find_moving_objects Namespace Reference

Classes
class	Bank
class	BankArgument

Enumerations
enum	state_t {   WAIT_FOR_FIRST_MESSAGE_HZ, CALCULATE_HZ, INIT_BANKS, FIND_MOVING_OBJECTS,   WAIT_FOR_FIRST_MESSAGE_HZ, CALCULATE_HZ, INIT_BANKS, FIND_MOVING_OBJECTS }
enum	state_t {   WAIT_FOR_FIRST_MESSAGE_HZ, CALCULATE_HZ, INIT_BANKS, FIND_MOVING_OBJECTS,   WAIT_FOR_FIRST_MESSAGE_HZ, CALCULATE_HZ, INIT_BANKS, FIND_MOVING_OBJECTS }

Functions
banks	clear ()
	for (int i=0;i< nr_banks;++i)
	if (tf_filter!=NULL) delete tf_filter
	if (tf_buffer!=NULL) delete tf_buffer
	if (optimize_nr_scans_in_bank!=0.0)
	if (bank_argument.PC2_threshold_z_max< bank_argument.PC2_threshold_z_min)
	if (strcmp(bank_argument.map_frame.c_str(), bank_argument.fixed_frame.c_str())!=0)
	if (strcmp(bank_argument.map_frame.c_str(), bank_argument.base_frame.c_str())!=0 &&strcmp(bank_argument.fixed_frame.c_str(), bank_argument.base_frame.c_str())!=0)
void	laserScanCallback (const sensor_msgs::LaserScan::ConstPtr &msg)
std::ostream &	operator<< (std::ostream &os, const BankArgument &ba)
	optimize_nr_scans_in_bank (0.0)
nh_priv	param ("subscribe_topic", subscribe_topic, default_subscribe_topic)
nh_priv	param ("subscribe_buffer_size", subscribe_buffer_size, default_subscribe_buffer_size)
nh_priv	param ("ema_alpha", bank_argument.ema_alpha, default_ema_alpha)
nh_priv	param ("nr_scans_in_bank", bank_argument.nr_scans_in_bank, default_nr_scans_in_bank)
nh_priv	param ("nr_points_per_scan_in_bank", bank_argument.points_per_scan, default_nr_points_per_scan_in_bank)
nh_priv	param ("object_threshold_edge_max_delta_range", bank_argument.object_threshold_edge_max_delta_range, default_object_threshold_edge_max_delta_range)
nh_priv	param ("bank_view_angle", bank_argument.angle_max, default_bank_view_angle)
nh_priv	param ("object_threshold_min_nr_points", bank_argument.object_threshold_min_nr_points, default_object_threshold_min_nr_points)
nh_priv	param ("object_threshold_max_distance", bank_argument.object_threshold_max_distance, default_object_threshold_max_distance)
nh_priv	param ("object_threshold_min_speed", bank_argument.object_threshold_min_speed, default_object_threshold_min_speed)
nh_priv	param ("sensor_frame_has_z_axis_forward", bank_argument.sensor_frame_has_z_axis_forward, default_sensor_frame_has_z_axis_forward)
nh_priv	param ("object_threshold_max_delta_width_in_points", bank_argument.object_threshold_max_delta_width_in_points, default_object_threshold_max_delta_width_in_points)
nh_priv	param ("object_threshold_bank_tracking_max_delta_distance", bank_argument.object_threshold_bank_tracking_max_delta_distance, default_object_threshold_bank_tracking_max_delta_distance)
nh_priv	param ("object_threshold_min_confidence", bank_argument.object_threshold_min_confidence, default_object_threshold_min_confidence)
nh_priv	param ("base_confidence", bank_argument.base_confidence, default_base_confidence)
nh_priv	param ("publish_ema", bank_argument.publish_ema, default_publish_ema)
nh_priv	param ("publish_objects_closest_points_markers", bank_argument.publish_objects_closest_point_markers, default_publish_objects_closest_points_markers)
nh_priv	param ("publish_objects_velocity_arrows", bank_argument.publish_objects_velocity_arrows, default_publish_objects_velocity_arrows)
nh_priv	param ("publish_objects_delta_position_lines", bank_argument.publish_objects_delta_position_lines, default_publish_objects_delta_position_lines)
