Namespace to define helper functions. More...

Functions
void	computeOdometry (nav_msgs::Odometry &odom, const geometry_msgs::Pose &current_pose, const geometry_msgs::Pose &last_pose, const geometry_msgs::Pose &first_pose, float dt)
	Compute the odometry between the last two poses. More...

void	define_augmented_cloud (outsight_alb_driver::AugmentedCloud &message, const Tlv::tlv_s *frame)
	Define the AugmentedCloud message. More...

void	define_box_pose (outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *bBoxPoses, size_t objectIndex)
	Define the bounding box pose for the tracked object. More...

void	define_box_size (outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *bBoxSizes, size_t objectIndex)
	Define the bounding box size for the tracked object. More...

void	define_object_speed (outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *objectSpeeds, size_t objectIndex)
	Define the tracked object speed. More...

void	define_point_fields (sensor_msgs::PointCloud2 &pointCloud)
	Define the point fields for the ALB PointCloud2 message. More...

void	define_points_data (sensor_msgs::PointCloud2 &pointCloud, const uint32_t layers, const uint32_t points, float *pointData, bool use_colwise_order)
	Define the PointCloud2 point data from raw points coming from the ALB. More...

void	define_pose (geometry_msgs::Pose &pose, const std::array< float, 3 > &position, const std::array< float, 9 > &rotation)
	Define a ROS Pose message from ALB position and rotation. More...

bool	get_egomotion_from_tlv (const Tlv::tlv_s *frame, geometry_msgs::PoseStamped &pose)
	Get a ROS egomotion pose from the TLV data. More...

std::string	get_object_class (uint32_t classId)
	Get the string class of the tracked object from the ALB. More...

bool	get_pose_from_tlv (const Tlv::tlv_s *frame, geometry_msgs::PoseStamped &pose)
	Get a ROS pose from the TLV data. More...

void	init_pose (geometry_msgs::Pose &pose)
	Initialize a ROS Pose message. More...

void	parse_zone_data (const std::string &raw_zones, outsight_alb_driver::Zones &zones_msg)
	Parse the zone data in the raw string and set them in the Zones msg. More...

Detailed Description

Namespace to define helper functions.

Function Documentation

◆ computeOdometry()

void Helper::computeOdometry	(	nav_msgs::Odometry &	odom,
		const geometry_msgs::Pose &	current_pose,
		const geometry_msgs::Pose &	last_pose,
		const geometry_msgs::Pose &	first_pose,
		float	dt
	)

Compute the odometry between the last two poses.

Definition at line 226 of file alb_helper.cpp.

◆ define_augmented_cloud()

void Helper::define_augmented_cloud	(	outsight_alb_driver::AugmentedCloud &	message,
		const Tlv::tlv_s *	frame
	)

Define the AugmentedCloud message.

Definition at line 325 of file alb_helper.cpp.

◆ define_box_pose()

void Helper::define_box_pose	(	outsight_alb_driver::ObjectData &	tracked,
		const Tlv::tlv_s *	bBoxPoses,
		size_t	objectIndex
	)

Define the bounding box pose for the tracked object.

Definition at line 309 of file alb_helper.cpp.

◆ define_box_size()

void Helper::define_box_size	(	outsight_alb_driver::ObjectData &	tracked,
		const Tlv::tlv_s *	bBoxSizes,
		size_t	objectIndex
	)

Define the bounding box size for the tracked object.

Definition at line 300 of file alb_helper.cpp.

◆ define_object_speed()

void Helper::define_object_speed	(	outsight_alb_driver::ObjectData &	tracked,
		const Tlv::tlv_s *	objectSpeeds,
		size_t	objectIndex
	)

Define the tracked object speed.

Definition at line 316 of file alb_helper.cpp.

◆ define_point_fields()

void Helper::define_point_fields ( sensor_msgs::PointCloud2 & pointCloud )

Define the point fields for the ALB PointCloud2 message.

Definition at line 27 of file alb_helper.cpp.

◆ define_points_data()

void Helper::define_points_data	(	sensor_msgs::PointCloud2 &	pointCloud,
		const uint32_t	layers,
		const uint32_t	points,
		float *	pointData,
		bool	use_colwise_order
	)

Define the PointCloud2 point data from raw points coming from the ALB.

Definition at line 52 of file alb_helper.cpp.

◆ define_pose()

void Helper::define_pose	(	geometry_msgs::Pose &	pose,
		const std::array< float, 3 > &	position,
		const std::array< float, 9 > &	rotation
	)

Define a ROS Pose message from ALB position and rotation.

Definition at line 88 of file alb_helper.cpp.

◆ get_egomotion_from_tlv()

bool Helper::get_egomotion_from_tlv	(	const Tlv::tlv_s *	frame,
		geometry_msgs::PoseStamped &	pose
	)

Get a ROS egomotion pose from the TLV data.

Returns

True if Pose is defined.
False on error.

Definition at line 195 of file alb_helper.cpp.

◆ get_object_class()

std::string Helper::get_object_class ( uint32_t classId )

Get the string class of the tracked object from the ALB.

Definition at line 289 of file alb_helper.cpp.

◆ get_pose_from_tlv()

bool Helper::get_pose_from_tlv	(	const Tlv::tlv_s *	frame,
		geometry_msgs::PoseStamped &	pose
	)

Get a ROS pose from the TLV data.

Returns

True if Pose is defined.
False on error.

Definition at line 171 of file alb_helper.cpp.

◆ init_pose()

void Helper::init_pose ( geometry_msgs::Pose & pose )

Initialize a ROS Pose message.

Definition at line 135 of file alb_helper.cpp.

◆ parse_zone_data()

void Helper::parse_zone_data	(	const std::string &	raw_zones,
		outsight_alb_driver::Zones &	zones_msg
	)

Parse the zone data in the raw string and set them in the Zones msg.

Definition at line 146 of file alb_helper.cpp.

Functions