Macros | Typedefs | Functions | Variables
FindMarkerBundles.cpp File Reference
#include "ar_track_alvar/CvTestbed.h"
#include "ar_track_alvar/MarkerDetector.h"
#include "ar_track_alvar/MultiMarkerBundle.h"
#include "ar_track_alvar/MultiMarkerInitializer.h"
#include "ar_track_alvar/Shared.h"
#include <cv_bridge/cv_bridge.h>
#include <ar_track_alvar_msgs/AlvarMarker.h>
#include <ar_track_alvar_msgs/AlvarMarkers.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/registration.h>
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/image_encodings.h>
#include <ros/ros.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/filters/extract_indices.h>
#include <boost/lexical_cast.hpp>
#include <tf/tf.h>
#include <Eigen/Core>
#include <ar_track_alvar/filter/kinect_filtering.h>
#include <ar_track_alvar/filter/medianFilter.h>
Include dependency graph for FindMarkerBundles.cpp:

Go to the source code of this file.

Macros

#define GHOST_MARKER   3
 
#define MAIN_MARKER   1
 
#define VISIBLE_MARKER   2
 

Typedefs

typedef pcl::PointCloud< ARPointARCloud
 
typedef pcl::PointXYZRGB ARPoint
 

Functions

int calcAndSaveMasterCoords (MultiMarkerBundle &master)
 
void draw3dPoints (ARCloud::Ptr cloud, string frame, int color, int id, double rad)
 
void drawArrow (gm::Point start, tf::Matrix3x3 mat, string frame, int color, int id)
 
void GetMultiMarkerPoses (IplImage *image, ARCloud &cloud)
 
void getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
 
int InferCorners (const ARCloud &cloud, MultiMarkerBundle &master, ARCloud &bund_corners)
 
int main (int argc, char *argv[])
 
void makeMarkerMsgs (int type, int id, Pose &p, sensor_msgs::ImageConstPtr image_msg, tf::StampedTransform &CamToOutput, visualization_msgs::Marker *rvizMarker, ar_track_alvar_msgs::AlvarMarker *ar_pose_marker, int confidence)
 
int makeMasterTransform (const CvPoint3D64f &p0, const CvPoint3D64f &p1, const CvPoint3D64f &p2, const CvPoint3D64f &p3, tf::Transform &retT)
 
int PlaneFitPoseImprovement (int id, const ARCloud &corners_3D, ARCloud::Ptr selected_points, const ARCloud &cloud, Pose &p)
 

Variables

ros::Publisher arMarkerPub_
 
ar_track_alvar_msgs::AlvarMarkers arPoseMarkers_
 
std::vector< int > * bundle_indices
 
PosebundlePoses
 
int * bundles_seen
 
Cameracam
 
std::string cam_image_topic
 
std::string cam_info_topic
 
image_transport::Subscriber cam_sub_
 
ros::Subscriber cloud_sub_
 
cv_bridge::CvImagePtr cv_ptr_
 
bool init = true
 
MarkerDetector< MarkerDatamarker_detector
 
double marker_size
 
int * master_id
 
bool * master_visible
 
double max_new_marker_error
 
double max_track_error
 
int med_filt_size
 
ata::MedianFilter ** med_filts
 
MultiMarkerBundle ** multi_marker_bundles =NULL
 
int n_bundles = 0
 
std::string output_frame
 
ros::Publisher rvizMarkerPub2_
 
ros::Publisher rvizMarkerPub_
 
tf::TransformBroadcastertf_broadcaster
 
tf::TransformListenertf_listener
 

Macro Definition Documentation

#define GHOST_MARKER   3

Definition at line 73 of file FindMarkerBundles.cpp.

#define MAIN_MARKER   1

Definition at line 71 of file FindMarkerBundles.cpp.

#define VISIBLE_MARKER   2

Definition at line 72 of file FindMarkerBundles.cpp.

Typedef Documentation

Definition at line 79 of file FindMarkerBundles.cpp.

typedef pcl::PointXYZRGB ARPoint

Definition at line 78 of file FindMarkerBundles.cpp.

Function Documentation

int calcAndSaveMasterCoords ( MultiMarkerBundle master)

Definition at line 729 of file FindMarkerBundles.cpp.

void draw3dPoints ( ARCloud::Ptr  cloud,
string  frame,
int  color,
int  id,
double  rad 
)

Definition at line 116 of file FindMarkerBundles.cpp.

void drawArrow ( gm::Point  start,
tf::Matrix3x3  mat,
string  frame,
int  color,
int  id 
)

Definition at line 164 of file FindMarkerBundles.cpp.

void GetMultiMarkerPoses ( IplImage *  image,
ARCloud cloud 
)

Definition at line 375 of file FindMarkerBundles.cpp.

void getPointCloudCallback ( const sensor_msgs::PointCloud2ConstPtr &  msg)

Definition at line 593 of file FindMarkerBundles.cpp.

int InferCorners ( const ARCloud cloud,
MultiMarkerBundle master,
ARCloud bund_corners 
)

Definition at line 218 of file FindMarkerBundles.cpp.

int main ( int  argc,
char *  argv[] 
)

Definition at line 769 of file FindMarkerBundles.cpp.

void makeMarkerMsgs ( int  type,
int  id,
Pose p,
sensor_msgs::ImageConstPtr  image_msg,
tf::StampedTransform CamToOutput,
visualization_msgs::Marker *  rvizMarker,
ar_track_alvar_msgs::AlvarMarker *  ar_pose_marker,
int  confidence 
)

Definition at line 504 of file FindMarkerBundles.cpp.

int makeMasterTransform ( const CvPoint3D64f &  p0,
const CvPoint3D64f &  p1,
const CvPoint3D64f &  p2,
const CvPoint3D64f &  p3,
tf::Transform retT 
)

Definition at line 678 of file FindMarkerBundles.cpp.

int PlaneFitPoseImprovement ( int  id,
const ARCloud corners_3D,
ARCloud::Ptr  selected_points,
const ARCloud cloud,
Pose p 
)

Definition at line 293 of file FindMarkerBundles.cpp.

Variable Documentation

ros::Publisher arMarkerPub_

Definition at line 89 of file FindMarkerBundles.cpp.

ar_track_alvar_msgs::AlvarMarkers arPoseMarkers_

Definition at line 92 of file FindMarkerBundles.cpp.

std::vector<int>* bundle_indices

Definition at line 102 of file FindMarkerBundles.cpp.

Pose* bundlePoses

Definition at line 98 of file FindMarkerBundles.cpp.

int* bundles_seen

Definition at line 100 of file FindMarkerBundles.cpp.

Camera* cam
std::string cam_image_topic

Definition at line 110 of file FindMarkerBundles.cpp.

std::string cam_info_topic

Definition at line 111 of file FindMarkerBundles.cpp.

Definition at line 87 of file FindMarkerBundles.cpp.

ros::Subscriber cloud_sub_

Definition at line 88 of file FindMarkerBundles.cpp.

Definition at line 86 of file FindMarkerBundles.cpp.

bool init = true
MarkerDetector<MarkerData> marker_detector
Examples:
SampleMarkerDetector.cpp, and SampleMarkerHide.cpp.

Definition at line 95 of file FindMarkerBundles.cpp.

double marker_size
Examples:
SampleMarkerHide.cpp.

Definition at line 107 of file FindMarkerBundles.cpp.

int* master_id

Definition at line 99 of file FindMarkerBundles.cpp.

bool* master_visible

Definition at line 101 of file FindMarkerBundles.cpp.

double max_new_marker_error

Definition at line 108 of file FindMarkerBundles.cpp.

double max_track_error

Definition at line 109 of file FindMarkerBundles.cpp.

int med_filt_size

Definition at line 105 of file FindMarkerBundles.cpp.

ata::MedianFilter** med_filts

Definition at line 104 of file FindMarkerBundles.cpp.

MultiMarkerBundle** multi_marker_bundles =NULL

Definition at line 96 of file FindMarkerBundles.cpp.

int n_bundles = 0

Definition at line 113 of file FindMarkerBundles.cpp.

std::string output_frame

Definition at line 112 of file FindMarkerBundles.cpp.

ros::Publisher rvizMarkerPub2_

Definition at line 91 of file FindMarkerBundles.cpp.

ros::Publisher rvizMarkerPub_

Definition at line 90 of file FindMarkerBundles.cpp.

tf::TransformBroadcaster* tf_broadcaster

Definition at line 94 of file FindMarkerBundles.cpp.

tf::TransformListener* tf_listener

Definition at line 93 of file FindMarkerBundles.cpp.



ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Jun 6 2019 19:27:24