omip::MultiRBTrackerNode Class Reference

#include <MultiRBTrackerNode.h>

Inheritance diagram for omip::MultiRBTrackerNode:

Public Member Functions
void	DynamicReconfigureCallback (rb_tracker::RBTrackerDynReconfConfig &config, uint32_t level)
	Callback for the Dynamic Reconfigure parameters. More...
void	MatthiasRefinementsCallback (const boost::shared_ptr< rbt_state_t const > &matthias_refinements)
virtual void	measurementCallback (const boost::shared_ptr< rbt_measurement_ros_t const > &features_pc)
	Callback for the measurements for this RE level (3D features from the lower level, FT) More...
void	MeasurementFromShapeTrackerCallback (const boost::shared_ptr< omip_msgs::ShapeTrackerStates const > &shape_tracker_states)
	MultiRBTrackerNode ()
void	ReadParameters ()
void	RGBDPCCallback (const sensor_msgs::PointCloud2ConstPtr &full_pc_msg)
virtual void	statePredictionCallback (const boost::shared_ptr< rbt_state_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	~MultiRBTrackerNode ()
Public Member Functions inherited from omip::RecursiveEstimatorNodeInterface< rbt_measurement_ros_t, rbt_state_ros_t, MultiRBTracker >
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	run ()
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	_PrintResults () const
	Print the results of the RB tracker on the terminal. More...
virtual void	_PublishClusteredFeatures ()
	Publish the tracked features clustered in RBs (the cluster id is written in the "label" field of the published PointCloud<PointXYZL> More...
virtual void	_PublishPosesWithCovariance ()
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	_PublishTF ()

Protected Attributes
ros::Publisher	_atbirthfeats_pc_publisher
ros::Publisher	_clustered_pc_publisher
dynamic_reconfigure::Server< rb_tracker::RBTrackerDynReconfConfig >::CallbackType	_dr_callback
dynamic_reconfigure::Server< rb_tracker::RBTrackerDynReconfConfig >	_dr_srv
std::map< RB_id_t, ros::Publisher * >	_est_body_publishers
double	_estimation_error_threshold
ros::Publisher	_freefeats_pc_publisher
rbt_state_t	_last_predictions_kh
double	_loop_period_ns
ros::Subscriber	_matthias_refinements_subscriber
double	_max_error_to_reassign_feats
ros::Subscriber	_meas_from_st_subscriber
int	_min_num_feats_for_new_rb
int	_min_num_frames_for_new_rb
double	_new_rbm_error_threshold
int	_num_tracked_feats
ros::Publisher	_predictedfeats_pc_publisher
Eigen::Twistd	_previous_twist
bool	_printing_rb_poses
int	_processing_factor
bool	_publishing_clustered_pc
bool	_publishing_rbposes_with_cov
bool	_publishing_tf
int	_ransac_iterations
ros::Publisher	_rbposes_publisher
double	_sensor_fps
omip_msgs::ShapeTrackerStates	_shape_tracker_meas
bool	_shape_tracker_received
ros::Publisher	_state_publisher2
static_environment_tracker_t	_static_environment_tracker_type
double	_static_motion_threshold
int	_supporting_features_threshold
Protected Attributes inherited from omip::RecursiveEstimatorNodeInterface< rbt_measurement_ros_t, rbt_state_ros_t, MultiRBTracker >
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

Detailed Description

Definition at line 78 of file MultiRBTrackerNode.h.

Constructor & Destructor Documentation

MultiRBTrackerNode::MultiRBTrackerNode

(

)

Constructor

Definition at line 28 of file MultiRBTrackerNode.cpp.

MultiRBTrackerNode::~MultiRBTrackerNode ( )

virtual

Destructor

Definition at line 194 of file MultiRBTrackerNode.cpp.

Member Function Documentation

void MultiRBTrackerNode::_PrintResults ( ) const

protectedvirtual

Print the results of the RB tracker on the terminal.

Definition at line 400 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_PublishClusteredFeatures ( )

protectedvirtual

Publish the tracked features clustered in RBs (the cluster id is written in the "label" field of the published PointCloud<PointXYZL>

Definition at line 488 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_PublishPosesWithCovariance ( )

protectedvirtual

Write the results of the tracking in the terminal and publish the poses and covariances to ROS

Definition at line 430 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_publishPredictedMeasurement ( ) const

protectedvirtual

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

Implements omip::RecursiveEstimatorNodeInterface< rbt_measurement_ros_t, rbt_state_ros_t, MultiRBTracker >.

Definition at line 389 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_publishState ( ) const

protectedvirtual

Publish the current state of this RE level.

Implements omip::RecursiveEstimatorNodeInterface< rbt_measurement_ros_t, rbt_state_ros_t, MultiRBTracker >.

Definition at line 371 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::_PublishTF ( )

protectedvirtual

Publish the results of the tracking into the TF system of ROS We publish the tracked RBs as frames relative to the camera

Definition at line 460 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::DynamicReconfigureCallback	(	rb_tracker::RBTrackerDynReconfConfig &	config,
		uint32_t	level
	)

Callback for the Dynamic Reconfigure parameters.

