Internally used within LED finder to track each of several LEDs. More...

Public Member Functions
	CloudDifferenceTracker (std::string frame, double x, double y, double z)
sensor_msgs::Image	getImage ()
bool	getRefinedCentroid (const sensor_msgs::PointCloud2 &cloud, geometry_msgs::PointStamped &centroid)
bool	isFound (const sensor_msgs::PointCloud2 &cloud, double threshold)
bool	process (sensor_msgs::PointCloud2 &cloud, sensor_msgs::PointCloud2 &prev, geometry_msgs::Point &led_point, double max_distance, double weight)
	Update the tracker based on new cloud compared to previous.
void	reset (size_t height, size_t width)
Public Attributes
int	count_
std::vector< double >	diff_
std::string	frame_
size_t	height_
double	max_
int	max_idx_
geometry_msgs::Point	point_
size_t	width_

Detailed Description

Internally used within LED finder to track each of several LEDs.

Definition at line 42 of file led_finder.h.

Constructor & Destructor Documentation

robot_calibration::LedFinder::CloudDifferenceTracker::CloudDifferenceTracker	(	std::string	frame,
		double	x,
		double	y,
		double	z
	)

Definition at line 336 of file led_finder.cpp.

sensor_msgs::Image robot_calibration::LedFinder::CloudDifferenceTracker::getImage ( )

Definition at line 532 of file led_finder.cpp.

bool robot_calibration::LedFinder::CloudDifferenceTracker::getRefinedCentroid	(	const sensor_msgs::PointCloud2 &	cloud,
		geometry_msgs::PointStamped &	centroid
	)

Definition at line 468 of file led_finder.cpp.

bool robot_calibration::LedFinder::CloudDifferenceTracker::isFound	(	const sensor_msgs::PointCloud2 &	cloud,
		double	threshold
	)

Definition at line 443 of file led_finder.cpp.

bool robot_calibration::LedFinder::CloudDifferenceTracker::process	(	sensor_msgs::PointCloud2 &	cloud,
		sensor_msgs::PointCloud2 &	prev,
		geometry_msgs::Point &	led_point,
		double	max_distance,
		double	weight
	)

Update the tracker based on new cloud compared to previous.

Parameters:

cloud	The newest cloud
prev	The previous cloud
led_point	The expected pose of this led in cloud frame
max_distance	The maximum distance from expected led pose that we should consider changes.
weight	Whether the change between frames should increase or decrease the LED point values. Should be +/- 1 typically.