Defines | Typedefs | Functions | Variables
FindMarkerBundles.cpp File Reference
#include "CvTestbed.h"
#include "MarkerDetector.h"
#include "MultiMarkerBundle.h"
#include "MultiMarkerInitializer.h"
#include "Shared.h"
#include <cv_bridge/CvBridge.h>
#include <ar_track_alvar/AlvarMarker.h>
#include <ar_track_alvar/AlvarMarkers.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/registration.h>
#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/filters/extract_indices.h>
#include <boost/lexical_cast.hpp>
#include <LinearMath/btMatrix3x3.h>
#include <Eigen/Core>
#include <ar_track_alvar/kinect_filtering.h>
#include <ar_track_alvar/medianFilter.h>
Include dependency graph for FindMarkerBundles.cpp:

Go to the source code of this file.

Defines

#define GHOST_MARKER   3
#define MAIN_MARKER   1
#define VISIBLE_MARKER   2

Typedefs

typedef pcl::PointCloud< ARPointARCloud
typedef pcl::PointXYZRGB ARPoint

Functions

int calcAndSaveMasterCoords (MultiMarkerBundle &master)
void draw3dPoints (ARCloud::Ptr cloud, string frame, int color, int id, double rad)
void drawArrow (gm::Point start, btMatrix3x3 mat, string frame, int color, int id)
void GetMultiMarkerPoses (IplImage *image, ARCloud &cloud)
void getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
int InferCorners (const ARCloud &cloud, MultiMarkerBundle &master, ARCloud &bund_corners)
int main (int argc, char *argv[])
void makeMarkerMsgs (int type, int id, Pose &p, sensor_msgs::ImageConstPtr image_msg, tf::StampedTransform &CamToOutput, visualization_msgs::Marker *rvizMarker, ar_track_alvar::AlvarMarker *ar_pose_marker, int confidence)
int makeMasterTransform (const CvPoint3D64f &p0, const CvPoint3D64f &p1, const CvPoint3D64f &p2, const CvPoint3D64f &p3, btTransform &retT)
int PlaneFitPoseImprovement (int id, const ARCloud &corners_3D, ARCloud::Ptr selected_points, const ARCloud &cloud, Pose &p)

Variables

ros::Publisher arMarkerPub_
ar_track_alvar::AlvarMarkers arPoseMarkers_
sensor_msgs::CvBridge bridge_
std::vector< int > * bundle_indices
PosebundlePoses
int * bundles_seen
Cameracam
std::string cam_image_topic
std::string cam_info_topic
image_transport::Subscriber cam_sub_
IplImage * capture_
ros::Subscriber cloud_sub_
bool init = true
MarkerDetector< MarkerDatamarker_detector
double marker_size
int * master_id
bool * master_visible
double max_new_marker_error
double max_track_error
int med_filt_size
ata::MedianFilter ** med_filts
MultiMarkerBundle ** multi_marker_bundles = NULL
int n_bundles = 0
std::string output_frame
ros::Publisher rvizMarkerPub2_
ros::Publisher rvizMarkerPub_
tf::TransformBroadcastertf_broadcaster
tf::TransformListenertf_listener

Define Documentation

#define GHOST_MARKER   3

Definition at line 73 of file FindMarkerBundles.cpp.

#define MAIN_MARKER   1

Definition at line 71 of file FindMarkerBundles.cpp.

#define VISIBLE_MARKER   2

Definition at line 72 of file FindMarkerBundles.cpp.


Typedef Documentation

Definition at line 79 of file FindMarkerBundles.cpp.

typedef pcl::PointXYZRGB ARPoint

Definition at line 78 of file FindMarkerBundles.cpp.


Function Documentation

Definition at line 731 of file FindMarkerBundles.cpp.

void draw3dPoints ( ARCloud::Ptr  cloud,
string  frame,
int  color,
int  id,
double  rad 
)

Definition at line 117 of file FindMarkerBundles.cpp.

void drawArrow ( gm::Point  start,
btMatrix3x3  mat,
string  frame,
int  color,
int  id 
)

Definition at line 165 of file FindMarkerBundles.cpp.

void GetMultiMarkerPoses ( IplImage *  image,
ARCloud cloud 
)

Definition at line 376 of file FindMarkerBundles.cpp.

void getPointCloudCallback ( const sensor_msgs::PointCloud2ConstPtr &  msg)

Definition at line 594 of file FindMarkerBundles.cpp.

int InferCorners ( const ARCloud cloud,
MultiMarkerBundle master,
ARCloud bund_corners 
)

Definition at line 219 of file FindMarkerBundles.cpp.

int main ( int  argc,
char *  argv[] 
)
void makeMarkerMsgs ( int  type,
int  id,
Pose p,
sensor_msgs::ImageConstPtr  image_msg,
tf::StampedTransform CamToOutput,
visualization_msgs::Marker *  rvizMarker,
ar_track_alvar::AlvarMarker ar_pose_marker,
int  confidence 
)

Definition at line 505 of file FindMarkerBundles.cpp.

int makeMasterTransform ( const CvPoint3D64f &  p0,
const CvPoint3D64f &  p1,
const CvPoint3D64f &  p2,
const CvPoint3D64f &  p3,
btTransform &  retT 
)

Definition at line 680 of file FindMarkerBundles.cpp.

int PlaneFitPoseImprovement ( int  id,
const ARCloud corners_3D,
ARCloud::Ptr  selected_points,
const ARCloud cloud,
Pose p 
)

Definition at line 294 of file FindMarkerBundles.cpp.


Variable Documentation

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std::string cam_image_topic

Definition at line 111 of file FindMarkerBundles.cpp.

std::string cam_info_topic

Definition at line 112 of file FindMarkerBundles.cpp.

Definition at line 88 of file FindMarkerBundles.cpp.

IplImage* capture_

Definition at line 86 of file FindMarkerBundles.cpp.

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bool init = true
double marker_size
int* master_id

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int n_bundles = 0

Definition at line 114 of file FindMarkerBundles.cpp.

std::string output_frame

Definition at line 113 of file FindMarkerBundles.cpp.

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ar_track_alvar
Author(s): Scott Niekum
autogenerated on Sat Dec 28 2013 16:46:16