FeatureTrackerNode class Connects to the ROS communication system to get messages from the sensors and publish results Templated in the state of to be estimated by this RE level (ROS type) The received messages are passed to the FeatureTracker object to be processed. More...

#include <FeatureTrackerNode.h>

Inheritance diagram for omip::FeatureTrackerNode:

[legend]

Public Member Functions
virtual void	AdvanceBagCallbackFromShapeReconstruction (const boost::shared_ptr< std_msgs::Bool const > &flag)

virtual void	AdvanceBagCallbackFromShapeTracker (const boost::shared_ptr< omip_msgs::ShapeTrackerStates const > &st_states)

virtual void	DynamicReconfigureCallback (feature_tracker::FeatureTrackerDynReconfConfig &config, uint32_t level)
	Callback for the Dynamic Reconfigure parameters. More...

	FeatureTrackerNode ()

virtual void	measurementCallback (const sensor_msgs::PointCloud2ConstPtr &pc_msg, const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::ImageConstPtr &rgb_image_msg)
	Combined callback for the measurements of this RE level: point cloud, depth image and rgb image. More...

virtual void	measurementCallback (const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::ImageConstPtr &rgb_image_msg)
	Lighter version of the combined callback for the measurements of this RE level: depth image and rgb image. More...

virtual void	measurementCallback (const boost::shared_ptr< ft_measurement_ros_t const > &ft_measurement_ros)
	Empty measurement callback, just to implement correctly the RENode interface. More...

virtual void	OcclusionMaskImgCallback (const sensor_msgs::ImageConstPtr &occlusion_mask_img)
	Callback for the mask of the self occlusion of the robot. Only for the WAM. More...

virtual void	PublishDepthEdgesImg ()
	Publish an image with the edges detected on the depth map. More...

virtual void	PublishDepthImg ()

virtual void	PublishDetectingMaskImg ()
	Publish the mask used to detect new features. Combines edges, max depth and mask of current features (to not detect them) More...

virtual void	PublishFullRGBDPC ()
	Publish the full RGB-D point cloud used in the last iteration (used to synchronize the PC to the other published messages) More...

virtual void	PublishPredictedAndLastFeaturesImg ()
	Publish an image with the last feature locations and the predicted feature locations. More...

virtual void	PublishPredictionMaskImg ()
	Publish the mask of the predictions. More...

virtual void	PublishRGBImg ()

virtual void	PublishTrackedFeaturesImg ()
	Publish an image with the last tracked features on it. More...

virtual void	PublishTrackedFeaturesWithPredictionMaskImg ()
	Publish an image with the last tracked features together with the mask of the predictions. More...

virtual void	PublishTrackingMaskImg ()
	Publish the mask used to track features. Combines edges, predictions mask and max depth. More...

virtual void	ReadRosBag ()
	Read messages from a rosbag instead of receiving them from a sensor Internally it "publishes" the messages that are then received by the measurement callback. More...

virtual void	RepublishPredictedFeatLocation ()

virtual void	run ()

virtual void	statePredictionCallback (const boost::shared_ptr< ft_state_ros_t const > &predicted_next_state)
	Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy. More...

virtual	~FeatureTrackerNode ()

Public Member Functions inherited from omip::RecursiveEstimatorNodeInterface< ft_measurement_ros_t, ft_state_ros_t, FeatureTracker >
bool	getROSParameter (std::string param_name, T &param_container)

bool	getROSParameter (std::string param_name, T &param_container, const T &default_value)

virtual void	measurementCallback (const boost::shared_ptr< MeasurementTypeROS const > &measurement)=0

virtual void	quitCallback (const std_msgs::EmptyConstPtr &msg)

	RecursiveEstimatorNodeInterface (int num_external_state_predictors)

virtual void	spinStatePredictorQueue (int state_prediction_queue_idx)

virtual void	statePredictionCallback (const boost::shared_ptr< StateTypeROS const > &predicted_next_state)=0

virtual	~RecursiveEstimatorNodeInterface ()

Protected Member Functions
virtual void	_InitializeVariables ()

virtual void	_publishPredictedMeasurement () const
	Publish the prediction about the next measurement by this RE level. More...

virtual void	_publishState () const
	Publish the current state of this RE level. More...

virtual void	_ReadParameters ()

virtual void	_SubscribeAndAdvertiseTopics ()

Protected Attributes
double	_advance_frame_max_wait_time

int	_advance_frame_mechanism

double	_advance_frame_min_wait_time

ros::Subscriber	_advance_sub

bool	_advance_sub_returned_true

bool	_attention_to_motion

BagSubscriber< sensor_msgs::Image >	_bag_depth_img_sub

std::string	_bag_file_name

BagSubscriber< sensor_msgs::PointCloud2 >	_bag_full_rgbd_pc_sub

BagSubscriber< sensor_msgs::Image >	_bag_rgb_img_sub

sensor_msgs::CameraInfo	_camera_info_msg

ros::Publisher	_camera_info_pub

ros::Publisher	_camera_info_pub2

bool	_ci_initialized

std::string	_ci_topic

cv_bridge::CvImagePtr	_cv_ptr_depth

cv_bridge::CvImagePtr	_cv_ptr_occlusion_msk

cv_bridge::CvImagePtr	_cv_ptr_rgb

bool	_data_from_bag

image_transport::Publisher	_depth_edges_img_pub

image_transport::Publisher	_depth_img_pub

message_filters::Subscriber< sensor_msgs::Image >	_depth_img_sub

std::string	_depth_img_topic

image_transport::Publisher	_detecting_mask_img_pub

dynamic_reconfigure::Server< feature_tracker::FeatureTrackerDynReconfConfig >::CallbackType	_dr_callback

dynamic_reconfigure::Server< feature_tracker::FeatureTrackerDynReconfConfig >	_dr_srv

std::string	_ft_ns

PointCloudPCL::ConstPtr	_full_rgbd_pc

ros::Publisher	_full_rgbd_pc_repub

message_filters::Subscriber< sensor_msgs::PointCloud2 >	_full_rgbd_pc_sub

std::string	_full_rgbd_pc_topic

image_transport::ImageTransport	_image_transport

tf::Transform	_initial_ee_tf

message_filters::Synchronizer< FTrackerLightSyncPolicy > *	_light_synchronizer

double	_loop_period_ns

ros::Subscriber	_occlusion_mask_img_sub

std::string	_occlusion_mask_img_topic

bool	_occlusion_mask_positive

ros::Publisher	_pred_feat_locs_repub

image_transport::Publisher	_predicted_and_past_feats_img_pub

FeatureCloudPCLwc::Ptr	_predicted_locations_pc

std::string	_predicted_locations_pc_topic

image_transport::Publisher	_prediction_mask_img_pub

int	_processing_factor

bool	_publishing_depth_edges_img

bool	_publishing_depth_img

bool	_publishing_detecting_msk_img

bool	_publishing_full_pc

bool	_publishing_predicted_and_past_feats_img

bool	_publishing_predicting_msk_img

bool	_publishing_rgb_img

bool	_publishing_tracked_feats_img

bool	_publishing_tracked_feats_with_pred_msk_img

bool	_publishing_tracking_msk_img

bool	_republishing_predicted_feat_locs

image_transport::Publisher	_rgb_img_pub

message_filters::Subscriber< sensor_msgs::Image >	_rgb_img_sub

std::string	_rgb_img_topic

double	_sensor_fps

ros::Publisher	_shutdown_publisher

bool	_subscribe_to_pc

message_filters::Synchronizer< FTrackerSyncPolicy > *	_synchronizer

ros::Publisher	_tf_repub

ros::Publisher	_time_repub

image_transport::Publisher	_tracked_feats_img_pub

image_transport::Publisher	_tracked_feats_with_pm_img_pub

std::string	_tracker_type

image_transport::Publisher	_tracking_mask_img_pub

Protected Attributes inherited from omip::RecursiveEstimatorNodeInterface< ft_measurement_ros_t, ft_state_ros_t, FeatureTracker >
bool	_active

ros::Time	_current_measurement_time

ros::Duration	_loop_period_ns

ros::Publisher	_measurement_prediction_publisher

ros::Subscriber	_measurement_subscriber

ros::NodeHandle	_measurements_node_handle

ros::CallbackQueue *	_measurements_queue

std::string	_namespace

ros::Subscriber	_node_quit_subscriber

int	_num_external_state_predictors

ros::Time	_previous_measurement_time

RecursiveEstimatorFilterClass *	_re_filter

std::vector< ros::NodeHandle >	_state_prediction_node_handles

ros::Publisher	_state_prediction_publisher

std::vector< ros::CallbackQueue * >	_state_prediction_queues

ros::Subscriber	_state_prediction_subscriber

std::vector< boost::thread * >	_state_predictor_listener_threads

ros::Publisher	_state_publisher

Private Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image >	FTrackerLightSyncPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::Image, sensor_msgs::Image >	FTrackerSyncPolicy

Detailed Description

FeatureTrackerNode class Connects to the ROS communication system to get messages from the sensors and publish results Templated in the state of to be estimated by this RE level (ROS type) The received messages are passed to the FeatureTracker object to be processed.

