#include <gltracker.h>

Inheritance diagram for blort_ros::GLTracker:

Public Member Functions
void	enableAllTracking (bool enable)
const geometry_msgs::Pose	getCameraReferencePose ()
	Get the constant camera reference of Blort.
std::map< std::string, geometry_msgs::Pose > &	getDetections ()
	Get some statistics of the actual tracking state.
cv::Mat	getImage ()
	Get the rendered image for visualization.
const std::string &	getModelName (size_t i)
	Return model names.
const std::vector < blort::ObjectEntry > &	getObjects () const
TrackerPublishMode	getPublishMode ()
	GLTracker (const sensor_msgs::CameraInfo camera_info, const std::string &config_root, bool visualize_obj_pose=false)
bool	isTracked (const std::string &id)
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 (const std::vector< std::string > &params=std::vector< std::string >())
void	resetWithPose (std::string obj_id, const geometry_msgs::Pose &new_pose)
void	setPublishMode (TrackerPublishMode mode)
void	setTracked (const std::string &id, bool tracked)
void	setVisualizeObjPose (bool enable)
virtual void	switchToRecovery (const std::string &id)
virtual void	switchToTracking (const std::string &id)
virtual void	switchTracking (const std::vector< std::string > &params)
virtual void	track ()
	Method to run and handle tracking.
void	trackerControl (uint8_t code, const std::vector< std::string > &params)
	Control the tracker with a single int code.
	~GLTracker ()
Private Member Functions
blort::ObjectEntry &	getObjEntryByName (const std::string &name)
void	resetParticleFilter (std::string id)
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 (std::string i)
	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
std::map< std::string, int >	model_ids
boost::mutex	models_mutex
std::vector< blort::ObjectEntry >	objects_
std::string	pose_cal
int	publish_mode
float	recovery_conf_threshold
std::map< std::string, geometry_msgs::Pose >	result
TomGine::tgCamera::Parameter	tgcam_params
TomGine::tgTimer	timer
Tracking::Tracker::Parameter	track_params
Tracking::TextureTracker	tracker
bool	visualize_obj_pose

Detailed Description

Definition at line 68 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 449 of file gltracker.cpp.

Member Function Documentation

void GLTracker::enableAllTracking ( bool enable )

Definition at line 480 of file gltracker.cpp.

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

Get the constant camera reference of Blort.

Definition at line 140 of file gltracker.h.

std::map<std::string, geometry_msgs::Pose>& blort_ros::GLTracker::getDetections ( ) [inline]

Get some statistics of the actual tracking state.

Get the results of the latest detections.

Definition at line 137 of file gltracker.h.

cv::Mat GLTracker::getImage ( )

Get the rendered image for visualization.

Definition at line 313 of file gltracker.cpp.

const std::string& blort_ros::GLTracker::getModelName ( size_t i ) [inline]

Return model names.

Definition at line 146 of file gltracker.h.

const std::vector< blort::ObjectEntry > & GLTracker::getObjects ( ) const

Definition at line 465 of file gltracker.cpp.

blort::ObjectEntry & GLTracker::getObjEntryByName ( const std::string & name ) [private]

Definition at line 453 of file gltracker.cpp.

TrackerPublishMode blort_ros::GLTracker::getPublishMode ( ) [inline]

Definition at line 152 of file gltracker.h.

bool GLTracker::isTracked ( const std::string & id )

Definition at line 470 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 235 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 114 of file gltracker.h.

void GLTracker::reset ( const std::vector< std::string > & params = std::vector<std::string>() )

Definition at line 411 of file gltracker.cpp.

void GLTracker::resetParticleFilter ( std::string id ) [private]

Definition at line 122 of file gltracker.cpp.

void GLTracker::resetWithPose	(	std::string	obj_id,
		const geometry_msgs::Pose &	new_pose
	)

Definition at line 221 of file gltracker.cpp.

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

Definition at line 150 of file gltracker.h.

void GLTracker::setTracked	(	const std::string &	id,
		bool	tracked
	)

Definition at line 475 of file gltracker.cpp.

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

Definition at line 148 of file gltracker.h.

void GLTracker::switchToRecovery ( const std::string & id ) [virtual]

Definition at line 437 of file gltracker.cpp.

void GLTracker::switchToTracking ( const std::string & id ) [virtual]

Definition at line 431 of file gltracker.cpp.

void GLTracker::switchTracking ( const std::vector< std::string > & params ) [virtual]

Definition at line 294 of file gltracker.cpp.

void GLTracker::track ( ) [virtual]

Method to run and handle tracking.

Implements blort_ros::TrackerInterface.

Definition at line 142 of file gltracker.cpp.

void GLTracker::trackerControl	(	uint8_t	code,
		const std::vector< std::string > &	params
	)

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 251 of file gltracker.cpp.

void GLTracker::update ( ) [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 364 of file gltracker.cpp.

void GLTracker::updatePoseResult ( std::string i ) [private]

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

Definition at line 345 of file gltracker.cpp.

Member Data Documentation

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

Definition at line 81 of file gltracker.h.

double blort_ros::GLTracker::conf_threshold [private]

Definition at line 72 of file gltracker.h.

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

Definition at line 87 of file gltracker.h.

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

Definition at line 102 of file gltracker.h.

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

Definition at line 98 of file gltracker.h.

bool blort_ros::GLTracker::last_reset [private]

Definition at line 106 of file gltracker.h.

std::map<std::string, int> blort_ros::GLTracker::model_ids [private]

Definition at line 92 of file gltracker.h.

boost::mutex blort_ros::GLTracker::models_mutex [private]

Definition at line 95 of file gltracker.h.

std::vector<blort::ObjectEntry> blort_ros::GLTracker::objects_ [private]

Definition at line 91 of file gltracker.h.

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

Definition at line 88 of file gltracker.h.

int blort_ros::GLTracker::publish_mode [private]

Definition at line 74 of file gltracker.h.

float blort_ros::GLTracker::recovery_conf_threshold [private]

Definition at line 76 of file gltracker.h.

std::map<std::string, geometry_msgs::Pose> blort_ros::GLTracker::result [private]

Definition at line 103 of file gltracker.h.

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

Definition at line 79 of file gltracker.h.

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

Definition at line 80 of file gltracker.h.

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

Definition at line 82 of file gltracker.h.

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

Definition at line 84 of file gltracker.h.

bool blort_ros::GLTracker::visualize_obj_pose [private]

Definition at line 73 of file gltracker.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation