#include <ar_kinect.h>
Public Member Functions | |
| ARPublisher (ros::NodeHandle &n) | |
| ~ARPublisher (void) | |
Private Types | |
| typedef boost::multi_array < CoordinateFrame *, 3 > | transform_type |
Private Member Functions | |
| void | arInit () |
| Loads the patterns & initializes the lookup tables. | |
| void | camInfoCallback (const sensor_msgs::CameraInfoConstPtr &) |
| Camera parameters callback. | |
| void | cloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg) |
| void | extractObject (const sensor_msgs::PointCloud2ConstPtr &msg) |
Private Attributes | |
| ros::Publisher | arMarkerPub_ |
| ar_pose::ARMarkers | arPoseMarkers_ |
| ros::Publisher | bb_pcl |
| publisher for the bounding box (for debugging) | |
| double | boundingbox_size |
| size of the bounding box to crop | |
| sensor_msgs::CvBridge | bridge_ |
| tf::TransformBroadcaster | broadcaster_ |
| sensor_msgs::CameraInfo | cam_info_ |
| ARParam | cam_param_ |
| Camera Calibration Parameters. | |
| image_transport::Subscriber | cam_sub_ |
| IplImage * | capture_ |
| PointCloud | cloud_ |
| ros::Subscriber | cloud_sub_ |
| int | cloud_width_ |
| ARMultiMarkerInfoT * | config |
| AR Marker Info. | |
| char | data_directory_ [FILENAME_MAX] |
| cv::Mat1f | distances |
| lookup table for distances between marker positions (for plausability checks) | |
| bool | getCamInfo_ |
| bool | gotcloud_ |
| image_transport::ImageTransport | it_ |
| ros::Publisher | kinect_pclPub_ |
| double | marker_dist_threshold |
| threshold for marker position accuracy | |
| ros::NodeHandle | n_ |
| ar_object::ObjectData_T * | object |
| int | objectnum |
| char | pattern_filename_ [FILENAME_MAX] |
| bool | publishTf_ |
| bool | publishVisualMarkers_ |
| ros::Publisher | result_pcl |
| publisher for the cropped point cloud | |
| visualization_msgs::Marker | rvizMarker_ |
| ros::Publisher | rvizMarkerPub_ |
| message_filters::Subscriber < sensor_msgs::PointCloud2 > | sub |
| ros::Subscriber | sub_ |
| CvSize | sz_ |
| camera image size | |
| tf::TransformListener | tf_ |
| int | threshold_ |
| transform_type | transformations |
| Lookup table for getting the object coordinate system from 3 marker positions. | |
Definition at line 82 of file ar_kinect.h.
typedef boost::multi_array<CoordinateFrame*, 3> ARPublisher::transform_type [private] |
Definition at line 158 of file ar_kinect.h.
Definition at line 128 of file ar_kinect.cpp.
| ARPublisher::~ARPublisher | ( | void | ) |
Definition at line 185 of file ar_kinect.cpp.
| void ARPublisher::arInit | ( | ) | [private] |
Loads the patterns & initializes the lookup tables.
Definition at line 226 of file ar_kinect.cpp.
| void ARPublisher::camInfoCallback | ( | const sensor_msgs::CameraInfoConstPtr & | cam_info | ) | [private] |
Camera parameters callback.
Definition at line 191 of file ar_kinect.cpp.
| void ARPublisher::cloudCallback | ( | const sensor_msgs::PointCloud2ConstPtr & | msg | ) | [private] |
Callback for the point cloud from the Kinect. Estimates the marker's positions and calculates the object coordinate system.
Definition at line 269 of file ar_kinect.cpp.
| void ARPublisher::extractObject | ( | const sensor_msgs::PointCloud2ConstPtr & | msg | ) | [private] |
Crops the sensor's point cloud at the bounding box around the object coordinate system and publishes it.
