00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 /* Modified for SRS: Alex Noyvirt */ 00037 00038 #ifndef __PEOPLE_TRACKING_NODE__ 00039 #define __PEOPLE_TRACKING_NODE__ 00040 00041 #include <string> 00042 #include <boost/thread/mutex.hpp> 00043 00044 // ros stuff 00045 #include <ros/ros.h> 00046 #include <tf/tf.h> 00047 #include <tf/transform_listener.h> 00048 00049 // people tracking stuff 00050 #include "tracker.h" 00051 #include "detector_particle.h" 00052 #include "gaussian_vector.h" 00053 00054 // messages 00055 #include <sensor_msgs/PointCloud.h> 00056 #include <srs_msgs/PositionMeasurement.h> 00057 #include <message_filters/time_sequencer.h> 00058 #include <message_filters/subscriber.h> 00059 00060 // log files 00061 #include <fstream> 00062 00063 00064 namespace estimation 00065 { 00066 00067 class PeopleTrackingNode 00068 { 00069 public: 00071 PeopleTrackingNode(ros::NodeHandle nh); 00072 00074 virtual ~PeopleTrackingNode(); 00075 00077 void callbackRcv(const srs_msgs::PositionMeasurement::ConstPtr& message); 00078 00080 void callbackDrop(const srs_msgs::PositionMeasurement::ConstPtr& message); 00081 00083 void spin(); 00084 00085 00086 private: 00087 00088 ros::NodeHandle nh_; 00089 00090 ros::Publisher people_filter_pub_; 00091 ros::Publisher people_filter_vis_pub_; 00092 ros::Publisher people_tracker_vis_pub_; 00093 00094 ros::Subscriber people_meas_sub_; 00095 00097 message_filters::TimeSequencer<srs_msgs::PositionMeasurement>* message_sequencer_; 00098 00100 std::list<Tracker*> trackers_; 00101 00102 // tf listener 00103 tf::TransformListener robot_state_; 00104 00105 unsigned int tracker_counter_; 00106 double freq_, start_distance_min_, reliability_threshold_; 00107 BFL::StatePosVel sys_sigma_; 00108 std::string fixed_frame_; 00109 boost::mutex filter_mutex_; 00110 00111 sensor_msgs::PointCloud meas_cloud_; 00112 unsigned int meas_visualize_counter_; 00113 00114 // Track only one person who the robot will follow. 00115 bool follow_one_person_; 00116 00117 00118 }; // class 00119 00120 }; // namespace 00121 00122 #endif