Public Member Functions
ShapeTrackerPtr	clone () const
virtual void	setCameraInfo (const sensor_msgs::CameraInfo &camera_info)
virtual void	setShapeModel (const sensor_msgs::PointCloud2 &model)
	ShapeTracker (omip::RB_id_t rb_id)
	ShapeTracker (const ShapeTracker &sr)
virtual void	step (const sensor_msgs::PointCloud2ConstPtr &pc_msg, const omip_msgs::RigidBodyPoseAndVelMsg &tracked_rbm, omip_msgs::ShapeTrackerState &st_state)
virtual	~ShapeTracker ()
Protected Member Functions
virtual void	_FindInconsistentPoints (const pcl::PointCloud< pcl::PointXYZ >::Ptr &pc_source, const cv::Mat &dm_true, pcl::PointIndicesPtr &indices_to_remove, pcl::PointIndicesPtr &indices_matching_in_true, pcl::PointIndicesPtr &indices_matching_in_dm, const double min_depth_error=0.03)
virtual void	_RemoveInconsistentPointsFromRBModel (pcl::PointCloud< pcl::PointXYZ >::Ptr model_current_pose, pcl::PointCloud< pcl::PointXYZ >::Ptr current_pc, pcl::PointCloud< pcl::PointXYZ >::Ptr &rb_segment_depth, pcl::PointCloud< pcl::PointXYZ >::Ptr &current_pc_extended_segment)
virtual ShapeTracker *	doClone () const
	Clone function.
Protected Attributes
sensor_msgs::CameraInfo	_ci
cv::Mat	_current_dm
cv::Mat	_dilation_element
pcl::ExtractIndices < pcl::PointXYZ >	_extractor
pcl::IterativeClosestPoint < pcl::PointXYZ, pcl::PointXYZ >	_icp
bool	_new_model
ros::NodeHandle	_nh
omip::RB_id_t	_rb_id
pcl::PointCloud< pcl::PointXYZ > ::Ptr	_rb_model
cv::Mat	_segment_of_current
cv::Mat	_segment_of_current_dilated
ros::Publisher	_segment_pub

Detailed Description

Definition at line 80 of file ShapeTracker.h.

Constructor & Destructor Documentation

ShapeTracker::ShapeTracker ( omip::RB_id_t rb_id )

Definition at line 43 of file ShapeTracker.cpp.

ShapeTracker::ShapeTracker ( const ShapeTracker & sr )

Definition at line 151 of file ShapeTracker.cpp.

ShapeTracker::~ShapeTracker ( ) [virtual]

Definition at line 159 of file ShapeTracker.cpp.

void ShapeTracker::_FindInconsistentPoints	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	pc_source,
		const cv::Mat &	dm_true,
		pcl::PointIndicesPtr &	indices_to_remove,
		pcl::PointIndicesPtr &	indices_matching_in_true,
		pcl::PointIndicesPtr &	indices_matching_in_dm,
		const double	min_depth_error = `0.03`
	)		`[protected, virtual]`

Definition at line 397 of file ShapeTracker.cpp.

void ShapeTracker::_RemoveInconsistentPointsFromRBModel	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	model_current_pose,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	current_pc,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	rb_segment_depth,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	current_pc_extended_segment
	)		`[protected, virtual]`

Definition at line 338 of file ShapeTracker.cpp.

ShapeTrackerPtr omip::ShapeTracker::clone ( ) const [inline]

Definition at line 85 of file ShapeTracker.h.

virtual ShapeTracker* omip::ShapeTracker::doClone ( ) const [inline, protected, virtual]

Clone function.

Definition at line 118 of file ShapeTracker.h.

void ShapeTracker::setCameraInfo ( const sensor_msgs::CameraInfo & camera_info ) [virtual]

Definition at line 163 of file ShapeTracker.cpp.

void ShapeTracker::setShapeModel ( const sensor_msgs::PointCloud2 & model ) [virtual]

Definition at line 327 of file ShapeTracker.cpp.

void ShapeTracker::step	(	const sensor_msgs::PointCloud2ConstPtr &	pc_msg,
		const omip_msgs::RigidBodyPoseAndVelMsg &	tracked_rbm,
		omip_msgs::ShapeTrackerState &	st_state
	)		`[virtual]`