Definition at line 84 of file FeatureTrackerNode.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> omip::FeatureTrackerNode::FTrackerLightSyncPolicy

private

Definition at line 89 of file FeatureTrackerNode.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::Image, sensor_msgs::Image> omip::FeatureTrackerNode::FTrackerSyncPolicy

private

Definition at line 88 of file FeatureTrackerNode.h.

Constructor & Destructor Documentation

FeatureTrackerNode::FeatureTrackerNode ( )

Constructor

Definition at line 30 of file FeatureTrackerNode.cpp.

FeatureTrackerNode::~FeatureTrackerNode ( )

virtual

Destructor

Definition at line 67 of file FeatureTrackerNode.cpp.

Member Function Documentation

void FeatureTrackerNode::_InitializeVariables ( )

protectedvirtual

Initialize variables

Definition at line 651 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::_publishPredictedMeasurement ( ) const

protectedvirtual

Publish the prediction about the next measurement by this RE level.

Implements omip::RecursiveEstimatorNodeInterface< ft_measurement_ros_t, ft_state_ros_t, FeatureTracker >.

Definition at line 558 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::_publishState ( ) const

protectedvirtual

Publish the current state of this RE level.

Implements omip::RecursiveEstimatorNodeInterface< ft_measurement_ros_t, ft_state_ros_t, FeatureTracker >.

Definition at line 546 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::_ReadParameters ( )

protectedvirtual

Read parameters from configuration file

Definition at line 563 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::_SubscribeAndAdvertiseTopics ( )

protectedvirtual

Subscribe and advertise topics for this node

Definition at line 715 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::AdvanceBagCallbackFromShapeReconstruction ( const boost::shared_ptr< std_msgs::Bool const > & flag )

virtual

Definition at line 814 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::AdvanceBagCallbackFromShapeTracker ( const boost::shared_ptr< omip_msgs::ShapeTrackerStates const > & st_states )

virtual

Definition at line 820 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::DynamicReconfigureCallback	(	feature_tracker::FeatureTrackerDynReconfConfig &	config,
		uint32_t	level
	)

virtual

Callback for the Dynamic Reconfigure parameters.

Parameters

config	Values from the Dynamic Reconfigure server
level

Definition at line 232 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::measurementCallback	(	const sensor_msgs::PointCloud2ConstPtr &	pc_msg,
		const sensor_msgs::ImageConstPtr &	depth_image_msg,
		const sensor_msgs::ImageConstPtr &	rgb_image_msg
	)

virtual

Combined callback for the measurements of this RE level: point cloud, depth image and rgb image.

Parameters

pc_msg	Input full RGBD point cloud
depth_image_msg	Input depth image
rgb_image_msg	Input RGB image

Definition at line 71 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::measurementCallback	(	const sensor_msgs::ImageConstPtr &	depth_image_msg,
		const sensor_msgs::ImageConstPtr &	rgb_image_msg
	)

virtual

Lighter version of the combined callback for the measurements of this RE level: depth image and rgb image.

Parameters

depth_image_msg	Input depth image
rgb_image_msg	Input RGB image

Definition at line 85 of file FeatureTrackerNode.cpp.

virtual void omip::FeatureTrackerNode::measurementCallback ( const boost::shared_ptr< ft_measurement_ros_t const > & ft_measurement_ros )

inlinevirtual

Empty measurement callback, just to implement correctly the RENode interface.

Parameters

ft_measurement_ros Empty message. Only to implement the interface

Definition at line 132 of file FeatureTrackerNode.h.

void FeatureTrackerNode::OcclusionMaskImgCallback ( const sensor_msgs::ImageConstPtr & occlusion_mask_img )

virtual

Callback for the mask of the self occlusion of the robot. Only for the WAM.

Parameters

occlusion_mask_img Mask image with the area of the visual field covered by the WAM robot

Definition at line 408 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishDepthEdgesImg ( )

virtual

Publish an image with the edges detected on the depth map.