nh_priv	param ("publish_objects_width_lines", bank_argument.publish_objects_width_lines, default_publish_objects_width_lines)
nh_priv	param ("velocity_arrows_use_full_gray_scale", bank_argument.velocity_arrows_use_full_gray_scale, default_velocity_arrows_use_full_gray_scale)
nh_priv	param ("velocity_arrows_use_sensor_frame", bank_argument.velocity_arrows_use_sensor_frame, default_velocity_arrows_use_sensor_frame)
nh_priv	param ("velocity_arrows_use_base_frame", bank_argument.velocity_arrows_use_base_frame, default_velocity_arrows_use_base_frame)
nh_priv	param ("velocity_arrows_use_fixed_frame", bank_argument.velocity_arrows_use_fixed_frame, default_velocity_arrows_use_fixed_frame)
nh_priv	param ("publish_objects", bank_argument.publish_objects, default_publish_objects)
nh_priv	param ("map_frame", bank_argument.map_frame, default_map_frame)
nh_priv	param ("fixed_frame", bank_argument.fixed_frame, default_fixed_frame)
nh_priv	param ("base_frame", bank_argument.base_frame, default_base_frame)
nh_priv	param ("ns_velocity_arrows", bank_argument.velocity_arrow_ns, default_ns_velocity_arrows)
nh_priv	param ("ns_delta_position_lines", bank_argument.delta_position_line_ns, default_ns_delta_position_lines)
nh_priv	param ("ns_width_lines", bank_argument.width_line_ns, default_ns_width_lines)
nh_priv	param ("topic_ema", bank_argument.topic_ema, default_topic_ema)
nh_priv	param ("topic_objects_closest_points_markers", bank_argument.topic_objects_closest_point_markers, default_topic_objects_closest_points_markers)
nh_priv	param ("topic_objects_velocity_arrows", bank_argument.topic_objects_velocity_arrows, default_topic_objects_velocity_arrows)
nh_priv	param ("topic_objects_delta_position_lines", bank_argument.topic_objects_delta_position_lines, default_topic_objects_delta_position_lines)
nh_priv	param ("topic_objects_width_lines", bank_argument.topic_objects_width_lines, default_topic_objects_width_lines)
nh_priv	param ("topic_objects", bank_argument.topic_objects, default_topic_objects)
nh_priv	param ("publish_buffer_size", bank_argument.publish_buffer_size, default_publish_buffer_size)
nh_priv	param ("optimize_nr_scans_in_bank", optimize_nr_scans_in_bank, default_optimize_nr_scans_in_bank)
nh_priv	param ("message_x_coordinate_field_name", bank_argument.PC2_message_x_coordinate_field_name, default_message_x_coordinate_field_name)
nh_priv	param ("max_confidence_for_dt_match", max_confidence_for_dt_match, default_max_confidence_for_dt_match)
nh_priv	param ("message_y_coordinate_field_name", bank_argument.PC2_message_y_coordinate_field_name, default_message_y_coordinate_field_name)
nh_priv	param ("message_z_coordinate_field_name", bank_argument.PC2_message_z_coordinate_field_name, default_message_z_coordinate_field_name)
nh_priv	param ("voxel_leaf_size", bank_argument.PC2_voxel_leaf_size, default_voxel_leaf_size)
nh_priv	param ("threshold_z_min", bank_argument.PC2_threshold_z_min, default_threshold_z_min)
nh_priv	param ("threshold_z_max", bank_argument.PC2_threshold_z_max, default_threshold_z_max)
nh_priv	param ("delta_width_confidence_decrease_factor", width_factor, default_delta_width_confidence_decrease_factor)
void	pointCloud2Callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
bank_arguments	push_back (bank_argument)
tf_filter_target_frames	push_back (bank_argument.map_frame)
tf_filter	registerCallback (boost::bind(this, _1))
tf_filter	setTargetFrames (tf_filter_target_frames)
tf_subscriber	subscribe (nh, subscribe_topic, subscribe_buffer_size)

