find_objects.cpp File Reference

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Bool.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <geometry_msgs/PointStamped.h>
#include <pcl_conversions/pcl_conversions.h>
#include <tf/transform_listener.h>
#include <robotican_common/FindObjectDynParamConfig.h>
#include <dynamic_reconfigure/server.h>
#include <tf/transform_broadcaster.h>
#include "tf/message_filter.h"
#include "message_filters/subscriber.h"
#include <ar_track_alvar_msgs/AlvarMarkers.h>
#include <robotican_common/switch_topic.h>

Include dependency graph for find_objects.cpp:

Go to the source code of this file.

Functions
void	arm_msgCallback (const boost::shared_ptr< const geometry_msgs::PoseStamped > &point_ptr)
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &input)
void	dynamicParamCallback (robotican_common::FindObjectDynParamConfig &config, uint32_t level)
bool	find_object (Mat input, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, Point3d *obj, std::string frame)
int	main (int argc, char **argv)
void	obj_msgCallback (const boost::shared_ptr< const geometry_msgs::PoseStamped > &point_ptr)
void	on_trackbar (int, void *)
bool	switch_pcl_topic (robotican_common::switch_topic::Request &req, robotican_common::switch_topic::Response &res)
Variables
image_transport::Publisher	bw_image_pub
bool	debug_vision = false
std::string	depth_topic
std::string	depth_topic1
std::string	depth_topic2
int	gaussian_ksize = 0
int	gaussian_sigma = 0
bool	have_object = false
int	inv_H = 1
tf::TransformListener *	listener_ptr
int	maxA = 50000
int	maxH = 160
int	maxS = 255
int	maxV = 255
int	minA = 200
int	minH = 3
int	minS = 70
int	minV = 10
int	morph_size = 0
int	object_id
image_transport::Publisher	object_image_pub
ros::Publisher	object_pub
ros::Publisher	pose_pub
image_transport::Publisher	result_image_pub

---

Function Documentation

void arm_msgCallback

(

const boost::shared_ptr< const geometry_msgs::PoseStamped > &

point_ptr

)

void cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

input

)

Definition at line 67 of file find_objects.cpp.

void dynamicParamCallback	(	robotican_common::FindObjectDynParamConfig &	config,
		uint32_t	level
	)

Definition at line 252 of file find_objects.cpp.

bool find_object	(	Mat	input,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	cloud,
		Point3d *	obj,
		std::string	frame
	)

Definition at line 152 of file find_objects.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 284 of file find_objects.cpp.

void obj_msgCallback

(

const boost::shared_ptr< const geometry_msgs::PoseStamped > &

point_ptr

)

Definition at line 117 of file find_objects.cpp.

void on_trackbar	(	int	,
		void *
	)

Definition at line 274 of file find_objects.cpp.

bool switch_pcl_topic	(	robotican_common::switch_topic::Request &	req,
		robotican_common::switch_topic::Response &	res
	)

Definition at line 276 of file find_objects.cpp.

---

Variable Documentation

image_transport::Publisher bw_image_pub

Definition at line 50 of file find_objects.cpp.

bool debug_vision = false

Definition at line 25 of file find_objects.cpp.

std::string depth_topic

Definition at line 44 of file find_objects.cpp.

std::string depth_topic1

Definition at line 44 of file find_objects.cpp.

std::string depth_topic2

Definition at line 44 of file find_objects.cpp.

int gaussian_ksize = 0

Definition at line 58 of file find_objects.cpp.

int gaussian_sigma = 0

Definition at line 59 of file find_objects.cpp.

bool have_object = false

Definition at line 45 of file find_objects.cpp.

int inv_H = 1

Definition at line 62 of file find_objects.cpp.

tf::TransformListener* listener_ptr

Definition at line 36 of file find_objects.cpp.

int maxA = 50000

Definition at line 57 of file find_objects.cpp.

int maxH = 160

Definition at line 53 of file find_objects.cpp.

int maxS = 255

Definition at line 54 of file find_objects.cpp.

int maxV = 255

Definition at line 56 of file find_objects.cpp.

int minA = 200

Definition at line 57 of file find_objects.cpp.

int minH = 3

Definition at line 53 of file find_objects.cpp.

int minS = 70

Definition at line 54 of file find_objects.cpp.

int minV = 10

Definition at line 56 of file find_objects.cpp.

int morph_size = 0

Definition at line 60 of file find_objects.cpp.

int object_id

Definition at line 40 of file find_objects.cpp.

image_transport::Publisher object_image_pub

Definition at line 49 of file find_objects.cpp.

ros::Publisher object_pub

Definition at line 47 of file find_objects.cpp.

ros::Publisher pose_pub

Definition at line 51 of file find_objects.cpp.

image_transport::Publisher result_image_pub

Definition at line 48 of file find_objects.cpp.