people_tracking_node.h

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/* Author: Wim Meeussen */

#ifndef __PEOPLE_TRACKING_NODE__
#define __PEOPLE_TRACKING_NODE__

#include <string>
#include <boost/thread/mutex.hpp>

// ros stuff
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

// people tracking stuff
#include "tracker.h"
#include "detector_particle.h"
#include "gaussian_vector.h"

// messages
#include <sensor_msgs/PointCloud.h>
#include <cob_perception_msgs/PositionMeasurement.h>
#include <message_filters/time_sequencer.h>
#include <message_filters/subscriber.h>
 
// log files
#include <fstream>


namespace estimation
{

class PeopleTrackingNode
{
public:
  PeopleTrackingNode(ros::NodeHandle nh);

  virtual ~PeopleTrackingNode();

  void callbackRcv(const cob_perception_msgs::PositionMeasurement::ConstPtr& message);

  void callbackDrop(const cob_perception_msgs::PositionMeasurement::ConstPtr& message);

  void spin();


private:

  ros::NodeHandle nh_;

  ros::Publisher people_filter_pub_;
  ros::Publisher people_filter_vis_pub_;
  ros::Publisher people_tracker_vis_pub_;

  ros::Subscriber people_meas_sub_;

  message_filters::TimeSequencer<cob_perception_msgs::PositionMeasurement>*  message_sequencer_;

  std::list<Tracker*> trackers_;

  // tf listener
  tf::TransformListener robot_state_;

  unsigned int tracker_counter_;
  double freq_, start_distance_min_, reliability_threshold_;
  BFL::StatePosVel sys_sigma_;
  std::string fixed_frame_;
  boost::mutex filter_mutex_;

  sensor_msgs::PointCloud  meas_cloud_;
  unsigned int meas_visualize_counter_;

  // Track only one person who the robot will follow.
  bool follow_one_person_;


}; // class

}; // namespace

#endif