Monitors the tracking result provided by the tracking node. More...

#include <tracker-viewer.hh>

Public Types
typedef vpImage< unsigned char >	image_t
	ViSP image type.
typedef boost::function< bool(visp_tracker::Init::Request &, visp_tracker::Init::Response &res)>	initCallback_t
typedef boost::function< bool(visp_tracker::Init::Request &, visp_tracker::Init::Response &res)>	reconfigureCallback_t
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites, visp_tracker::KltPoints >	syncPolicy_t
	Synchronization policy.
Public Member Functions
void	spin ()
	Display camera image, tracked object position and moving edge sites.
	TrackerViewer (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
	Constructor.
Protected Member Functions
void	callback (const sensor_msgs::ImageConstPtr &imageConst, const sensor_msgs::CameraInfoConstPtr &infoConst, const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &trackingResult, const visp_tracker::MovingEdgeSites::ConstPtr &sitesConst, const visp_tracker::KltPoints::ConstPtr &kltConst)
	Callback used to received synchronized data.
void	checkInputs ()
	Make sure the topics we subscribe already exist.
void	displayKltPoints ()
	Display KLT points that are tracked.
void	displayMovingEdgeSites ()
	Display moving edge sites.
bool	initCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void	initializeTracker ()
	Initialize the tracker.
void	loadCommonParameters ()
	Initialize the common parameters (visibility angles, etc)
bool	reconfigureCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void	timerCallback ()
void	waitForImage ()
	Hang until the first image is received.
Private Member Functions
bool	exiting ()
Private Attributes
vpCameraParameters	cameraParameters_
	ViSP camera parameters.
image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist.
boost::optional < vpHomogeneousMatrix >	cMo_
	Last tracked object position, set to none if tracking failed.
volatile bool &	exiting_
double	frameSize_
image_t	image_
	ViSP image.
image_transport::ImageTransport	imageTransport_
	Image transport used to receive images.
sensor_msgs::CameraInfoConstPtr	info_
	Shared pointer to latest received camera information.
ros::ServiceServer	initService_
	Service called when user ends tracker_client node.
visp_tracker::KltPoints::ConstPtr	klt_
	Shared pointer to latest received KLT point positions.
boost::filesystem::path	modelPath_
	Model path.
ros::NodeHandle &	nodeHandle_
ros::NodeHandle &	nodeHandlePrivate_
unsigned	queueSize_
	Queue size for all subscribers.
ros::ServiceServer	reconfigureService_
	Service called when user is reconfiguring tracker node.
visp_tracker::MovingEdgeSites::ConstPtr	sites_
	Shared pointer to latest received moving edge sites.
vpMbEdgeTracker	tracker_
	ViSP edge tracker.
std::string	trackerName_
	Name of the tracker used in this viewer node.
Topics and services strings.
std::string	rectifiedImageTopic_
	Full topic name for rectified image.
std::string	cameraInfoTopic_
	Full topic name for camera information.
Subscribers and synchronizer.
Subscriber to image topic.
image_transport::SubscriberFilter	imageSubscriber_
message_filters::Subscriber < sensor_msgs::CameraInfo >	cameraInfoSubscriber_
	Subscriber to camera information topic.
message_filters::Subscriber < geometry_msgs::PoseWithCovarianceStamped >	trackingResultSubscriber_
	Subscriber to tracking result topic.
message_filters::Subscriber < visp_tracker::MovingEdgeSites >	movingEdgeSitesSubscriber_
	Subscriber to moving edge sites topics.
message_filters::Subscriber < visp_tracker::KltPoints >	kltPointsSubscriber_
	Subscriber to KLT point topics.
message_filters::Synchronizer < syncPolicy_t >	synchronizer_
	Synchronizer with approximate time policy.
Synchronization check
}
ros::WallTimer	timer_
unsigned	countAll_
unsigned	countImages_
unsigned	countCameraInfo_
unsigned	countTrackingResult_
unsigned	countMovingEdgeSites_
unsigned	countKltPoints_

Detailed Description

Monitors the tracking result provided by the tracking node.

Definition at line 31 of file tracker-viewer.hh.

Member Typedef Documentation

typedef vpImage<unsigned char> visp_tracker::TrackerViewer::image_t

ViSP image type.

Definition at line 35 of file tracker-viewer.hh.

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::TrackerViewer::initCallback_t

Definition at line 40 of file tracker-viewer.hh.

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::TrackerViewer::reconfigureCallback_t

Definition at line 44 of file tracker-viewer.hh.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites, visp_tracker::KltPoints > visp_tracker::TrackerViewer::syncPolicy_t

Synchronization policy.

This is used to make sure that the image, the object position and the moving edge sites are synchronized. This may not be the case as these informations are published on different topics. The approximate time allows light differences in timestamps which are not critical as this is only a viewer.

Definition at line 58 of file tracker-viewer.hh.

Constructor & Destructor Documentation

visp_tracker::TrackerViewer::TrackerViewer	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	privateNh,
		volatile bool &	exiting,
		unsigned	queueSize = `5u`
	)

Constructor.

Definition at line 72 of file tracker-viewer.cpp.

Member Function Documentation

void visp_tracker::TrackerViewer::callback	(	const sensor_msgs::ImageConstPtr &	imageConst,
		const sensor_msgs::CameraInfoConstPtr &	infoConst,
		const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &	trackingResult,
		const visp_tracker::MovingEdgeSites::ConstPtr &	sitesConst,
		const visp_tracker::KltPoints::ConstPtr &	kltConst
	)		`[protected]`