Variables
	__pad0__
double	a_factor = -20 / 3
bank_argument	angle_max = 2.0
bank_argument	angle_min = -bank_argument.angle_max
std::vector< BankArgument >	bank_arguments
std::vector< Bank * >	banks
const double	default_bank_view_angle = M_PI
const double	default_base_confidence = 0.5
const std::string	default_base_frame = "base_link"
const double	default_delta_width_confidence_decrease_factor = 0.5
const double	default_ema_alpha = 1.0
const std::string	default_fixed_frame = "odom"
const std::string	default_map_frame = "map"
const double	default_max_confidence_for_dt_match = 0.5
const std::string	default_message_x_coordinate_field_name = "x"
const std::string	default_message_y_coordinate_field_name = "y"
const std::string	default_message_z_coordinate_field_name = "z"
const int	default_nr_points_per_scan_in_bank = 360
const int	default_nr_scans_in_bank = 0
const std::string	default_ns_delta_position_lines = "delta_position_lines"
const std::string	default_ns_velocity_arrows = "velocity_arrows"
const std::string	default_ns_width_lines = "width_lines"
const double	default_object_threshold_bank_tracking_max_delta_distance = 0.4
const double	default_object_threshold_edge_max_delta_range = 0.15
const int	default_object_threshold_max_delta_width_in_points = 15
const double	default_object_threshold_max_distance = 6.5
const double	default_object_threshold_min_confidence = 0.7
const int	default_object_threshold_min_nr_points = 3
const double	default_object_threshold_min_speed = 0.1
const double	default_optimize_nr_scans_in_bank = 0.3
const int	default_publish_buffer_size = 1
const bool	default_publish_ema = true
const bool	default_publish_objects = true
const bool	default_publish_objects_closest_points_markers = true
const bool	default_publish_objects_delta_position_lines = true
const bool	default_publish_objects_velocity_arrows = true
const bool	default_publish_objects_width_lines = true
const bool	default_sensor_frame_has_z_axis_forward = true
const int	default_subscribe_buffer_size = 1
const double	default_threshold_z_max = 1.0
const double	default_threshold_z_min = 0.0
const std::string	default_topic_ema = "ema"
const std::string	default_topic_objects = "moving_objects"
const std::string	default_topic_objects_closest_points_markers = "objects_closest_point_markers"
const std::string	default_topic_objects_delta_position_lines = "objects_delta_position_lines"
const std::string	default_topic_objects_velocity_arrows = "objects_velocity_arrows"
const std::string	default_topic_objects_width_lines = "objects_width_lines"
const bool	default_velocity_arrows_use_base_frame = false
const bool	default_velocity_arrows_use_fixed_frame = false
const bool	default_velocity_arrows_use_full_gray_scale = false
const bool	default_velocity_arrows_use_sensor_frame = false
const double	default_voxel_leaf_size = 0.01
	else
double	max_confidence_for_dt_match
const int	max_messages = 100
const double	max_time = 1.5
ros::NodeHandle	nh
ros::NodeHandle	nh_priv
double	optimize_nr_scans_in_bank
int	received_messages
double	root_1 =0.35
double	root_2 =0.65
double	start_time
state_t	state
int	subscribe_buffer_size
std::string	subscribe_topic
tf2_ros::Buffer *	tf_buffer = new tf2_ros::Buffer
tf2_ros::MessageFilter< sensor_msgs::LaserScan > *	tf_filter = new tf2_ros::MessageFilter<sensor_msgs::LaserScan>(*tf_subscriber, *tf_buffer, "", subscribe_buffer_size, 0)
std::vector< std::string >	tf_filter_target_frames
tf2_ros::TransformListener *	tf_listener = new tf2_ros::TransformListener(*tf_buffer)
message_filters::Subscriber< sensor_msgs::LaserScan > *	tf_subscriber = new message_filters::Subscriber<sensor_msgs::LaserScan>()
const float	TWO_PI = 2*M_PI
double	width_factor = 0.0

