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

Detailed Description

Definition at line 61 of file fiducial_detect.cpp.

Constructor & Destructor Documentation

FiducialsNode::FiducialsNode ( ros::NodeHandle & nh )

Definition at line 506 of file fiducial_detect.cpp.

FiducialsNode::~FiducialsNode ( )

Definition at line 161 of file fiducial_detect.cpp.

Member Function Documentation

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]`