blort_ros: blort_ros::GLTracker Class Reference

#include <gltracker.h>

Inheritance diagram for blort_ros::GLTracker:

Inheritance graph

List of all members.

Public Member Functions
const geometry_msgs::Pose	getCameraReferencePose ()
	Get the constant camera reference of Blort.
TrackerConfidences	getConfidences ()
	Get some statistics of the actual tracking state.
const std::vector < geometry_msgs::Pose > &	getDetections ()
	Get the results of the latest detections.
cv::Mat	getImage ()
	Get the rendered image for visualization.
std::string	getStatusString ()
	Get a status string describing the current state of the tracker.
	GLTracker (const sensor_msgs::CameraInfo camera_info, const std::string &config_root, bool visualize_obj_pose=false)
void	reconfigure (blort_ros::TrackerConfig config)
	Control the tracker using a ROS reconfigure_gui node.
virtual void	recovery ()
	Method to run and handle recovery state.
void	reset ()
void	resetParticleFilter ()
void	resetWithPose (const geometry_msgs::Pose &new_pose)
void	setPublisMode (TrackerPublishMode mode)
void	setVisualizeObjPose (bool enable)
virtual void	track ()
	Method to run and handle tracking.
void	trackerControl (int code, int param=-1)
	Control the tracker with a single int code.
	~GLTracker ()
Private Member Functions
void	update ()
	Update confidences and state based on the state and confidences of the encapsulated tracker. Also pose result is updated if the state is apropriate.
void	updatePoseResult ()
	Assemble pose result to be published based on class variables. The result is put in the corresponding variable.
Private Attributes
TomGine::tgPose	cam_pose
double	conf_threshold
std::string	config_root_
geometry_msgs::Pose	fixed_cam_pose
IplImage *	image
bool	last_reset
int	model_id
std::string	model_name
Tracking::movement_state	movement
std::string	ply_model_
std::string	pose_cal
int	publish_mode
Tracking::quality_state	quality
float	recovery_conf_threshold
std::vector< geometry_msgs::Pose >	result
std::string	sift_file
TomGine::tgCamera::Parameter	tgcam_params
TomGine::tgTimer	timer
Tracking::Tracker::Parameter	track_params
Tracking::TextureTracker	tracker
Tracking::confidence_state	tracker_confidence
TrackerConfidences	tracker_confidences
TomGine::tgPose	trPose
bool	visualize_obj_pose

Detailed Description

Definition at line 66 of file gltracker.h.

Constructor & Destructor Documentation

GLTracker::GLTracker	(	const sensor_msgs::CameraInfo	camera_info,
		const std::string &	config_root,
		bool	visualize_obj_pose = `false`
	)

Definition at line 51 of file gltracker.cpp.

GLTracker::~GLTracker ( )

Definition at line 346 of file gltracker.cpp.

Member Function Documentation

const geometry_msgs::Pose blort_ros::GLTracker::getCameraReferencePose ( ) [inline]

Get the constant camera reference of Blort.

Definition at line 139 of file gltracker.h.

TrackerConfidences blort_ros::GLTracker::getConfidences ( ) [inline]

Get some statistics of the actual tracking state.

Definition at line 133 of file gltracker.h.

const std::vector<geometry_msgs::Pose>& blort_ros::GLTracker::getDetections ( ) [inline]

Get the results of the latest detections.

Definition at line 136 of file gltracker.h.

cv::Mat GLTracker::getImage ( )

Get the rendered image for visualization.

Definition at line 259 of file gltracker.cpp.

std::string GLTracker::getStatusString ( )

Get a status string describing the current state of the tracker.

Definition at line 246 of file gltracker.cpp.

void GLTracker::reconfigure ( blort_ros::TrackerConfig config )

Control the tracker using a ROS reconfigure_gui node.

Parameters:

Reconfigure_gui messagetype

Definition at line 195 of file gltracker.cpp.

virtual void blort_ros::GLTracker::recovery ( ) [inline, virtual]

Method to run and handle recovery state.

Implements blort_ros::TrackerInterface.

Definition at line 113 of file gltracker.h.

void GLTracker::reset ( ) [virtual]

Reimplemented from blort_ros::TrackerInterface.

Definition at line 340 of file gltracker.cpp.

void GLTracker::resetParticleFilter ( )

Definition at line 110 of file gltracker.cpp.

void GLTracker::resetWithPose ( const geometry_msgs::Pose & new_pose )

Definition at line 175 of file gltracker.cpp.

void blort_ros::GLTracker::setPublisMode ( TrackerPublishMode mode ) [inline]

Definition at line 149 of file gltracker.h.

void blort_ros::GLTracker::setVisualizeObjPose ( bool enable ) [inline]

Definition at line 147 of file gltracker.h.

void GLTracker::track ( ) [virtual]

Method to run and handle tracking.

Implements blort_ros::TrackerInterface.

Definition at line 119 of file gltracker.cpp.

void GLTracker::trackerControl	(	int	code,
		int	param = `-1`
	)

Control the tracker with a single int code.

Parameters:

code	integer code associated with command, can be used with enums.
param	parameter of the command

Definition at line 211 of file gltracker.cpp.

void GLTracker::update ( void ) [private]

Update confidences and state based on the state and confidences of the encapsulated tracker. Also pose result is updated if the state is apropriate.

Definition at line 297 of file gltracker.cpp.

void GLTracker::updatePoseResult ( ) [private]

Assemble pose result to be published based on class variables. The result is put in the corresponding variable.

Definition at line 277 of file gltracker.cpp.

Member Data Documentation

TomGine::tgPose blort_ros::GLTracker::cam_pose [private]

Definition at line 79 of file gltracker.h.

double blort_ros::GLTracker::conf_threshold [private]

Definition at line 70 of file gltracker.h.

std::string blort_ros::GLTracker::config_root_ [private]

Definition at line 85 of file gltracker.h.

geometry_msgs::Pose blort_ros::GLTracker::fixed_cam_pose [private]

Definition at line 101 of file gltracker.h.

IplImage* blort_ros::GLTracker::image [private]

Definition at line 97 of file gltracker.h.

bool blort_ros::GLTracker::last_reset [private]

Definition at line 105 of file gltracker.h.

int blort_ros::GLTracker::model_id [private]

Definition at line 91 of file gltracker.h.

std::string blort_ros::GLTracker::model_name [private]

Definition at line 86 of file gltracker.h.

Tracking::movement_state blort_ros::GLTracker::movement [private]

Definition at line 92 of file gltracker.h.

std::string blort_ros::GLTracker::ply_model_ [private]

Definition at line 85 of file gltracker.h.

std::string blort_ros::GLTracker::pose_cal [private]

Definition at line 87 of file gltracker.h.

int blort_ros::GLTracker::publish_mode [private]

Definition at line 72 of file gltracker.h.

Tracking::quality_state blort_ros::GLTracker::quality [private]

Definition at line 93 of file gltracker.h.

float blort_ros::GLTracker::recovery_conf_threshold [private]

Definition at line 74 of file gltracker.h.

std::vector<geometry_msgs::Pose> blort_ros::GLTracker::result [private]

Definition at line 102 of file gltracker.h.

std::string blort_ros::GLTracker::sift_file [private]

Definition at line 86 of file gltracker.h.

TomGine::tgCamera::Parameter blort_ros::GLTracker::tgcam_params [private]

Definition at line 77 of file gltracker.h.

TomGine::tgTimer blort_ros::GLTracker::timer [private]

Definition at line 78 of file gltracker.h.

Tracking::Tracker::Parameter blort_ros::GLTracker::track_params [private]

Definition at line 80 of file gltracker.h.

Tracking::TextureTracker blort_ros::GLTracker::tracker [private]

Definition at line 82 of file gltracker.h.

Tracking::confidence_state blort_ros::GLTracker::tracker_confidence [private]

Definition at line 94 of file gltracker.h.

TrackerConfidences blort_ros::GLTracker::tracker_confidences [private]

Definition at line 100 of file gltracker.h.

TomGine::tgPose blort_ros::GLTracker::trPose [private]

Definition at line 90 of file gltracker.h.

bool blort_ros::GLTracker::visualize_obj_pose [private]

Definition at line 71 of file gltracker.h.

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

blort_ros
Author(s): Bence Magyar
autogenerated on Thu Jan 2 2014 11:39:13