Definition at line 477 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishDepthImg ( )

virtual

Definition at line 428 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishDetectingMaskImg ( )

virtual

Publish the mask used to detect new features. Combines edges, max depth and mask of current features (to not detect them)

Definition at line 511 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishFullRGBDPC ( )

virtual

Publish the full RGB-D point cloud used in the last iteration (used to synchronize the PC to the other published messages)

Definition at line 442 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishPredictedAndLastFeaturesImg ( )

virtual

Publish an image with the last feature locations and the predicted feature locations.

Definition at line 522 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishPredictionMaskImg ( )

virtual

Publish the mask of the predictions.

Definition at line 489 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishRGBImg ( )

virtual

Definition at line 414 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishTrackedFeaturesImg ( )

virtual

Publish an image with the last tracked features on it.

Definition at line 454 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishTrackedFeaturesWithPredictionMaskImg ( )

virtual

Publish an image with the last tracked features together with the mask of the predictions.

Definition at line 465 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::PublishTrackingMaskImg ( )

virtual

Publish the mask used to track features. Combines edges, predictions mask and max depth.

Definition at line 500 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::ReadRosBag ( )

virtual

Read messages from a rosbag instead of receiving them from a sensor Internally it "publishes" the messages that are then received by the measurement callback.

Definition at line 255 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::RepublishPredictedFeatLocation ( )

virtual

Definition at line 533 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::run ( )

virtual

Reimplemented from omip::RecursiveEstimatorNodeInterface< ft_measurement_ros_t, ft_state_ros_t, FeatureTracker >.

Definition at line 826 of file FeatureTrackerNode.cpp.

void FeatureTrackerNode::statePredictionCallback ( const boost::shared_ptr< ft_state_ros_t const > & predicted_next_state )

virtual

Callback for the predictions about the state of this RE level coming from the higher level of the hierarchy.

Parameters

predicted_next_state Predictions about the next state (next feature 3D locations) from the RBT

Definition at line 222 of file FeatureTrackerNode.cpp.

Member Data Documentation

double omip::FeatureTrackerNode::_advance_frame_max_wait_time

protected

Definition at line 339 of file FeatureTrackerNode.h.

int omip::FeatureTrackerNode::_advance_frame_mechanism

protected

Definition at line 344 of file FeatureTrackerNode.h.

double omip::FeatureTrackerNode::_advance_frame_min_wait_time

protected

Definition at line 338 of file FeatureTrackerNode.h.

ros::Subscriber omip::FeatureTrackerNode::_advance_sub

protected

Definition at line 341 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_advance_sub_returned_true

protected

Definition at line 342 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_attention_to_motion

protected

Definition at line 314 of file FeatureTrackerNode.h.

BagSubscriber<sensor_msgs::Image> omip::FeatureTrackerNode::_bag_depth_img_sub

protected

Definition at line 260 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_bag_file_name

protected

Definition at line 323 of file FeatureTrackerNode.h.

BagSubscriber<sensor_msgs::PointCloud2> omip::FeatureTrackerNode::_bag_full_rgbd_pc_sub

protected

Definition at line 261 of file FeatureTrackerNode.h.

BagSubscriber<sensor_msgs::Image> omip::FeatureTrackerNode::_bag_rgb_img_sub

protected

Definition at line 259 of file FeatureTrackerNode.h.

sensor_msgs::CameraInfo omip::FeatureTrackerNode::_camera_info_msg

protected

Definition at line 285 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_camera_info_pub

protected

Definition at line 266 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_camera_info_pub2

protected

Definition at line 267 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_ci_initialized

protected

Definition at line 299 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_ci_topic

protected

Definition at line 328 of file FeatureTrackerNode.h.

cv_bridge::CvImagePtr omip::FeatureTrackerNode::_cv_ptr_depth

protected

Definition at line 292 of file FeatureTrackerNode.h.

cv_bridge::CvImagePtr omip::FeatureTrackerNode::_cv_ptr_occlusion_msk

protected

Definition at line 294 of file FeatureTrackerNode.h.

cv_bridge::CvImagePtr omip::FeatureTrackerNode::_cv_ptr_rgb

protected

Definition at line 293 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_data_from_bag

protected

Definition at line 297 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_depth_edges_img_pub

protected

Definition at line 279 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_depth_img_pub

protected

Definition at line 275 of file FeatureTrackerNode.h.

message_filters::Subscriber<sensor_msgs::Image> omip::FeatureTrackerNode::_depth_img_sub

protected

Definition at line 252 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_depth_img_topic

protected

Definition at line 325 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_detecting_mask_img_pub

protected

Definition at line 282 of file FeatureTrackerNode.h.

dynamic_reconfigure::Server<feature_tracker::FeatureTrackerDynReconfConfig>::CallbackType omip::FeatureTrackerNode::_dr_callback

protected

Definition at line 336 of file FeatureTrackerNode.h.

dynamic_reconfigure::Server<feature_tracker::FeatureTrackerDynReconfConfig> omip::FeatureTrackerNode::_dr_srv

protected

Definition at line 335 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_ft_ns

protected

Definition at line 320 of file FeatureTrackerNode.h.

