#include <ros/ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Bool.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <geometry_msgs/PointStamped.h>
#include <pcl_conversions/pcl_conversions.h>
#include <tf/transform_listener.h>
#include <robotican_common/FindObjectDynParamConfig.h>
#include <dynamic_reconfigure/server.h>
#include <tf/transform_broadcaster.h>
#include "tf/message_filter.h"
#include "message_filters/subscriber.h"
#include <ar_track_alvar_msgs/AlvarMarkers.h>
#include <robotican_common/switch_topic.h>
Go to the source code of this file.
Functions | |
void | arm_msgCallback (const boost::shared_ptr< const geometry_msgs::PoseStamped > &point_ptr) |
void | cloud_cb (const sensor_msgs::PointCloud2ConstPtr &input) |
void | dynamicParamCallback (robotican_common::FindObjectDynParamConfig &config, uint32_t level) |
bool | find_object (Mat input, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, Point3d *obj, std::string frame) |
int | main (int argc, char **argv) |
void | obj_msgCallback (const boost::shared_ptr< const geometry_msgs::PoseStamped > &point_ptr) |
void | on_trackbar (int, void *) |
bool | switch_pcl_topic (robotican_common::switch_topic::Request &req, robotican_common::switch_topic::Response &res) |
Variables | |
image_transport::Publisher | bw_image_pub |
bool | debug_vision = false |
std::string | depth_topic |
std::string | depth_topic1 |
std::string | depth_topic2 |
int | gaussian_ksize = 0 |
int | gaussian_sigma = 0 |
bool | have_object = false |
int | inv_H = 1 |
tf::TransformListener * | listener_ptr |
int | maxA = 50000 |
int | maxH = 160 |
int | maxS = 255 |
int | maxV = 255 |
int | minA = 200 |
int | minH = 3 |
int | minS = 70 |
int | minV = 10 |
int | morph_size = 0 |
int | object_id |
image_transport::Publisher | object_image_pub |
ros::Publisher | object_pub |
ros::Publisher | pose_pub |
image_transport::Publisher | result_image_pub |
void arm_msgCallback | ( | const boost::shared_ptr< const geometry_msgs::PoseStamped > & | point_ptr | ) |
void cloud_cb | ( | const sensor_msgs::PointCloud2ConstPtr & | input | ) |
Definition at line 67 of file find_objects.cpp.
void dynamicParamCallback | ( | robotican_common::FindObjectDynParamConfig & | config, |
uint32_t | level | ||
) |
Definition at line 252 of file find_objects.cpp.
bool find_object | ( | Mat | input, |
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr | cloud, | ||
Point3d * | obj, | ||
std::string | frame | ||
) |
Definition at line 152 of file find_objects.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 284 of file find_objects.cpp.
void obj_msgCallback | ( | const boost::shared_ptr< const geometry_msgs::PoseStamped > & | point_ptr | ) |
Definition at line 117 of file find_objects.cpp.
void on_trackbar | ( | int | , |
void * | |||
) |
Definition at line 274 of file find_objects.cpp.
bool switch_pcl_topic | ( | robotican_common::switch_topic::Request & | req, |
robotican_common::switch_topic::Response & | res | ||
) |
Definition at line 276 of file find_objects.cpp.
Definition at line 50 of file find_objects.cpp.
bool debug_vision = false |
Definition at line 25 of file find_objects.cpp.
std::string depth_topic |
Definition at line 44 of file find_objects.cpp.
std::string depth_topic1 |
Definition at line 44 of file find_objects.cpp.
std::string depth_topic2 |
Definition at line 44 of file find_objects.cpp.
int gaussian_ksize = 0 |
Definition at line 58 of file find_objects.cpp.
int gaussian_sigma = 0 |
Definition at line 59 of file find_objects.cpp.
bool have_object = false |
Definition at line 45 of file find_objects.cpp.
int inv_H = 1 |
Definition at line 62 of file find_objects.cpp.
Definition at line 36 of file find_objects.cpp.
int maxA = 50000 |
Definition at line 57 of file find_objects.cpp.
int maxH = 160 |
Definition at line 53 of file find_objects.cpp.
int maxS = 255 |
Definition at line 54 of file find_objects.cpp.
int maxV = 255 |
Definition at line 56 of file find_objects.cpp.
int minA = 200 |
Definition at line 57 of file find_objects.cpp.
int minH = 3 |
Definition at line 53 of file find_objects.cpp.
int minS = 70 |
Definition at line 54 of file find_objects.cpp.
int minV = 10 |
Definition at line 56 of file find_objects.cpp.
int morph_size = 0 |
Definition at line 60 of file find_objects.cpp.
int object_id |
Definition at line 40 of file find_objects.cpp.
Definition at line 49 of file find_objects.cpp.
Definition at line 47 of file find_objects.cpp.
Definition at line 51 of file find_objects.cpp.
Definition at line 48 of file find_objects.cpp.