#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:

Macros
#define	GHOST_MARKER 3

#define	MAIN_MARKER 1

#define	VISIBLE_MARKER 2

Typedefs
typedef pcl::PointCloud< ARPoint >	ARCloud

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

Pose *	bundlePoses

int *	bundles_seen

Camera *	cam

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< MarkerData >	marker_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::TransformBroadcaster *	tf_broadcaster

tf::TransformListener *	tf_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

typedef pcl::PointCloud<ARPoint> ARCloud

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
	)