00001 #ifndef VISP_TRACKER_CALLBACKS_HH 00002 # define VISP_TRACKER_CALLBACKS_HH 00003 # include <boost/thread/recursive_mutex.hpp> 00004 # include <image_transport/image_transport.h> 00005 # include <sensor_msgs/Image.h> 00006 # include <std_msgs/Header.h> 00007 00008 # include <string> 00009 00010 # include <visp/vpImage.h> 00011 # include <visp/vpMbTracker.h> 00012 # include <visp/vpMe.h> 00013 # include <visp/vpKltOpencv.h> 00014 00015 # include <visp_tracker/ModelBasedSettingsConfig.h> 00016 # include <visp_tracker/ModelBasedSettingsKltConfig.h> 00017 # include <visp_tracker/ModelBasedSettingsEdgeConfig.h> 00018 00019 void 00020 imageCallback(vpImage<unsigned char>& image, 00021 const sensor_msgs::Image::ConstPtr& msg, 00022 const sensor_msgs::CameraInfoConstPtr& info); 00023 00024 void 00025 imageCallback(vpImage<unsigned char>& image, 00026 std_msgs::Header& header, 00027 sensor_msgs::CameraInfoConstPtr& info, 00028 const sensor_msgs::Image::ConstPtr& msg, 00029 const sensor_msgs::CameraInfoConstPtr& infoConst); 00030 00031 image_transport::CameraSubscriber::Callback 00032 bindImageCallback(vpImage<unsigned char>& image); 00033 00034 image_transport::CameraSubscriber::Callback 00035 bindImageCallback(vpImage<unsigned char>& image, 00036 std_msgs::Header& header, 00037 sensor_msgs::CameraInfoConstPtr& info); 00038 00039 00040 void reconfigureCallback(vpMbTracker* tracker, 00041 vpImage<unsigned char>& I, 00042 vpMe& moving_edge, 00043 vpKltOpencv& kltTracker, 00044 boost::recursive_mutex& mutex, 00045 visp_tracker::ModelBasedSettingsConfig& config, 00046 uint32_t level); 00047 00048 void reconfigureEdgeCallback(vpMbTracker* tracker, 00049 vpImage<unsigned char>& I, 00050 vpMe& moving_edge, 00051 boost::recursive_mutex& mutex, 00052 visp_tracker::ModelBasedSettingsEdgeConfig& config, 00053 uint32_t level); 00054 00055 void reconfigureKltCallback(vpMbTracker* tracker, 00056 vpImage<unsigned char>& I, 00057 vpKltOpencv& kltTracker, 00058 boost::recursive_mutex& mutex, 00059 visp_tracker::ModelBasedSettingsKltConfig& config, 00060 uint32_t level); 00061 00062 void reInitViewerCommonParameters(ros::NodeHandle& nh, 00063 vpMbTracker* tracker); 00064 00065 void reconfigureCallbackAndInitViewer(ros::NodeHandle& nh, 00066 vpMbTracker* tracker, 00067 vpImage<unsigned char>& I, 00068 vpMe& moving_edge, 00069 vpKltOpencv& kltTracker, 00070 boost::recursive_mutex& mutex, 00071 visp_tracker::ModelBasedSettingsConfig& config, 00072 uint32_t level); 00073 00074 void reconfigureEdgeCallbackAndInitViewer(ros::NodeHandle& nh, 00075 vpMbTracker* tracker, 00076 vpImage<unsigned char>& I, 00077 vpMe& moving_edge, 00078 boost::recursive_mutex& mutex, 00079 visp_tracker::ModelBasedSettingsEdgeConfig& config, 00080 uint32_t level); 00081 00082 void reconfigureKltCallbackAndInitViewer(ros::NodeHandle& nh, 00083 vpMbTracker* tracker, 00084 vpImage<unsigned char>& I, 00085 vpKltOpencv& kltTracker, 00086 boost::recursive_mutex& mutex, 00087 visp_tracker::ModelBasedSettingsKltConfig& config, 00088 uint32_t level); 00089 00090 00091 #endif //! VISP_TRACKER_CALLBACKS_HH