Monitors the tracking result provided by the tracking node. More...

#include <tracker-viewer.hh>

Public Types
typedef vpImage< unsigned char >	image_t
	ViSP image type. More...

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

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

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites, visp_tracker::KltPoints >	syncPolicy_t
	Synchronization policy. More...

Public Member Functions
void	spin ()
	Display camera image, tracked object position and moving edge sites. More...

	TrackerViewer (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
	Constructor. More...

Protected Member Functions
void	callback (const sensor_msgs::ImageConstPtr &imageConst, const sensor_msgs::CameraInfoConstPtr &infoConst, const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &trackingResult, const visp_tracker::MovingEdgeSites::ConstPtr &sitesConst, const visp_tracker::KltPoints::ConstPtr &kltConst)
	Callback used to received synchronized data. More...

void	checkInputs ()
	Make sure the topics we subscribe already exist. More...

void	displayKltPoints ()
	Display KLT points that are tracked. More...

void	displayMovingEdgeSites ()
	Display moving edge sites. More...

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

void	initializeTracker ()
	Initialize the tracker. More...

void	loadCommonParameters ()
	Initialize the common parameters (visibility angles, etc) More...

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

void	timerCallback ()

void	waitForImage ()
	Hang until the first image is received. More...

Private Member Functions
bool	exiting ()

Private Attributes
vpCameraParameters	cameraParameters_
	ViSP camera parameters. More...

image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist. More...

boost::optional< vpHomogeneousMatrix >	cMo_
	Last tracked object position, set to none if tracking failed. More...

volatile bool &	exiting_

double	frameSize_

image_t	image_
	ViSP image. More...

image_transport::ImageTransport	imageTransport_
	Image transport used to receive images. More...

sensor_msgs::CameraInfoConstPtr	info_
	Shared pointer to latest received camera information. More...

ros::ServiceServer	initService_
	Service called when user ends tracker_client node. More...

visp_tracker::KltPoints::ConstPtr	klt_
	Shared pointer to latest received KLT point positions. More...

boost::filesystem::path	modelPath_
	Model path. More...

ros::NodeHandle &	nodeHandle_

ros::NodeHandle &	nodeHandlePrivate_

unsigned	queueSize_
	Queue size for all subscribers. More...

ros::ServiceServer	reconfigureService_
	Service called when user is reconfiguring tracker node. More...

visp_tracker::MovingEdgeSites::ConstPtr	sites_
	Shared pointer to latest received moving edge sites. More...

vpMbGenericTracker	tracker_
	ViSP edge tracker. More...

std::string	trackerName_
	Name of the tracker used in this viewer node. More...

Topics and services strings.
std::string	rectifiedImageTopic_
	Full topic name for rectified image. More...

std::string	cameraInfoTopic_
	Full topic name for camera information. More...

Subscribers and synchronizer.
Subscriber to image topic.
image_transport::SubscriberFilter	imageSubscriber_

message_filters::Subscriber< sensor_msgs::CameraInfo >	cameraInfoSubscriber_
	Subscriber to camera information topic. More...

message_filters::Subscriber< geometry_msgs::PoseWithCovarianceStamped >	trackingResultSubscriber_
	Subscriber to tracking result topic. More...

message_filters::Subscriber< visp_tracker::MovingEdgeSites >	movingEdgeSitesSubscriber_
	Subscriber to moving edge sites topics. More...

message_filters::Subscriber< visp_tracker::KltPoints >	kltPointsSubscriber_
	Subscriber to KLT point topics. More...

message_filters::Synchronizer< syncPolicy_t >	synchronizer_
	Synchronizer with approximate time policy. More...

Synchronization check
}
ros::WallTimer	timer_

unsigned	countAll_

unsigned	countImages_

unsigned	countCameraInfo_

unsigned	countTrackingResult_

unsigned	countMovingEdgeSites_

unsigned	countKltPoints_

Detailed Description

Monitors the tracking result provided by the tracking node.

Definition at line 31 of file tracker-viewer.hh.

Member Typedef Documentation

◆ image_t

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

ViSP image type.

Definition at line 35 of file tracker-viewer.hh.

◆ initCallback_t

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

Definition at line 40 of file tracker-viewer.hh.

◆ reconfigureCallback_t

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

Definition at line 44 of file tracker-viewer.hh.

◆ syncPolicy_t

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites, visp_tracker::KltPoints > visp_tracker::TrackerViewer::syncPolicy_t

Synchronization policy.

This is used to make sure that the image, the object position and the moving edge sites are synchronized. This may not be the case as these informations are published on different topics. The approximate time allows light differences in timestamps which are not critical as this is only a viewer.

Definition at line 58 of file tracker-viewer.hh.

Constructor & Destructor Documentation

◆ TrackerViewer()

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

Constructor.

Definition at line 71 of file tracker-viewer.cpp.

