Internally used within LED finder to track each of several LEDs. More...

Public Member Functions
	CloudDifferenceTracker (std::string frame, double x, double y, double z)

sensor_msgs::Image	getImage ()

bool	getRefinedCentroid (const sensor_msgs::PointCloud2 &cloud, geometry_msgs::PointStamped &centroid)

bool	isFound (const sensor_msgs::PointCloud2 &cloud, double threshold)

bool	process (sensor_msgs::PointCloud2 &cloud, sensor_msgs::PointCloud2 &prev, geometry_msgs::Point &led_point, double max_distance, double weight)
	Update the tracker based on new cloud compared to previous. More...

void	reset (size_t height, size_t width)

Public Attributes
int	count_

std::vector< double >	diff_

std::string	frame_

size_t	height_

double	max_

int	max_idx_

geometry_msgs::Point	point_

size_t	width_

Detailed Description

Internally used within LED finder to track each of several LEDs.

Definition at line 42 of file led_finder.h.

Constructor & Destructor Documentation

◆ CloudDifferenceTracker()

robot_calibration::LedFinder::CloudDifferenceTracker::CloudDifferenceTracker	(	std::string	frame,
		double	x,
		double	y,
		double	z
	)

Definition at line 348 of file led_finder.cpp.

Member Function Documentation

◆ getImage()

sensor_msgs::Image robot_calibration::LedFinder::CloudDifferenceTracker::getImage ( )

Definition at line 544 of file led_finder.cpp.

◆ getRefinedCentroid()

bool robot_calibration::LedFinder::CloudDifferenceTracker::getRefinedCentroid	(	const sensor_msgs::PointCloud2 &	cloud,
		geometry_msgs::PointStamped &	centroid
	)

Definition at line 480 of file led_finder.cpp.

◆ isFound()

bool robot_calibration::LedFinder::CloudDifferenceTracker::isFound	(	const sensor_msgs::PointCloud2 &	cloud,
		double	threshold
	)

Definition at line 455 of file led_finder.cpp.

◆ process()

bool robot_calibration::LedFinder::CloudDifferenceTracker::process	(	sensor_msgs::PointCloud2 &	cloud,
		sensor_msgs::PointCloud2 &	prev,
		geometry_msgs::Point &	led_point,
		double	max_distance,
		double	weight
	)

Update the tracker based on new cloud compared to previous.

Parameters

cloud	The newest cloud
prev	The previous cloud
led_point	The expected pose of this led in cloud frame
max_distance	The maximum distance from expected led pose that we should consider changes.
weight	Whether the change between frames should increase or decrease the LED point values. Should be +/- 1 typically.

Definition at line 379 of file led_finder.cpp.

◆ reset()

void robot_calibration::LedFinder::CloudDifferenceTracker::reset	(	size_t	height,
		size_t	width
	)

Definition at line 357 of file led_finder.cpp.

Member Data Documentation

◆ count_

int robot_calibration::LedFinder::CloudDifferenceTracker::count_

Definition at line 80 of file led_finder.h.

◆ diff_

std::vector<double> robot_calibration::LedFinder::CloudDifferenceTracker::diff_

Definition at line 77 of file led_finder.h.

◆ frame_

std::string robot_calibration::LedFinder::CloudDifferenceTracker::frame_

Definition at line 82 of file led_finder.h.

◆ height_

size_t robot_calibration::LedFinder::CloudDifferenceTracker::height_

Definition at line 81 of file led_finder.h.

◆ max_

double robot_calibration::LedFinder::CloudDifferenceTracker::max_

Definition at line 78 of file led_finder.h.

◆ max_idx_

int robot_calibration::LedFinder::CloudDifferenceTracker::max_idx_

Definition at line 79 of file led_finder.h.

◆ point_

geometry_msgs::Point robot_calibration::LedFinder::CloudDifferenceTracker::point_

Definition at line 83 of file led_finder.h.

◆ width_

size_t robot_calibration::LedFinder::CloudDifferenceTracker::width_