This class converts the costmap_2d into dynamic obstacles. More...

#include <costmap_to_dynamic_obstacles.h>

Inheritance diagram for costmap_converter::CostmapToDynamicObstacles:

Public Member Functions
virtual void	compute ()
	This method performs the actual work (conversion of the costmap to obstacles)
	CostmapToDynamicObstacles ()
	Constructor.
ObstacleArrayConstPtr	getObstacles ()
	Get a shared instance of the current obstacle container.
virtual void	initialize (ros::NodeHandle nh)
	Initialize the plugin.
virtual void	setCostmap2D (costmap_2d::Costmap2D *costmap)
	Pass a pointer to the costmap to the plugin.
virtual void	setOdomTopic (const std::string &odom_topic)
	Set name of robot's odometry topic.
virtual void	updateCostmap2D ()
	Get updated data from the previously set Costmap2D.
void	visualize (const std::string &name, const cv::Mat &image)
	OpenCV Visualization.
virtual	~CostmapToDynamicObstacles ()
	Destructor.
Protected Member Functions
void	getContour (unsigned int idx, std::vector< Point_t > &contour)
	Gets the last observed contour of a object and converts it from [px] to [m].
Point_t	getEstimatedVelocityOfObject (unsigned int idx)
	Converts the estimated velocity of a tracked object to m/s and returns it.
void	updateObstacleContainer (ObstacleArrayPtr obstacles)
	Thread-safe update of the internal obstacle container (that is shared using getObstacles() from outside this class)
Private Member Functions
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	modifications at runtime
void	reconfigureCB (CostmapToDynamicObstaclesConfig &config, uint32_t level)
	Callback for the dynamic_reconfigure node.
Private Attributes
std::unique_ptr < BackgroundSubtractor >	bg_sub_
cv::Ptr< BlobDetector >	blob_det_
costmap_2d::Costmap2D *	costmap_
cv::Mat	costmap_mat_
dynamic_reconfigure::Server < CostmapToDynamicObstaclesConfig > *	dynamic_recfg_
Point_t	ego_vel_
cv::Mat	fg_mask_
std::vector< cv::KeyPoint >	keypoints_
boost::mutex	mutex_
ObstacleArrayPtr	obstacles_
ros::Subscriber	odom_sub_
std::string	odom_topic_ = "/odom"
bool	publish_static_obstacles_ = true
std::unique_ptr< CTracker >	tracker_

Detailed Description

This class converts the costmap_2d into dynamic obstacles.

Static obstacles are treated as point obstacles.

Todo:: allow different plugins for both static and dynamic obstacles (arbitrary combinations)

Definition at line 77 of file costmap_to_dynamic_obstacles.h.

Constructor & Destructor Documentation

costmap_converter::CostmapToDynamicObstacles::CostmapToDynamicObstacles ( )

Constructor.

Definition at line 11 of file costmap_to_dynamic_obstacles.cpp.

costmap_converter::CostmapToDynamicObstacles::~CostmapToDynamicObstacles ( ) [virtual]

Destructor.

Definition at line 18 of file costmap_to_dynamic_obstacles.cpp.

Member Function Documentation

void costmap_converter::CostmapToDynamicObstacles::compute ( ) [virtual]

This method performs the actual work (conversion of the costmap to obstacles)

Implements costmap_converter::BaseCostmapToPolygons.

Definition at line 136 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::getContour	(	unsigned int	idx,
		std::vector< Point_t > &	contour
	)		`[protected]`

Gets the last observed contour of a object and converts it from [px] to [m].

Parameters:

[in]	idx	Index of the tracked object in the tracker
[out]	contour	vector of Point_t, which represents the last observed contour in [m] in x,y,z coordinates

Definition at line 402 of file costmap_to_dynamic_obstacles.cpp.

Point_t costmap_converter::CostmapToDynamicObstacles::getEstimatedVelocityOfObject ( unsigned int idx ) [protected]

Converts the estimated velocity of a tracked object to m/s and returns it.

Parameters:

idx	Index of the tracked object in the tracker

Returns:: Point_t, which represents velocity in [m/s] of object(idx) in x,y,z coordinates

Definition at line 327 of file costmap_to_dynamic_obstacles.cpp.

ObstacleArrayConstPtr costmap_converter::CostmapToDynamicObstacles::getObstacles ( ) [virtual]

Get a shared instance of the current obstacle container.

Remarks:: If compute() or startWorker() has not been called before, this method returns an empty instance!

Returns:: Shared instance of the current obstacle container

Reimplemented from costmap_converter::BaseCostmapToPolygons.

Definition at line 315 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::initialize ( ros::NodeHandle nh ) [virtual]

Initialize the plugin.

Parameters:

nh	Nodehandle that defines the namespace for parameters

Implements costmap_converter::BaseCostmapToPolygons.

Definition at line 24 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

modifications at runtime

Callback for the odometry messages of the observing robot.

Used to convert the velocity of obstacles to the /map frame.

Parameters:

msg	The Pointer to the nav_msgs::Odometry of the observing robot

Definition at line 337 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::reconfigureCB	(	CostmapToDynamicObstaclesConfig &	config,
		uint32_t	level
	)		`[private]`

Callback for the dynamic_reconfigure node.

This callback allows to modify parameters dynamically at runtime without restarting the node

Parameters:

config	Reference to the dynamic reconfigure config
level	Dynamic reconfigure level

Definition at line 354 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::setCostmap2D ( costmap_2d::Costmap2D * costmap ) [virtual]

Pass a pointer to the costmap to the plugin.

See also:: updateCostmap2D

Parameters:

costmap Pointer to the costmap2d source

Implements costmap_converter::BaseCostmapToPolygons.

Definition at line 289 of file costmap_to_dynamic_obstacles.cpp.

virtual void costmap_converter::CostmapToDynamicObstacles::setOdomTopic ( const std::string & odom_topic ) [inline, virtual]

Set name of robot's odometry topic.

Warning:: The method must be called before initialize()

Some plugins might require odometry information to compensate the robot's ego motion

Parameters:

odom_topic topic name

Reimplemented from costmap_converter::BaseCostmapToPolygons.

Definition at line 132 of file costmap_to_dynamic_obstacles.h.

void costmap_converter::CostmapToDynamicObstacles::updateCostmap2D ( ) [virtual]

Get updated data from the previously set Costmap2D.

See also:: setCostmap2D

Implements costmap_converter::BaseCostmapToPolygons.

Definition at line 299 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::updateObstacleContainer ( ObstacleArrayPtr obstacles ) [protected]

Thread-safe update of the internal obstacle container (that is shared using getObstacles() from outside this class)

Parameters:

obstacles Updated obstacle container

Definition at line 321 of file costmap_to_dynamic_obstacles.cpp.

void costmap_converter::CostmapToDynamicObstacles::visualize	(	const std::string &	name,
		const cv::Mat &	image
	)

OpenCV Visualization.

Parameters:

name	Id/name of the opencv window
image	Image to be visualized

Definition at line 423 of file costmap_to_dynamic_obstacles.cpp.

Member Data Documentation

std::unique_ptr<BackgroundSubtractor> costmap_converter::CostmapToDynamicObstacles::bg_sub_ [private]

Definition at line 177 of file costmap_to_dynamic_obstacles.h.

cv::Ptr<BlobDetector> costmap_converter::CostmapToDynamicObstacles::blob_det_ [private]

Definition at line 178 of file costmap_to_dynamic_obstacles.h.

costmap_2d::Costmap2D* costmap_converter::CostmapToDynamicObstacles::costmap_ [private]

Definition at line 173 of file costmap_to_dynamic_obstacles.h.

cv::Mat costmap_converter::CostmapToDynamicObstacles::costmap_mat_ [private]

Definition at line 174 of file costmap_to_dynamic_obstacles.h.

dynamic_reconfigure::Server<CostmapToDynamicObstaclesConfig>* costmap_converter::CostmapToDynamicObstacles::dynamic_recfg_ [private]

Dynamic reconfigure server to allow config

Definition at line 188 of file costmap_to_dynamic_obstacles.h.

Point_t costmap_converter::CostmapToDynamicObstacles::ego_vel_ [private]

Definition at line 182 of file costmap_to_dynamic_obstacles.h.

cv::Mat costmap_converter::CostmapToDynamicObstacles::fg_mask_ [private]

Definition at line 176 of file costmap_to_dynamic_obstacles.h.

std::vector<cv::KeyPoint> costmap_converter::CostmapToDynamicObstacles::keypoints_ [private]

Definition at line 179 of file costmap_to_dynamic_obstacles.h.

boost::mutex costmap_converter::CostmapToDynamicObstacles::mutex_ [private]

Definition at line 172 of file costmap_to_dynamic_obstacles.h.

ObstacleArrayPtr costmap_converter::CostmapToDynamicObstacles::obstacles_ [private]

Definition at line 175 of file costmap_to_dynamic_obstacles.h.

ros::Subscriber costmap_converter::CostmapToDynamicObstacles::odom_sub_ [private]

Definition at line 181 of file costmap_to_dynamic_obstacles.h.

std::string costmap_converter::CostmapToDynamicObstacles::odom_topic_ = "/odom" [private]

Definition at line 184 of file costmap_to_dynamic_obstacles.h.

bool costmap_converter::CostmapToDynamicObstacles::publish_static_obstacles_ = true [private]

Definition at line 185 of file costmap_to_dynamic_obstacles.h.

std::unique_ptr<CTracker> costmap_converter::CostmapToDynamicObstacles::tracker_ [private]

Definition at line 180 of file costmap_to_dynamic_obstacles.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation