#include <MultiRBTrackerNode.h>

Inheritance diagram for omip::MultiRBTrackerNode:

Public Member Functions
void	DynamicReconfigureCallback (rb_tracker::RBTrackerDynReconfConfig &config, uint32_t level)
	Callback for the Dynamic Reconfigure parameters.
void	MatthiasRefinementsCallback (const boost::shared_ptr< rbt_state_t const > &matthias_refinements)
virtual void	measurementCallback (const boost::shared_ptr< rbt_measurement_ros_t const > &features_pc)
	Callback for the measurements for this RE level (3D features from the lower level, FT)
void	MeasurementFromShapeTrackerCallback (const boost::shared_ptr< omip_msgs::ShapeTrackerStates const > &shape_tracker_states)
	MultiRBTrackerNode ()
void	ReadParameters ()
void	RGBDPCCallback (const sensor_msgs::PointCloud2ConstPtr &full_pc_msg)
virtual void	statePredictionCallback (const boost::shared_ptr< rbt_state_t const > &predicted_next_state)
	Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy.
virtual	~MultiRBTrackerNode ()
Protected Member Functions
virtual void	_PrintResults () const
	Print the results of the RB tracker on the terminal.
virtual void	_PublishClusteredFeatures ()
	Publish the tracked features clustered in RBs (the cluster id is written in the "label" field of the published PointCloud<PointXYZL>
virtual void	_PublishPosesWithCovariance ()
virtual void	_publishPredictedMeasurement () const
	Publish the prediction about the next measurement by this RE level.
virtual void	_publishState () const
	Publish the current state of this RE level.
virtual void	_PublishTF ()
Protected Attributes
ros::Publisher	_atbirthfeats_pc_publisher
ros::Publisher	_clustered_pc_publisher
dynamic_reconfigure::Server < rb_tracker::RBTrackerDynReconfConfig > ::CallbackType	_dr_callback
dynamic_reconfigure::Server < rb_tracker::RBTrackerDynReconfConfig >	_dr_srv
std::map< RB_id_t, ros::Publisher * >	_est_body_publishers
double	_estimation_error_threshold
ros::Publisher	_freefeats_pc_publisher
rbt_state_t	_last_predictions_kh
double	_loop_period_ns
ros::Subscriber	_matthias_refinements_subscriber
double	_max_error_to_reassign_feats
ros::Subscriber	_meas_from_st_subscriber
int	_min_num_feats_for_new_rb
int	_min_num_frames_for_new_rb
double	_new_rbm_error_threshold
int	_num_tracked_feats
ros::Publisher	_predictedfeats_pc_publisher
Eigen::Twistd	_previous_twist
bool	_printing_rb_poses
int	_processing_factor
bool	_publishing_clustered_pc
bool	_publishing_rbposes_with_cov
bool	_publishing_tf
int	_ransac_iterations
ros::Publisher	_rbposes_publisher
double	_sensor_fps
omip_msgs::ShapeTrackerStates	_shape_tracker_meas
bool	_shape_tracker_received
ros::Publisher	_state_publisher2
static_environment_tracker_t	_static_environment_tracker_type
double	_static_motion_threshold
int	_supporting_features_threshold

Detailed Description

Definition at line 78 of file MultiRBTrackerNode.h.

Constructor & Destructor Documentation

MultiRBTrackerNode::MultiRBTrackerNode ( )

Constructor

Definition at line 28 of file MultiRBTrackerNode.cpp.

MultiRBTrackerNode::~MultiRBTrackerNode ( ) [virtual]

Destructor

Definition at line 194 of file MultiRBTrackerNode.cpp.

Member Function Documentation

void MultiRBTrackerNode::_PrintResults ( ) const [protected, virtual]

Print the results of the RB tracker on the terminal.

Definition at line 400 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_PublishClusteredFeatures ( ) [protected, virtual]

Publish the tracked features clustered in RBs (the cluster id is written in the "label" field of the published PointCloud<PointXYZL>

Definition at line 488 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_PublishPosesWithCovariance ( ) [protected, virtual]

Write the results of the tracking in the terminal and publish the poses and covariances to ROS

Definition at line 430 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_publishPredictedMeasurement ( ) const [protected, virtual]

Publish the prediction about the next measurement by this RE level.

Implements omip::RecursiveEstimatorNodeInterface< rbt_measurement_ros_t, rbt_state_ros_t, MultiRBTracker >.

Definition at line 389 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_publishState ( ) const [protected, virtual]

Publish the current state of this RE level.

Implements omip::RecursiveEstimatorNodeInterface< rbt_measurement_ros_t, rbt_state_ros_t, MultiRBTracker >.

Definition at line 371 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_PublishTF ( ) [protected, virtual]

Publish the results of the tracking into the TF system of ROS We publish the tracked RBs as frames relative to the camera

Definition at line 460 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::DynamicReconfigureCallback	(	rb_tracker::RBTrackerDynReconfConfig &	config,
		uint32_t	level
	)

Callback for the Dynamic Reconfigure parameters.

Parameters:

config	Values from the Dynamic Reconfigure server
level

Definition at line 198 of file MultiRBTrackerNode.cpp.

void omip::MultiRBTrackerNode::MatthiasRefinementsCallback ( const boost::shared_ptr< rbt_state_t const > & matthias_refinements )

void MultiRBTrackerNode::measurementCallback ( const boost::shared_ptr< rbt_measurement_ros_t const > & features_pc ) [virtual]

Callback for the measurements for this RE level (3D features from the lower level, FT)

Parameters:

features_pc Input point cloud of the 3D tracked features

Definition at line 267 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::MeasurementFromShapeTrackerCallback ( const boost::shared_ptr< omip_msgs::ShapeTrackerStates const > & shape_tracker_states )

Definition at line 248 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::ReadParameters ( )

Read parameters to create the RBMEKFTracker

Definition at line 211 of file MultiRBTrackerNode.cpp.

void omip::MultiRBTrackerNode::RGBDPCCallback ( const sensor_msgs::PointCloud2ConstPtr & full_pc_msg )