ar_kinect.cpp File Reference

Detect markers and calculate object coordinate system. More...

#include <iostream>
#include <time.h>
#include <Eigen/Eigen>
#include <Eigen/LU>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <opencv2/core/core.hpp>
#include <image_transport/image_transport.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <math.h>
#include <cv_bridge/CvBridge.h>
#include "CoordinateFrame.h"
#include <AR/gsub.h>
#include <AR/video.h>
#include <AR/param.h>
#include "ar_kinect/ar_kinect.h"
#include "ar_kinect/object.h"

Include dependency graph for ar_kinect.cpp:

Go to the source code of this file.

Functions
pcl::PointXYZ	getPointPCLFromCV (CvPoint3D32f pcv)
	helper function to convert a opencv 3d point to pcl::PointXYZ
int	main (int argc, char **argv)

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Detailed Description

Detect markers and calculate object coordinate system.

Contains the package's main execution loop. Based on Michael Ferguson's ar_kinect.

This file is part of the RoboEarth ROS ar_bounding_box package.

It file was originally created for RoboEarth. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement no248942 RoboEarth.

Copyright (C) 2011 by Andreas Koch, University of Stuttgart

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Author:

Andreas Koch

Daniel Di Marco

Version:

1.0

Date:

2011

Definition in file ar_kinect.cpp.

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Function Documentation

pcl::PointXYZ getPointPCLFromCV

(

CvPoint3D32f

pcv

)

[inline]

helper function to convert a opencv 3d point to pcl::PointXYZ

Definition at line 67 of file ar_kinect.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 75 of file ar_kinect.cpp.