Member Function Documentation

◆ callback()

void visp_tracker::TrackerViewer::callback	(	const sensor_msgs::ImageConstPtr &	imageConst,
		const sensor_msgs::CameraInfoConstPtr &	infoConst,
		const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &	trackingResult,
		const visp_tracker::MovingEdgeSites::ConstPtr &	sitesConst,
		const visp_tracker::KltPoints::ConstPtr &	kltConst
	)

protected

Callback used to received synchronized data.

Definition at line 403 of file tracker-viewer.cpp.

◆ checkInputs()

void visp_tracker::TrackerViewer::checkInputs ( )

protected

Make sure the topics we subscribe already exist.

Definition at line 319 of file tracker-viewer.cpp.

◆ displayKltPoints()

void visp_tracker::TrackerViewer::displayKltPoints ( )

protected

Display KLT points that are tracked.

Definition at line 465 of file tracker-viewer.cpp.

◆ displayMovingEdgeSites()

void visp_tracker::TrackerViewer::displayMovingEdgeSites ( )

protected

Display moving edge sites.

Definition at line 430 of file tracker-viewer.cpp.

◆ exiting()

bool visp_tracker::TrackerViewer::exiting ( )

inlineprivate

Definition at line 105 of file tracker-viewer.hh.

◆ initCallback()

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

protected

Definition at line 38 of file tracker-viewer.cpp.

◆ initializeTracker()

void visp_tracker::TrackerViewer::initializeTracker ( )

protected

Initialize the tracker.

Definition at line 385 of file tracker-viewer.cpp.

◆ loadCommonParameters()

void visp_tracker::TrackerViewer::loadCommonParameters ( )

protected

Initialize the common parameters (visibility angles, etc)

Definition at line 331 of file tracker-viewer.cpp.

◆ reconfigureCallback()

bool visp_tracker::TrackerViewer::reconfigureCallback	(	visp_tracker::Init::Request &	req,
		visp_tracker::Init::Response &	res
	)

protected

Definition at line 60 of file tracker-viewer.cpp.

◆ spin()

void visp_tracker::TrackerViewer::spin ( )

Display camera image, tracked object position and moving edge sites.

Definition at line 246 of file tracker-viewer.cpp.

◆ timerCallback()

void visp_tracker::TrackerViewer::timerCallback ( )

protected

Definition at line 489 of file tracker-viewer.cpp.

◆ waitForImage()

void visp_tracker::TrackerViewer::waitForImage ( )

protected

Hang until the first image is received.

Definition at line 306 of file tracker-viewer.cpp.

Member Data Documentation

◆ cameraInfoSubscriber_

message_filters::Subscriber<sensor_msgs::CameraInfo> visp_tracker::TrackerViewer::cameraInfoSubscriber_

private

Subscriber to camera information topic.

Definition at line 169 of file tracker-viewer.hh.

◆ cameraInfoTopic_

std::string visp_tracker::TrackerViewer::cameraInfoTopic_

private

Full topic name for camera information.

Definition at line 129 of file tracker-viewer.hh.

◆ cameraParameters_

vpCameraParameters visp_tracker::TrackerViewer::cameraParameters_

private

ViSP camera parameters.

Definition at line 151 of file tracker-viewer.hh.

◆ checkInputs_

image_proc::AdvertisementChecker visp_tracker::TrackerViewer::checkInputs_

private

Helper used to check that subscribed topics exist.

Definition at line 146 of file tracker-viewer.hh.

◆ cMo_

boost::optional<vpHomogeneousMatrix> visp_tracker::TrackerViewer::cMo_

private

Last tracked object position, set to none if tracking failed.

Definition at line 158 of file tracker-viewer.hh.

◆ countAll_

unsigned visp_tracker::TrackerViewer::countAll_

private

Definition at line 187 of file tracker-viewer.hh.

◆ countCameraInfo_

unsigned visp_tracker::TrackerViewer::countCameraInfo_

private

Definition at line 189 of file tracker-viewer.hh.

◆ countImages_

unsigned visp_tracker::TrackerViewer::countImages_

private

Definition at line 188 of file tracker-viewer.hh.

◆ countKltPoints_

unsigned visp_tracker::TrackerViewer::countKltPoints_

private

Definition at line 192 of file tracker-viewer.hh.

◆ countMovingEdgeSites_

unsigned visp_tracker::TrackerViewer::countMovingEdgeSites_

private

Definition at line 191 of file tracker-viewer.hh.

◆ countTrackingResult_

unsigned visp_tracker::TrackerViewer::countTrackingResult_

private

Definition at line 190 of file tracker-viewer.hh.

◆ exiting_

volatile bool& visp_tracker::TrackerViewer::exiting_

private

Definition at line 110 of file tracker-viewer.hh.

◆ frameSize_

double visp_tracker::TrackerViewer::frameSize_

private

Definition at line 121 of file tracker-viewer.hh.

◆ image_

image_t visp_tracker::TrackerViewer::image_

private

ViSP image.

Definition at line 153 of file tracker-viewer.hh.

◆ imageSubscriber_

image_transport::SubscriberFilter visp_tracker::TrackerViewer::imageSubscriber_

private

Definition at line 167 of file tracker-viewer.hh.

◆ imageTransport_

image_transport::ImageTransport visp_tracker::TrackerViewer::imageTransport_

private

Image transport used to receive images.

Definition at line 119 of file tracker-viewer.hh.

◆ info_

sensor_msgs::CameraInfoConstPtr visp_tracker::TrackerViewer::info_

private

Shared pointer to latest received camera information.

Definition at line 156 of file tracker-viewer.hh.

◆ initService_

ros::ServiceServer visp_tracker::TrackerViewer::initService_

private

Service called when user ends tracker_client node.

Definition at line 134 of file tracker-viewer.hh.

◆ klt_

visp_tracker::KltPoints::ConstPtr visp_tracker::TrackerViewer::klt_

private

Shared pointer to latest received KLT point positions.

Definition at line 162 of file tracker-viewer.hh.

◆ kltPointsSubscriber_

message_filters::Subscriber<visp_tracker::KltPoints> visp_tracker::TrackerViewer::kltPointsSubscriber_

private

Subscriber to KLT point topics.

Definition at line 178 of file tracker-viewer.hh.

◆ modelPath_

boost::filesystem::path visp_tracker::TrackerViewer::modelPath_

private

Model path.

Definition at line 143 of file tracker-viewer.hh.

◆ movingEdgeSitesSubscriber_

message_filters::Subscriber<visp_tracker::MovingEdgeSites> visp_tracker::TrackerViewer::movingEdgeSitesSubscriber_

private

Subscriber to moving edge sites topics.

Definition at line 175 of file tracker-viewer.hh.

◆ nodeHandle_

ros::NodeHandle& visp_tracker::TrackerViewer::nodeHandle_

private

Definition at line 115 of file tracker-viewer.hh.

◆ nodeHandlePrivate_

ros::NodeHandle& visp_tracker::TrackerViewer::nodeHandlePrivate_

private

Definition at line 116 of file tracker-viewer.hh.

◆ queueSize_

unsigned visp_tracker::TrackerViewer::queueSize_

private

Queue size for all subscribers.

Definition at line 113 of file tracker-viewer.hh.

◆ reconfigureService_

ros::ServiceServer visp_tracker::TrackerViewer::reconfigureService_

private

Service called when user is reconfiguring tracker node.

Definition at line 137 of file tracker-viewer.hh.

◆ rectifiedImageTopic_

std::string visp_tracker::TrackerViewer::rectifiedImageTopic_

private

Full topic name for rectified image.

Definition at line 127 of file tracker-viewer.hh.

◆ sites_

visp_tracker::MovingEdgeSites::ConstPtr visp_tracker::TrackerViewer::sites_

private

Shared pointer to latest received moving edge sites.

Definition at line 160 of file tracker-viewer.hh.

◆ synchronizer_

message_filters::Synchronizer<syncPolicy_t> visp_tracker::TrackerViewer::synchronizer_

private

Synchronizer with approximate time policy.

Definition at line 181 of file tracker-viewer.hh.

◆ timer_

ros::WallTimer visp_tracker::TrackerViewer::timer_

private

Definition at line 186 of file tracker-viewer.hh.

◆ tracker_

vpMbGenericTracker visp_tracker::TrackerViewer::tracker_

private

ViSP edge tracker.

Definition at line 149 of file tracker-viewer.hh.

◆ trackerName_

std::string visp_tracker::TrackerViewer::trackerName_

private

Name of the tracker used in this viewer node.

Definition at line 140 of file tracker-viewer.hh.

◆ trackingResultSubscriber_

message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped> visp_tracker::TrackerViewer::trackingResultSubscriber_

private

Subscriber to tracking result topic.

Definition at line 172 of file tracker-viewer.hh.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ image_t

◆ initCallback_t

◆ reconfigureCallback_t

◆ syncPolicy_t

Constructor & Destructor Documentation

◆ TrackerViewer()

Member Function Documentation

◆ callback()

◆ checkInputs()

◆ displayKltPoints()

◆ displayMovingEdgeSites()

◆ exiting()

◆ initCallback()

◆ initializeTracker()

◆ loadCommonParameters()

◆ reconfigureCallback()

◆ spin()

◆ timerCallback()

◆ waitForImage()

Member Data Documentation

◆ cameraInfoSubscriber_

◆ cameraInfoTopic_

◆ cameraParameters_

◆ checkInputs_

◆ cMo_

◆ countAll_

◆ countCameraInfo_

◆ countImages_

◆ countKltPoints_

◆ countMovingEdgeSites_

◆ countTrackingResult_

◆ exiting_

◆ frameSize_

◆ image_

◆ imageSubscriber_

◆ imageTransport_

◆ info_

◆ initService_

◆ klt_

◆ kltPointsSubscriber_

◆ modelPath_

◆ movingEdgeSitesSubscriber_

◆ nodeHandle_

◆ nodeHandlePrivate_

◆ queueSize_

◆ reconfigureService_

◆ rectifiedImageTopic_

◆ sites_

◆ synchronizer_

◆ timer_

◆ tracker_

◆ trackerName_

◆ trackingResultSubscriber_