Enumeration Type Documentation

enum find_moving_objects::state_t

Enumerator
WAIT_FOR_FIRST_MESSAGE_HZ
CALCULATE_HZ
INIT_BANKS
FIND_MOVING_OBJECTS
WAIT_FOR_FIRST_MESSAGE_HZ
CALCULATE_HZ
INIT_BANKS
FIND_MOVING_OBJECTS

Definition at line 65 of file LaserScanInterpreter.h.

enum find_moving_objects::state_t

Enumerator
WAIT_FOR_FIRST_MESSAGE_HZ
CALCULATE_HZ
INIT_BANKS
FIND_MOVING_OBJECTS
WAIT_FOR_FIRST_MESSAGE_HZ
CALCULATE_HZ
INIT_BANKS
FIND_MOVING_OBJECTS

Definition at line 65 of file PointCloud2Interpreter.h.

Function Documentation

banks find_moving_objects::clear

(

)

find_moving_objects::for

(

)

Initial value:

{
  int nr_banks = banks.size()

Definition at line 153 of file laserscan_interpreter.cpp.

find_moving_objects::if

(

tf_filter!

= NULL

)

find_moving_objects::if

(

tf_buffer!

= NULL

)

find_moving_objects::if

(

optimize_nr_scans_in_bank!

= 0.0

)

Definition at line 443 of file laserscan_interpreter.cpp.

find_moving_objects::if

(

)

Definition at line 448 of file pointcloud2_interpreter.cpp.

find_moving_objects::if

(

strcmp(bank_argument.map_frame.c_str(), bank_argument.fixed_frame.c_str())!

= 0

)

Definition at line 457 of file laserscan_interpreter.cpp.

find_moving_objects::if

(

strcmp(bank_argument.map_frame.c_str(), bank_argument.base_frame.c_str())!

= 0 && strcmp(bank_argument.fixed_frame.c_str(), bank_argument.base_frame.c_str()) != 0

)

Definition at line 461 of file laserscan_interpreter.cpp.

void find_moving_objects::laserScanCallback

(

const sensor_msgs::LaserScan::ConstPtr &

msg

)

std::ostream& find_moving_objects::operator<<	(	std::ostream &	os,
		const BankArgument &	ba
	)

Definition at line 167 of file bank.cpp.

find_moving_objects::optimize_nr_scans_in_bank

(

0.

0

)

Definition at line 117 of file laserscan_interpreter.cpp.

nh_priv find_moving_objects::param	(	"subscribe_topic"	,
		subscribe_topic	,
		default_subscribe_topic
	)

nh_priv find_moving_objects::param	(	"subscribe_buffer_size"	,
		subscribe_buffer_size	,
		default_subscribe_buffer_size
	)

nh_priv find_moving_objects::param	(	"ema_alpha"	,
		bank_argument.	ema_alpha,
		default_ema_alpha
	)

nh_priv find_moving_objects::param	(	"nr_scans_in_bank"	,
		bank_argument.	nr_scans_in_bank,
		default_nr_scans_in_bank
	)

nh_priv find_moving_objects::param	(	"nr_points_per_scan_in_bank"	,
		bank_argument.	points_per_scan,
		default_nr_points_per_scan_in_bank
	)

nh_priv find_moving_objects::param	(	"object_threshold_edge_max_delta_range"	,
		bank_argument.	object_threshold_edge_max_delta_range,
		default_object_threshold_edge_max_delta_range
	)

nh_priv find_moving_objects::param	(	"bank_view_angle"	,
		bank_argument.	angle_max,
		default_bank_view_angle
	)

nh_priv find_moving_objects::param	(	"object_threshold_min_nr_points"	,
		bank_argument.	object_threshold_min_nr_points,
		default_object_threshold_min_nr_points
	)

nh_priv find_moving_objects::param	(	"object_threshold_max_distance"	,
		bank_argument.	object_threshold_max_distance,
		default_object_threshold_max_distance
	)

nh_priv find_moving_objects::param	(	"object_threshold_min_speed"	,
		bank_argument.	object_threshold_min_speed,
		default_object_threshold_min_speed
	)

nh_priv find_moving_objects::param	(	"sensor_frame_has_z_axis_forward"	,
		bank_argument.	sensor_frame_has_z_axis_forward,
		default_sensor_frame_has_z_axis_forward
	)

nh_priv find_moving_objects::param	(	"object_threshold_max_delta_width_in_points"	,
		bank_argument.	object_threshold_max_delta_width_in_points,
		default_object_threshold_max_delta_width_in_points
	)

nh_priv find_moving_objects::param	(	"object_threshold_bank_tracking_max_delta_distance"	,
		bank_argument.	object_threshold_bank_tracking_max_delta_distance,
		default_object_threshold_bank_tracking_max_delta_distance
	)

nh_priv find_moving_objects::param	(	"object_threshold_min_confidence"	,
		bank_argument.	object_threshold_min_confidence,
		default_object_threshold_min_confidence
	)

nh_priv find_moving_objects::param	(	"base_confidence"	,
		bank_argument.	base_confidence,
		default_base_confidence
	)

nh_priv find_moving_objects::param	(	"publish_ema"	,
		bank_argument.	publish_ema,
		default_publish_ema
	)

nh_priv find_moving_objects::param	(	"publish_objects_closest_points_markers"	,
		bank_argument.	publish_objects_closest_point_markers,
		default_publish_objects_closest_points_markers
	)

nh_priv find_moving_objects::param	(	"publish_objects_velocity_arrows"	,
		bank_argument.	publish_objects_velocity_arrows,
		default_publish_objects_velocity_arrows
	)

nh_priv find_moving_objects::param	(	"publish_objects_delta_position_lines"	,
		bank_argument.	publish_objects_delta_position_lines,
		default_publish_objects_delta_position_lines
	)

nh_priv find_moving_objects::param	(	"publish_objects_width_lines"	,
		bank_argument.	publish_objects_width_lines,
		default_publish_objects_width_lines
	)

nh_priv find_moving_objects::param	(	"velocity_arrows_use_full_gray_scale"	,
		bank_argument.	velocity_arrows_use_full_gray_scale,
		default_velocity_arrows_use_full_gray_scale
	)

nh_priv find_moving_objects::param	(	"velocity_arrows_use_sensor_frame"	,
		bank_argument.	velocity_arrows_use_sensor_frame,
		default_velocity_arrows_use_sensor_frame
	)

nh_priv find_moving_objects::param	(	"velocity_arrows_use_base_frame"	,
		bank_argument.	velocity_arrows_use_base_frame,
		default_velocity_arrows_use_base_frame
	)

nh_priv find_moving_objects::param	(	"velocity_arrows_use_fixed_frame"	,
		bank_argument.	velocity_arrows_use_fixed_frame,
		default_velocity_arrows_use_fixed_frame
	)

nh_priv find_moving_objects::param	(	"publish_objects"	,
		bank_argument.	publish_objects,
		default_publish_objects
	)

nh_priv find_moving_objects::param	(	"map_frame"	,
		bank_argument.	map_frame,
		default_map_frame
	)

nh_priv find_moving_objects::param	(	"fixed_frame"	,
		bank_argument.	fixed_frame,
		default_fixed_frame
	)

nh_priv find_moving_objects::param	(	"base_frame"	,
		bank_argument.	base_frame,
		default_base_frame
	)

nh_priv find_moving_objects::param	(	"ns_velocity_arrows"	,
		bank_argument.	velocity_arrow_ns,
		default_ns_velocity_arrows
	)

nh_priv find_moving_objects::param	(	"ns_delta_position_lines"	,
		bank_argument.	delta_position_line_ns,
		default_ns_delta_position_lines
	)

nh_priv find_moving_objects::param	(	"ns_width_lines"	,
		bank_argument.	width_line_ns,
		default_ns_width_lines
	)

nh_priv find_moving_objects::param	(	"topic_ema"	,
		bank_argument.	topic_ema,
		default_topic_ema
	)

nh_priv find_moving_objects::param	(	"topic_objects_closest_points_markers"	,
		bank_argument.	topic_objects_closest_point_markers,
		default_topic_objects_closest_points_markers
	)

nh_priv find_moving_objects::param	(	"topic_objects_velocity_arrows"	,
		bank_argument.	topic_objects_velocity_arrows,
		default_topic_objects_velocity_arrows
	)

nh_priv find_moving_objects::param	(	"topic_objects_delta_position_lines"	,
		bank_argument.	topic_objects_delta_position_lines,
		default_topic_objects_delta_position_lines
	)

nh_priv find_moving_objects::param	(	"topic_objects_width_lines"	,
		bank_argument.	topic_objects_width_lines,
		default_topic_objects_width_lines
	)

nh_priv find_moving_objects::param	(	"topic_objects"	,
		bank_argument.	topic_objects,
		default_topic_objects
	)

nh_priv find_moving_objects::param	(	"publish_buffer_size"	,
		bank_argument.	publish_buffer_size,
		default_publish_buffer_size
	)

nh_priv find_moving_objects::param	(	"optimize_nr_scans_in_bank"	,
		optimize_nr_scans_in_bank	,
		default_optimize_nr_scans_in_bank
	)

nh_priv find_moving_objects::param	(	"message_x_coordinate_field_name"	,
		bank_argument.	PC2_message_x_coordinate_field_name,
		default_message_x_coordinate_field_name
	)

nh_priv find_moving_objects::param	(	"max_confidence_for_dt_match"	,
		max_confidence_for_dt_match	,
		default_max_confidence_for_dt_match
	)

nh_priv find_moving_objects::param	(	"message_y_coordinate_field_name"	,
		bank_argument.	PC2_message_y_coordinate_field_name,
		default_message_y_coordinate_field_name
	)

nh_priv find_moving_objects::param	(	"message_z_coordinate_field_name"	,
		bank_argument.	PC2_message_z_coordinate_field_name,
		default_message_z_coordinate_field_name
	)

nh_priv find_moving_objects::param	(	"voxel_leaf_size"	,
		bank_argument.	PC2_voxel_leaf_size,
		default_voxel_leaf_size
	)

nh_priv find_moving_objects::param	(	"threshold_z_min"	,
		bank_argument.	PC2_threshold_z_min,
		default_threshold_z_min
	)

nh_priv find_moving_objects::param	(	"threshold_z_max"	,
		bank_argument.	PC2_threshold_z_max,
		default_threshold_z_max
	)

nh_priv find_moving_objects::param	(	"delta_width_confidence_decrease_factor"	,
		width_factor	,
		default_delta_width_confidence_decrease_factor
	)

void find_moving_objects::pointCloud2Callback

(

const sensor_msgs::PointCloud2::ConstPtr &

msg

)

bank_arguments find_moving_objects::push_back

(

bank_argument

)

tf_filter_target_frames find_moving_objects::push_back

(

bank_argument.

map_frame

)

tf_filter find_moving_objects::registerCallback

(

boost::bind(this, _1)

)

tf_filter find_moving_objects::setTargetFrames

(

tf_filter_target_frames

)

tf_subscriber find_moving_objects::subscribe	(	nh	,
		subscribe_topic	,
		subscribe_buffer_size
	)

Variable Documentation

find_moving_objects::__pad0__

Definition at line 116 of file laserscan_interpreter.cpp.

double find_moving_objects::a_factor = -20 / 3

Definition at line 84 of file laserscan_interpreter.cpp.

bank_argument find_moving_objects::angle_max = 2.0

Definition at line 404 of file pointcloud2_interpreter.cpp.

bank_argument find_moving_objects::angle_min = -bank_argument.angle_max

Definition at line 405 of file pointcloud2_interpreter.cpp.

std::vector< BankArgument > find_moving_objects::bank_arguments

Definition at line 53 of file LaserScanInterpreter.h.

std::vector< Bank * > find_moving_objects::banks

Definition at line 52 of file LaserScanInterpreter.h.

const double find_moving_objects::default_bank_view_angle = M_PI

Definition at line 50 of file PointCloud2Interpreter.h.

const double find_moving_objects::default_base_confidence = 0.5

Definition at line 76 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_base_frame = "base_link"

Definition at line 44 of file LaserScanInterpreter.h.

const double find_moving_objects::default_delta_width_confidence_decrease_factor = 0.5

Definition at line 48 of file LaserScanInterpreter.h.

const double find_moving_objects::default_ema_alpha = 1.0

Definition at line 41 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_fixed_frame = "odom"

Definition at line 43 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_map_frame = "map"

Definition at line 42 of file LaserScanInterpreter.h.

const double find_moving_objects::default_max_confidence_for_dt_match = 0.5

Definition at line 47 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_message_x_coordinate_field_name = "x"

Definition at line 72 of file PointCloud2Interpreter.h.

const std::string find_moving_objects::default_message_y_coordinate_field_name = "y"

Definition at line 73 of file PointCloud2Interpreter.h.

const std::string find_moving_objects::default_message_z_coordinate_field_name = "z"

Definition at line 74 of file PointCloud2Interpreter.h.

const int find_moving_objects::default_nr_points_per_scan_in_bank = 360

Definition at line 51 of file PointCloud2Interpreter.h.

const int find_moving_objects::default_nr_scans_in_bank = 0

Definition at line 45 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_ns_delta_position_lines = "delta_position_lines"

Definition at line 63 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_ns_velocity_arrows = "velocity_arrows"

Definition at line 62 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_ns_width_lines = "width_lines"

Definition at line 64 of file LaserScanInterpreter.h.

const double find_moving_objects::default_object_threshold_bank_tracking_max_delta_distance = 0.4

Definition at line 74 of file LaserScanInterpreter.h.

const double find_moving_objects::default_object_threshold_edge_max_delta_range = 0.15

Definition at line 69 of file LaserScanInterpreter.h.

const int find_moving_objects::default_object_threshold_max_delta_width_in_points = 15

Definition at line 73 of file LaserScanInterpreter.h.

const double find_moving_objects::default_object_threshold_max_distance = 6.5

Definition at line 71 of file LaserScanInterpreter.h.

const double find_moving_objects::default_object_threshold_min_confidence = 0.7

Definition at line 75 of file LaserScanInterpreter.h.

const int find_moving_objects::default_object_threshold_min_nr_points = 3

Definition at line 70 of file LaserScanInterpreter.h.

const double find_moving_objects::default_object_threshold_min_speed = 0.1

Definition at line 72 of file LaserScanInterpreter.h.

const double find_moving_objects::default_optimize_nr_scans_in_bank = 0.3

Definition at line 46 of file LaserScanInterpreter.h.

const int find_moving_objects::default_publish_buffer_size = 1

Definition at line 55 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_publish_ema = true

Definition at line 50 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_publish_objects = true

Definition at line 49 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_publish_objects_closest_points_markers = true

Definition at line 51 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_publish_objects_delta_position_lines = true

Definition at line 53 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_publish_objects_velocity_arrows = true

Definition at line 52 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_publish_objects_width_lines = true

Definition at line 54 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_sensor_frame_has_z_axis_forward = true

Definition at line 41 of file PointCloud2Interpreter.h.

const int find_moving_objects::default_subscribe_buffer_size = 1

Definition at line 40 of file LaserScanInterpreter.h.

const double find_moving_objects::default_threshold_z_max = 1.0

Definition at line 77 of file PointCloud2Interpreter.h.

const double find_moving_objects::default_threshold_z_min = 0.0

Definition at line 76 of file PointCloud2Interpreter.h.

const std::string find_moving_objects::default_topic_ema = "ema"

Definition at line 57 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_topic_objects = "moving_objects"

Definition at line 56 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_topic_objects_closest_points_markers = "objects_closest_point_markers"

Definition at line 58 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_topic_objects_delta_position_lines = "objects_delta_position_lines"

Definition at line 60 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_topic_objects_velocity_arrows = "objects_velocity_arrows"

Definition at line 59 of file LaserScanInterpreter.h.

const std::string find_moving_objects::default_topic_objects_width_lines = "objects_width_lines"

Definition at line 61 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_velocity_arrows_use_base_frame = false

Definition at line 67 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_velocity_arrows_use_fixed_frame = false

Definition at line 68 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_velocity_arrows_use_full_gray_scale = false

Definition at line 65 of file LaserScanInterpreter.h.

const bool find_moving_objects::default_velocity_arrows_use_sensor_frame = false

Definition at line 66 of file LaserScanInterpreter.h.

const double find_moving_objects::default_voxel_leaf_size = 0.01

Definition at line 75 of file PointCloud2Interpreter.h.

find_moving_objects::else

Initial value:

{
    state = INIT_BANKS

Definition at line 448 of file laserscan_interpreter.cpp.

double find_moving_objects::max_confidence_for_dt_match

Definition at line 45 of file LaserScanInterpreter.h.

const int find_moving_objects::max_messages = 100

Definition at line 47 of file LaserScanInterpreter.h.

const double find_moving_objects::max_time = 1.5

Definition at line 49 of file LaserScanInterpreter.h.

ros::NodeHandle find_moving_objects::nh

Definition at line 61 of file LaserScanInterpreter.h.

ros::NodeHandle find_moving_objects::nh_priv

Definition at line 62 of file LaserScanInterpreter.h.

find_moving_objects::optimize_nr_scans_in_bank

Definition at line 44 of file LaserScanInterpreter.h.

int find_moving_objects::received_messages

Definition at line 46 of file LaserScanInterpreter.h.

double find_moving_objects::root_1 =0.35

Definition at line 85 of file laserscan_interpreter.cpp.

double find_moving_objects::root_2 =0.65

Definition at line 85 of file laserscan_interpreter.cpp.

double find_moving_objects::start_time

Definition at line 48 of file LaserScanInterpreter.h.

state_t find_moving_objects::state

Definition at line 72 of file LaserScanInterpreter.h.

int find_moving_objects::subscribe_buffer_size

Definition at line 41 of file LaserScanInterpreter.h.

std::string find_moving_objects::subscribe_topic

Definition at line 40 of file LaserScanInterpreter.h.

tf2_ros::Buffer * find_moving_objects::tf_buffer = new tf2_ros::Buffer

Definition at line 56 of file LaserScanInterpreter.h.

tf2_ros::MessageFilter< sensor_msgs::PointCloud2 > * find_moving_objects::tf_filter = new tf2_ros::MessageFilter<sensor_msgs::LaserScan>(*tf_subscriber, *tf_buffer, "", subscribe_buffer_size, 0)

Definition at line 84 of file LaserScanInterpreter.h.

std::vector< std::string > find_moving_objects::tf_filter_target_frames

Definition at line 58 of file LaserScanInterpreter.h.

tf2_ros::TransformListener * find_moving_objects::tf_listener = new tf2_ros::TransformListener(*tf_buffer)

Definition at line 57 of file LaserScanInterpreter.h.

message_filters::Subscriber< sensor_msgs::PointCloud2 > * find_moving_objects::tf_subscriber = new message_filters::Subscriber<sensor_msgs::LaserScan>()

Definition at line 83 of file LaserScanInterpreter.h.

const float find_moving_objects::TWO_PI = 2*M_PI

Definition at line 109 of file bank.cpp.

double find_moving_objects::width_factor = 0.0

Definition at line 86 of file laserscan_interpreter.cpp.