Definition at line 109 of file ar_kinect_extractobject.cpp.
ros::Publisher ARPublisher::arMarkerPub_ [private] |
Definition at line 109 of file ar_kinect.h.
ar_pose::ARMarkers ARPublisher::arPoseMarkers_ [private] |
Definition at line 133 of file ar_kinect.h.
ros::Publisher ARPublisher::bb_pcl [private] |
publisher for the bounding box (for debugging)
Definition at line 156 of file ar_kinect.h.
double ARPublisher::boundingbox_size [private] |
size of the bounding box to crop
Definition at line 146 of file ar_kinect.h.
sensor_msgs::CvBridge ARPublisher::bridge_ [private] |
Definition at line 115 of file ar_kinect.h.
Definition at line 105 of file ar_kinect.h.
sensor_msgs::CameraInfo ARPublisher::cam_info_ [private] |
Definition at line 116 of file ar_kinect.h.
ARParam ARPublisher::cam_param_ [private] |
Camera Calibration Parameters.
Definition at line 125 of file ar_kinect.h.
Definition at line 107 of file ar_kinect.h.
IplImage* ARPublisher::capture_ [private] |
Definition at line 140 of file ar_kinect.h.
PointCloud ARPublisher::cloud_ [private] |
Definition at line 117 of file ar_kinect.h.
ros::Subscriber ARPublisher::cloud_sub_ [private] |
Definition at line 108 of file ar_kinect.h.
int ARPublisher::cloud_width_ [private] |
Definition at line 142 of file ar_kinect.h.
ARMultiMarkerInfoT* ARPublisher::config [private] |
AR Marker Info.
Definition at line 127 of file ar_kinect.h.
char ARPublisher::data_directory_[FILENAME_MAX] [private] |
Definition at line 131 of file ar_kinect.h.
cv::Mat1f ARPublisher::distances [private] |
lookup table for distances between marker positions (for plausability checks)
Definition at line 144 of file ar_kinect.h.
bool ARPublisher::getCamInfo_ [private] |
Definition at line 135 of file ar_kinect.h.
bool ARPublisher::gotcloud_ [private] |
Definition at line 141 of file ar_kinect.h.
Definition at line 114 of file ar_kinect.h.
ros::Publisher ARPublisher::kinect_pclPub_ [private] |
Definition at line 111 of file ar_kinect.h.
double ARPublisher::marker_dist_threshold [private] |
threshold for marker position accuracy
Definition at line 148 of file ar_kinect.h.
ros::NodeHandle ARPublisher::n_ [private] |
Definition at line 104 of file ar_kinect.h.
ar_object::ObjectData_T* ARPublisher::object [private] |
Definition at line 128 of file ar_kinect.h.
int ARPublisher::objectnum [private] |
Definition at line 129 of file ar_kinect.h.
char ARPublisher::pattern_filename_[FILENAME_MAX] [private] |
Definition at line 130 of file ar_kinect.h.
bool ARPublisher::publishTf_ [private] |
Definition at line 136 of file ar_kinect.h.
bool ARPublisher::publishVisualMarkers_ [private] |
Definition at line 137 of file ar_kinect.h.
ros::Publisher ARPublisher::result_pcl [private] |
publisher for the cropped point cloud
Definition at line 154 of file ar_kinect.h.
visualization_msgs::Marker ARPublisher::rvizMarker_ [private] |
Definition at line 121 of file ar_kinect.h.
ros::Publisher ARPublisher::rvizMarkerPub_ [private] |
Definition at line 120 of file ar_kinect.h.
message_filters::Subscriber<sensor_msgs::PointCloud2> ARPublisher::sub [private] |
Definition at line 150 of file ar_kinect.h.
ros::Subscriber ARPublisher::sub_ [private] |
Definition at line 106 of file ar_kinect.h.
CvSize ARPublisher::sz_ [private] |
camera image size
Definition at line 139 of file ar_kinect.h.
tf::TransformListener ARPublisher::tf_ [private] |
Definition at line 151 of file ar_kinect.h.
int ARPublisher::threshold_ [private] |
Definition at line 134 of file ar_kinect.h.
transform_type ARPublisher::transformations [private] |
Lookup table for getting the object coordinate system from 3 marker positions.
Definition at line 160 of file ar_kinect.h.