distance_per_pixel, | ||
bool | visible, | ||
int | hop_count | ||
) | [static, private] |
Definition at line 195 of file fiducial_detect.cpp.
void FiducialsNode::tag_cb | ( | int | id, |
double | x, | ||
double | y, | ||
double | z, | ||
double | twist, | ||
double | dx, | ||
double | dy, | ||
double | dz, | ||
bool | visible | ||
) | [private] |
Definition at line 253 of file fiducial_detect.cpp.
ros::Subscriber FiducialsNode::caminfo_sub [private] |
Definition at line 68 of file fiducial_detect.cpp.
std::string FiducialsNode::data_directory [private] |
Definition at line 118 of file fiducial_detect.cpp.
std::vector<fiducial_pose::Fiducial> FiducialsNode::detected_fiducials [private] |
Definition at line 122 of file fiducial_detect.cpp.
bool FiducialsNode::estimate_pose [private] |
Definition at line 102 of file fiducial_detect.cpp.
double FiducialsNode::fiducial_len [private] |
Definition at line 103 of file fiducial_detect.cpp.
std::string FiducialsNode::fiducial_namespace [private] |
Definition at line 109 of file fiducial_detect.cpp.
Fiducials FiducialsNode::fiducials [private] |
Definition at line 116 of file fiducial_detect.cpp.
fiducial_pose::FiducialTransformArray FiducialsNode::fiducialTransformArray [private] |
Definition at line 66 of file fiducial_detect.cpp.
std_msgs::ColorRGBA FiducialsNode::hidden_tag_color [private] |
Definition at line 113 of file fiducial_detect.cpp.
Definition at line 106 of file fiducial_detect.cpp.
Definition at line 69 of file fiducial_detect.cpp.
std::string FiducialsNode::last_camera_frame [private] |
Definition at line 93 of file fiducial_detect.cpp.
int FiducialsNode::last_image_seq [private] |
Definition at line 95 of file fiducial_detect.cpp.
ros::Time FiducialsNode::last_image_time [private] |
Definition at line 96 of file fiducial_detect.cpp.
std::string FiducialsNode::log_file [private] |
Definition at line 120 of file fiducial_detect.cpp.
std::string FiducialsNode::map_file [private] |
Definition at line 119 of file fiducial_detect.cpp.
ros::Publisher* FiducialsNode::marker_pub [private] |
Definition at line 63 of file fiducial_detect.cpp.
std::string FiducialsNode::odom_frame [private] |
Definition at line 81 of file fiducial_detect.cpp.
RosRpp* FiducialsNode::pose_est [private] |
Definition at line 72 of file fiducial_detect.cpp.
std::string FiducialsNode::pose_frame [private] |
Definition at line 80 of file fiducial_detect.cpp.
ros::Publisher* FiducialsNode::pose_pub [private] |
Definition at line 65 of file fiducial_detect.cpp.
std_msgs::ColorRGBA FiducialsNode::position_color [private] |
Definition at line 114 of file fiducial_detect.cpp.
std::string FiducialsNode::position_namespace [private] |
Definition at line 110 of file fiducial_detect.cpp.
bool FiducialsNode::processing_image [private] |
Definition at line 70 of file fiducial_detect.cpp.
bool FiducialsNode::publish_images [private] |
Definition at line 99 of file fiducial_detect.cpp.
bool FiducialsNode::publish_markers [private] |
Definition at line 90 of file fiducial_detect.cpp.
bool FiducialsNode::publish_tf [private] |
Definition at line 86 of file fiducial_detect.cpp.
const double FiducialsNode::scale [private] |
Definition at line 108 of file fiducial_detect.cpp.
std_msgs::ColorRGBA FiducialsNode::tag_color [private] |
Definition at line 112 of file fiducial_detect.cpp.
std::string FiducialsNode::tag_height_file [private] |
Definition at line 117 of file fiducial_detect.cpp.
tf2_ros::Buffer FiducialsNode::tf_buffer [private] |
Definition at line 76 of file fiducial_detect.cpp.
Definition at line 75 of file fiducial_detect.cpp.
Definition at line 77 of file fiducial_detect.cpp.
bool FiducialsNode::undistort_points [private] |
Definition at line 104 of file fiducial_detect.cpp.
boost::thread* FiducialsNode::update_thread [private] |
Definition at line 155 of file fiducial_detect.cpp.
bool FiducialsNode::use_odom [private] |
Definition at line 82 of file fiducial_detect.cpp.
ros::Publisher* FiducialsNode::vertices_pub [private] |
Definition at line 64 of file fiducial_detect.cpp.
std::string FiducialsNode::world_frame [private] |
Definition at line 79 of file fiducial_detect.cpp.