PointCloudPCL::ConstPtr omip::FeatureTrackerNode::_full_rgbd_pc

protected

Definition at line 288 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_full_rgbd_pc_repub

protected

Definition at line 265 of file FeatureTrackerNode.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> omip::FeatureTrackerNode::_full_rgbd_pc_sub

protected

Definition at line 251 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_full_rgbd_pc_topic

protected

Definition at line 324 of file FeatureTrackerNode.h.

image_transport::ImageTransport omip::FeatureTrackerNode::_image_transport

protected

Definition at line 248 of file FeatureTrackerNode.h.

tf::Transform omip::FeatureTrackerNode::_initial_ee_tf

protected

Definition at line 331 of file FeatureTrackerNode.h.

message_filters::Synchronizer<FTrackerLightSyncPolicy>* omip::FeatureTrackerNode::_light_synchronizer

protected

Definition at line 255 of file FeatureTrackerNode.h.

double omip::FeatureTrackerNode::_loop_period_ns

protected

Definition at line 317 of file FeatureTrackerNode.h.

ros::Subscriber omip::FeatureTrackerNode::_occlusion_mask_img_sub

protected

Definition at line 256 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_occlusion_mask_img_topic

protected

Definition at line 327 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_occlusion_mask_positive

protected

Definition at line 312 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_pred_feat_locs_repub

protected

Definition at line 272 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_predicted_and_past_feats_img_pub

protected

Definition at line 283 of file FeatureTrackerNode.h.

FeatureCloudPCLwc::Ptr omip::FeatureTrackerNode::_predicted_locations_pc

protected

Definition at line 289 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_predicted_locations_pc_topic

protected

Definition at line 329 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_prediction_mask_img_pub

protected

Definition at line 280 of file FeatureTrackerNode.h.

int omip::FeatureTrackerNode::_processing_factor

protected

Definition at line 318 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_depth_edges_img

protected

Definition at line 300 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_depth_img

protected

Definition at line 302 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_detecting_msk_img

protected

Definition at line 308 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_full_pc

protected

Definition at line 305 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_predicted_and_past_feats_img

protected

Definition at line 309 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_predicting_msk_img

protected

Definition at line 306 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_rgb_img

protected

Definition at line 301 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_tracked_feats_img

protected

Definition at line 303 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_tracked_feats_with_pred_msk_img

protected

Definition at line 304 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_publishing_tracking_msk_img

protected

Definition at line 307 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_republishing_predicted_feat_locs

protected

Definition at line 310 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_rgb_img_pub

protected

Definition at line 276 of file FeatureTrackerNode.h.

message_filters::Subscriber<sensor_msgs::Image> omip::FeatureTrackerNode::_rgb_img_sub

protected

Definition at line 253 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_rgb_img_topic

protected

Definition at line 326 of file FeatureTrackerNode.h.

double omip::FeatureTrackerNode::_sensor_fps

protected

Definition at line 316 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_shutdown_publisher

protected

Definition at line 262 of file FeatureTrackerNode.h.

bool omip::FeatureTrackerNode::_subscribe_to_pc

protected

Definition at line 298 of file FeatureTrackerNode.h.

message_filters::Synchronizer<FTrackerSyncPolicy>* omip::FeatureTrackerNode::_synchronizer

protected

Definition at line 254 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_tf_repub

protected

Definition at line 268 of file FeatureTrackerNode.h.

ros::Publisher omip::FeatureTrackerNode::_time_repub

protected

Definition at line 270 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_tracked_feats_img_pub

protected

Definition at line 277 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_tracked_feats_with_pm_img_pub

protected

Definition at line 278 of file FeatureTrackerNode.h.

std::string omip::FeatureTrackerNode::_tracker_type

protected

Definition at line 322 of file FeatureTrackerNode.h.

image_transport::Publisher omip::FeatureTrackerNode::_tracking_mask_img_pub

protected

Definition at line 281 of file FeatureTrackerNode.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation