visp_tracker::Tracker Class Reference

#include <tracker.hh>

Classes
struct	reconfigureSrvStruct

Public Types
typedef vpImage< unsigned char >	image_t
typedef boost::function< bool(visp_tracker::Init::Request &, visp_tracker::Init::Response &res)>	initCallback_t
enum	State { WAITING_FOR_INITIALIZATION, TRACKING, LOST }

Public Member Functions
void	spin ()
	Tracker (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
	~Tracker ()

Protected Member Functions
void	checkInputs ()
bool	initCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void	objectPositionHintCallback (const geometry_msgs::TransformStampedConstPtr &)
void	updateKltPoints (visp_tracker::KltPointsPtr klt)
void	updateMovingEdgeSites (visp_tracker::MovingEdgeSitesPtr sites)
void	waitForImage ()

Private Member Functions
bool	exiting ()
void	spinOnce ()

Private Attributes
std::string	cameraInfoTopic_
vpCameraParameters	cameraParameters_
std::string	cameraPrefix_
image_transport::CameraSubscriber	cameraSubscriber_
image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist. More...
std::string	childFrameId_
vpHomogeneousMatrix	cMo_
bool	compensateRobotMotion_
volatile bool &	exiting_
std_msgs::Header	header_
image_t	image_
image_transport::ImageTransport	imageTransport_
sensor_msgs::CameraInfoConstPtr	info_
ros::ServiceServer	initService_
ros::Publisher	kltPointsPublisher_
vpKltOpencv	kltTracker_
unsigned	lastTrackedImage_
tf::TransformListener	listener_
boost::filesystem::path	modelPath_
vpMe	movingEdge_
ros::Publisher	movingEdgeSitesPublisher_
boost::recursive_mutex	mutex_
ros::NodeHandle &	nodeHandle_
ros::NodeHandle &	nodeHandlePrivate_
geometry_msgs::TransformStamped	objectPositionHint_
ros::Subscriber	objectPositionHintSubscriber_
unsigned	queueSize_
reconfigureSrvStruct< visp_tracker::ModelBasedSettingsEdgeConfig >::reconfigureSrv_t *	reconfigureEdgeSrv_
reconfigureSrvStruct< visp_tracker::ModelBasedSettingsKltConfig >::reconfigureSrv_t *	reconfigureKltSrv_
reconfigureSrvStruct< visp_tracker::ModelBasedSettingsConfig >::reconfigureSrv_t *	reconfigureSrv_
std::string	rectifiedImageTopic_
ros::Publisher	resultPublisher_
State	state_
tf::TransformBroadcaster	tfBroadcaster_
vpMbGenericTracker	tracker_
std::string	trackerType_
ros::Publisher	transformationPublisher_
tf::TransformBroadcaster	transformBroadcaster_
std::string	worldFrameId_

Detailed Description

Definition at line 37 of file tracker.hh.

Member Typedef Documentation

image_t

typedef vpImage<unsigned char> visp_tracker::Tracker::image_t

Definition at line 40 of file tracker.hh.

initCallback_t

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::Tracker::initCallback_t

Definition at line 44 of file tracker.hh.

Member Enumeration Documentation

State

enum visp_tracker::Tracker::State

Enumerator
WAITING_FOR_INITIALIZATION
TRACKING
LOST

Definition at line 51 of file tracker.hh.

Constructor & Destructor Documentation

Tracker()

visp_tracker::Tracker::Tracker	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	privateNh,
		volatile bool &	exiting,
		unsigned	queueSize = 5u
	)

Definition at line 288 of file libvisp_tracker/tracker.cpp.

~Tracker()

visp_tracker::Tracker::~Tracker

(

)

Definition at line 476 of file libvisp_tracker/tracker.cpp.

Member Function Documentation

checkInputs()

void visp_tracker::Tracker::checkInputs ( )

protected

Definition at line 281 of file libvisp_tracker/tracker.cpp.

exiting()

bool visp_tracker::Tracker::exiting ( )

inlineprivate

Definition at line 80 of file tracker.hh.

initCallback()

bool visp_tracker::Tracker::initCallback ( visp_tracker::Init::Request &  req, visp_tracker::Init::Response &  res  )

protected

Definition at line 39 of file libvisp_tracker/tracker.cpp.

objectPositionHintCallback()

void visp_tracker::Tracker::objectPositionHintCallback ( const geometry_msgs::TransformStampedConstPtr &  transform )

protected

Definition at line 682 of file libvisp_tracker/tracker.cpp.

spin()

void visp_tracker::Tracker::spin

(

)

Definition at line 488 of file libvisp_tracker/tracker.cpp.

spinOnce()

void visp_tracker::Tracker::spinOnce ( )

inlineprivate

Definition at line 85 of file tracker.hh.

updateKltPoints()

void visp_tracker::Tracker::updateKltPoints ( visp_tracker::KltPointsPtr  klt )

protected

Definition at line 221 of file libvisp_tracker/tracker.cpp.

updateMovingEdgeSites()

void visp_tracker::Tracker::updateMovingEdgeSites ( visp_tracker::MovingEdgeSitesPtr  sites )

protected

Definition at line 155 of file libvisp_tracker/tracker.cpp.

waitForImage()

void visp_tracker::Tracker::waitForImage ( )

protected

Definition at line 667 of file libvisp_tracker/tracker.cpp.

Member Data Documentation

cameraInfoTopic_

std::string visp_tracker::Tracker::cameraInfoTopic_

private

Definition at line 106 of file tracker.hh.

cameraParameters_

vpCameraParameters visp_tracker::Tracker::cameraParameters_

private

Definition at line 130 of file tracker.hh.

cameraPrefix_

std::string visp_tracker::Tracker::cameraPrefix_

private

Definition at line 104 of file tracker.hh.

cameraSubscriber_

image_transport::CameraSubscriber visp_tracker::Tracker::cameraSubscriber_

private

Definition at line 110 of file tracker.hh.

checkInputs_

image_proc::AdvertisementChecker visp_tracker::Tracker::checkInputs_

private

Helper used to check that subscribed topics exist.

Definition at line 136 of file tracker.hh.

childFrameId_

std::string visp_tracker::Tracker::childFrameId_

private

Definition at line 145 of file tracker.hh.

cMo_

vpHomogeneousMatrix visp_tracker::Tracker::cMo_

private

Definition at line 138 of file tracker.hh.

compensateRobotMotion_

bool visp_tracker::Tracker::compensateRobotMotion_

private

Definition at line 142 of file tracker.hh.

exiting_

volatile bool& visp_tracker::Tracker::exiting_

private

Definition at line 91 of file tracker.hh.

header_

std_msgs::Header visp_tracker::Tracker::header_

private

Definition at line 125 of file tracker.hh.

image_

image_t visp_tracker::Tracker::image_

private

Definition at line 102 of file tracker.hh.

imageTransport_

image_transport::ImageTransport visp_tracker::Tracker::imageTransport_

private

Definition at line 97 of file tracker.hh.

info_

sensor_msgs::CameraInfoConstPtr visp_tracker::Tracker::info_

private

Definition at line 126 of file tracker.hh.

initService_

ros::ServiceServer visp_tracker::Tracker::initService_

private

Definition at line 124 of file tracker.hh.

kltPointsPublisher_

ros::Publisher visp_tracker::Tracker::kltPointsPublisher_

private

Definition at line 122 of file tracker.hh.

kltTracker_

vpKltOpencv visp_tracker::Tracker::kltTracker_

private

Definition at line 128 of file tracker.hh.

lastTrackedImage_

unsigned visp_tracker::Tracker::lastTrackedImage_

private

Definition at line 133 of file tracker.hh.

listener_

tf::TransformListener visp_tracker::Tracker::listener_

private

Definition at line 140 of file tracker.hh.

modelPath_

boost::filesystem::path visp_tracker::Tracker::modelPath_

private

Definition at line 108 of file tracker.hh.

movingEdge_

vpMe visp_tracker::Tracker::movingEdge_

private

Definition at line 129 of file tracker.hh.

movingEdgeSitesPublisher_

ros::Publisher visp_tracker::Tracker::movingEdgeSitesPublisher_

private

Definition at line 121 of file tracker.hh.

mutex_

boost::recursive_mutex visp_tracker::Tracker::mutex_

private

Definition at line 112 of file tracker.hh.

nodeHandle_

ros::NodeHandle& visp_tracker::Tracker::nodeHandle_

private

Definition at line 95 of file tracker.hh.

nodeHandlePrivate_

ros::NodeHandle& visp_tracker::Tracker::nodeHandlePrivate_

private

Definition at line 96 of file tracker.hh.

objectPositionHint_

geometry_msgs::TransformStamped visp_tracker::Tracker::objectPositionHint_

private

Definition at line 148 of file tracker.hh.

objectPositionHintSubscriber_

ros::Subscriber visp_tracker::Tracker::objectPositionHintSubscriber_

private

Definition at line 147 of file tracker.hh.

queueSize_

unsigned visp_tracker::Tracker::queueSize_

private

Definition at line 93 of file tracker.hh.

reconfigureEdgeSrv_

reconfigureSrvStruct<visp_tracker::ModelBasedSettingsEdgeConfig>::reconfigureSrv_t* visp_tracker::Tracker::reconfigureEdgeSrv_

private

Definition at line 116 of file tracker.hh.

reconfigureKltSrv_

reconfigureSrvStruct<visp_tracker::ModelBasedSettingsKltConfig>::reconfigureSrv_t* visp_tracker::Tracker::reconfigureKltSrv_

private

Definition at line 115 of file tracker.hh.

reconfigureSrv_

reconfigureSrvStruct<visp_tracker::ModelBasedSettingsConfig>::reconfigureSrv_t* visp_tracker::Tracker::reconfigureSrv_

private

Definition at line 114 of file tracker.hh.

rectifiedImageTopic_

std::string visp_tracker::Tracker::rectifiedImageTopic_

private

Definition at line 105 of file tracker.hh.

resultPublisher_

ros::Publisher visp_tracker::Tracker::resultPublisher_

private

Definition at line 118 of file tracker.hh.

state_

State visp_tracker::Tracker::state_

private

Definition at line 99 of file tracker.hh.

tfBroadcaster_

tf::TransformBroadcaster visp_tracker::Tracker::tfBroadcaster_

private

Definition at line 120 of file tracker.hh.

tracker_

vpMbGenericTracker visp_tracker::Tracker::tracker_

private

Definition at line 131 of file tracker.hh.

trackerType_

std::string visp_tracker::Tracker::trackerType_

private

Definition at line 100 of file tracker.hh.

transformationPublisher_

ros::Publisher visp_tracker::Tracker::transformationPublisher_

private

Definition at line 119 of file tracker.hh.

transformBroadcaster_

tf::TransformBroadcaster visp_tracker::Tracker::transformBroadcaster_

private

Definition at line 144 of file tracker.hh.

worldFrameId_

std::string visp_tracker::Tracker::worldFrameId_

private

Definition at line 141 of file tracker.hh.

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

• tracker.hh
• libvisp_tracker/tracker.cpp