artoolkitplus.h
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00001 /***************************************************************************
00002  *   Copyright (C) 2013 by Markus Bader                                    *
00003  *   markus.bader@tuwien.ac.at                                             *
00004  *                                                                         *
00005  *   This program is free software; you can redistribute it and/or modify  *
00006  *   it under the terms of the GNU General Public License as published by  *
00007  *   the Free Software Foundation; either version 2 of the License, or     *
00008  *   (at your option) any later version.                                   *
00009  *                                                                         *
00010  *   This program is distributed in the hope that it will be useful,       *
00011  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00012  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00013  *   GNU General Public License for more details.                          *
00014  *                                                                         *
00015  *   You should have received a copy of the GNU General Public License     *
00016  *   along with this program; if not, write to the                         *
00017  *   Free Software Foundation, Inc.,                                       *
00018  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00019  ***************************************************************************/
00020 
00021 #ifndef ARTOOLKITPLUS_NODE_H
00022 #define ARTOOLKITPLUS_NODE_H
00023 
00024 #include <ros/ros.h>
00025 #include <tf/transform_broadcaster.h>
00026 #include <tf/transform_listener.h>
00027 #include <image_transport/image_transport.h>
00028 #include <dynamic_reconfigure/server.h>
00029 #include <tuw_artoolkitplus/ARParamConfig.h>
00030 
00031 #include <list>
00032 #include <opencv/cv.h>
00033 #include "ARToolKitPlus/ar.h"
00034 #include "ARToolKitPlus/arMulti.h"
00035 
00036 namespace ARToolKitPlus {
00037 class TrackerSingleMarker;
00038 class TrackerMultiMarker;
00039 class Tracker;
00040 
00041 
00042 
00043 class ARTag2D : public ARMarkerInfo {
00044 public:
00045   static const int NO_PATTERN = -1;
00046   static const int PATTERN = 0;
00047   int belongsToPattern;
00048   ARTag2D()
00049    : belongsToPattern(NO_PATTERN) {
00050   }
00051   ARTag2D(const ARTag2D &tag)
00052    : belongsToPattern(tag.belongsToPattern) {
00053     setARMarkerInfo(tag);
00054   }
00055   ARTag2D(const ARMarkerInfo &tag)
00056    : belongsToPattern(NO_PATTERN) {
00057     setARMarkerInfo(tag);
00058   }
00059   void setARMarkerInfo(const ARMarkerInfo &tag) {
00060     ARMarkerInfo *p = (ARMarkerInfo *) this;
00061     *p = tag;
00062   }
00063 };
00064 
00065 };
00066 
00067 
00068 class MyLogger;
00069 
00070 class ARToolKitPlusNode {
00071 public:
00072     class Parameter {
00073     public:
00074         Parameter();
00075         void update(const unsigned long &counter);
00076         void callbackParameters ( tuw_artoolkitplus::ARParamConfig &config, uint32_t level );
00077         ros::NodeHandle node;
00078         dynamic_reconfigure::Server<tuw_artoolkitplus::ARParamConfig> reconfigureServer_;
00079         dynamic_reconfigure::Server<tuw_artoolkitplus::ARParamConfig>::CallbackType reconfigureFnc_;
00080         bool show_camera_image_;
00081         int skip_frames;
00082         std::string node_name;
00083         std::string tf_prefix;
00084         std::string pattern_frame;
00085         std::string pattern_file;
00086         bool useBCH; // simple-id versus BCH-id markers
00087         double patternWidth;  // define size of the marker
00088         double borderWidth;
00089         int edge_threshold;
00090         int nPattern;
00091         bool nUpdateMatrix;
00092         bool tracker_single_marker;
00093         bool tracker_multi_marker;
00094         bool use_multi_marker_lite_detection;
00095         bool distorted_input;
00096         int undist_iterations;
00097         int undist_mode;
00098         int pose_estimation_mode;
00099     };
00100     ARToolKitPlusNode(ros::NodeHandle & n);
00101     ~ARToolKitPlusNode();
00102 private:
00103     ros::NodeHandle n_;
00104     ros::NodeHandle n_param_;
00105     int callback_counter_;
00106     image_transport::ImageTransport imageTransport_;
00107     image_transport::CameraSubscriber cameraSubscriber_;
00108     tf::TransformBroadcaster transformBroadcaster_;
00109     boost::shared_ptr<ARToolKitPlus::TrackerSingleMarker> trackerSingleMarker_;
00110     boost::shared_ptr<ARToolKitPlus::TrackerMultiMarker> trackerMultiMarker_;
00111     std::vector<ARToolKitPlus::ARTag2D> arTags2D_;
00112     std::list<tf::StampedTransform> markerTransforms_;    
00113     const ARToolKitPlus::ARMultiMarkerInfoT *arMultiMarkerInfo_;
00114     MyLogger *logger_;
00115     Parameter param_;
00116     ros::Publisher pub_perceptions_;
00117 
00118     void initTrackerSingleMarker(const sensor_msgs::CameraInfoConstPtr& camer_info_);
00119     void initTrackerMultiMarker(const sensor_msgs::CameraInfoConstPtr& camer_info_);
00120     
00121     void updateParameterTrackerSingleMarker(const sensor_msgs::CameraInfoConstPtr& camer_info);
00122     void updateParameterTrackerMultiMarker(const sensor_msgs::CameraInfoConstPtr& camer_info);
00123 
00124     void imageCallback(const sensor_msgs::ImageConstPtr& image_msg,
00125                        const sensor_msgs::CameraInfoConstPtr& info_msg);
00126     void estimatePoses(const std_msgs::Header &header);
00127     void publishTf();
00128     void publishPerceptions (const std_msgs::Header &header);
00129     void generateDebugImage(cv::Mat &img);
00130     int matrix2Tf(const ARFloat M[3][4], tf::Transform &transform);
00131     void readParam();
00132     void init();
00133 
00134 };
00135 
00136 #endif // ARTOOLKITPLUS_NODE_H


tuw_artoolkitplus
Author(s): Markus Bader
autogenerated on Sun May 29 2016 02:50:12