Parameters

config	Values from the Dynamic Reconfigure server
level

Definition at line 198 of file MultiRBTrackerNode.cpp.

void omip::MultiRBTrackerNode::MatthiasRefinementsCallback

(

const boost::shared_ptr< rbt_state_t const > &

matthias_refinements

)

void MultiRBTrackerNode::measurementCallback ( const boost::shared_ptr< rbt_measurement_ros_t const > &  features_pc )

virtual

Callback for the measurements for this RE level (3D features from the lower level, FT)

Parameters

features_pc

Input point cloud of the 3D tracked features

Definition at line 267 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::MeasurementFromShapeTrackerCallback

(

const boost::shared_ptr< omip_msgs::ShapeTrackerStates const > &

shape_tracker_states

)

Definition at line 248 of file MultiRBTrackerNode.cpp.

void MultiRBTrackerNode::ReadParameters

(

)

Read parameters to create the RBMEKFTracker

Definition at line 211 of file MultiRBTrackerNode.cpp.

void omip::MultiRBTrackerNode::RGBDPCCallback

(

const sensor_msgs::PointCloud2ConstPtr &

full_pc_msg

)

void MultiRBTrackerNode::statePredictionCallback ( const boost::shared_ptr< rbt_state_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 366 of file MultiRBTrackerNode.cpp.

Member Data Documentation

ros::Publisher omip::MultiRBTrackerNode::_atbirthfeats_pc_publisher

protected

Definition at line 170 of file MultiRBTrackerNode.h.

ros::Publisher omip::MultiRBTrackerNode::_clustered_pc_publisher

protected

Definition at line 166 of file MultiRBTrackerNode.h.

dynamic_reconfigure::Server<rb_tracker::RBTrackerDynReconfConfig>::CallbackType omip::MultiRBTrackerNode::_dr_callback

protected

Definition at line 221 of file MultiRBTrackerNode.h.

dynamic_reconfigure::Server<rb_tracker::RBTrackerDynReconfConfig> omip::MultiRBTrackerNode::_dr_srv

protected

Definition at line 220 of file MultiRBTrackerNode.h.

std::map<RB_id_t, ros::Publisher*> omip::MultiRBTrackerNode::_est_body_publishers

protected

Definition at line 164 of file MultiRBTrackerNode.h.

double omip::MultiRBTrackerNode::_estimation_error_threshold

protected

Definition at line 180 of file MultiRBTrackerNode.h.

ros::Publisher omip::MultiRBTrackerNode::_freefeats_pc_publisher

protected

Definition at line 168 of file MultiRBTrackerNode.h.

rbt_state_t omip::MultiRBTrackerNode::_last_predictions_kh

protected

Definition at line 225 of file MultiRBTrackerNode.h.

double omip::MultiRBTrackerNode::_loop_period_ns

protected

Definition at line 193 of file MultiRBTrackerNode.h.

ros::Subscriber omip::MultiRBTrackerNode::_matthias_refinements_subscriber

protected

Definition at line 173 of file MultiRBTrackerNode.h.

double omip::MultiRBTrackerNode::_max_error_to_reassign_feats

protected

Definition at line 189 of file MultiRBTrackerNode.h.

ros::Subscriber omip::MultiRBTrackerNode::_meas_from_st_subscriber

protected

Definition at line 172 of file MultiRBTrackerNode.h.

int omip::MultiRBTrackerNode::_min_num_feats_for_new_rb

protected

Definition at line 202 of file MultiRBTrackerNode.h.

int omip::MultiRBTrackerNode::_min_num_frames_for_new_rb

protected

Definition at line 205 of file MultiRBTrackerNode.h.

double omip::MultiRBTrackerNode::_new_rbm_error_threshold

protected

Definition at line 186 of file MultiRBTrackerNode.h.

int omip::MultiRBTrackerNode::_num_tracked_feats

protected

Definition at line 199 of file MultiRBTrackerNode.h.

ros::Publisher omip::MultiRBTrackerNode::_predictedfeats_pc_publisher

protected

Definition at line 169 of file MultiRBTrackerNode.h.

Eigen::Twistd omip::MultiRBTrackerNode::_previous_twist

protected

Definition at line 224 of file MultiRBTrackerNode.h.

bool omip::MultiRBTrackerNode::_printing_rb_poses

protected

Definition at line 211 of file MultiRBTrackerNode.h.

int omip::MultiRBTrackerNode::_processing_factor

protected

Definition at line 192 of file MultiRBTrackerNode.h.

bool omip::MultiRBTrackerNode::_publishing_clustered_pc

protected

Definition at line 210 of file MultiRBTrackerNode.h.

bool omip::MultiRBTrackerNode::_publishing_rbposes_with_cov

protected

Definition at line 208 of file MultiRBTrackerNode.h.

bool omip::MultiRBTrackerNode::_publishing_tf

protected

Definition at line 209 of file MultiRBTrackerNode.h.

int omip::MultiRBTrackerNode::_ransac_iterations

protected

Definition at line 176 of file MultiRBTrackerNode.h.

ros::Publisher omip::MultiRBTrackerNode::_rbposes_publisher

protected

Definition at line 165 of file MultiRBTrackerNode.h.

double omip::MultiRBTrackerNode::_sensor_fps

protected

Definition at line 191 of file MultiRBTrackerNode.h.

omip_msgs::ShapeTrackerStates omip::MultiRBTrackerNode::_shape_tracker_meas

protected

Definition at line 216 of file MultiRBTrackerNode.h.

bool omip::MultiRBTrackerNode::_shape_tracker_received

mutableprotected

Definition at line 215 of file MultiRBTrackerNode.h.

ros::Publisher omip::MultiRBTrackerNode::_state_publisher2

protected

Definition at line 223 of file MultiRBTrackerNode.h.

static_environment_tracker_t omip::MultiRBTrackerNode::_static_environment_tracker_type

protected

Definition at line 213 of file MultiRBTrackerNode.h.

double omip::MultiRBTrackerNode::_static_motion_threshold

protected

Definition at line 183 of file MultiRBTrackerNode.h.

int omip::MultiRBTrackerNode::_supporting_features_threshold

protected

Definition at line 196 of file MultiRBTrackerNode.h.

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

• MultiRBTrackerNode.h
• MultiRBTrackerNode.cpp