Public Types | Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
visp_tracker::TrackerViewer Class Reference

Monitors the tracking result provided by the tracking node. More...

#include <tracker-viewer.hh>

List of all members.

Public Types

typedef vpImage< unsigned char > image_t
 ViSP image type.
typedef boost::function< bool(visp_tracker::Init::Request
&, visp_tracker::Init::Response
&res)> 
initCallback_t
typedef boost::function< bool(visp_tracker::Init::Request
&, visp_tracker::Init::Response
&res)> 
reconfigureCallback_t
typedef
message_filters::sync_policies::ApproximateTime
< sensor_msgs::Image,
sensor_msgs::CameraInfo,
geometry_msgs::PoseWithCovarianceStamped,
visp_tracker::MovingEdgeSites,
visp_tracker::KltPoints > 
syncPolicy_t
 Synchronization policy.

Public Member Functions

void spin ()
 Display camera image, tracked object position and moving edge sites.
 TrackerViewer (ros::NodeHandle &nh, ros::NodeHandle &privateNh, volatile bool &exiting, unsigned queueSize=5u)
 Constructor.

Protected Member Functions

void callback (const sensor_msgs::ImageConstPtr &imageConst, const sensor_msgs::CameraInfoConstPtr &infoConst, const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &trackingResult, const visp_tracker::MovingEdgeSites::ConstPtr &sitesConst, const visp_tracker::KltPoints::ConstPtr &kltConst)
 Callback used to received synchronized data.
void checkInputs ()
 Make sure the topics we subscribe already exist.
void displayKltPoints ()
 Display KLT points that are tracked.
void displayMovingEdgeSites ()
 Display moving edge sites.
bool initCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void initializeTracker ()
 Initialize the tracker.
void loadCommonParameters ()
 Initialize the common parameters (visibility angles, etc)
bool reconfigureCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)
void timerCallback ()
void waitForImage ()
 Hang until the first image is received.

Private Member Functions

bool exiting ()

Private Attributes

vpCameraParameters cameraParameters_
 ViSP camera parameters.
image_proc::AdvertisementChecker checkInputs_
 Helper used to check that subscribed topics exist.
boost::optional
< vpHomogeneousMatrix > 
cMo_
 Last tracked object position, set to none if tracking failed.
volatile bool & exiting_
double frameSize_
image_t image_
 ViSP image.
image_transport::ImageTransport imageTransport_
 Image transport used to receive images.
sensor_msgs::CameraInfoConstPtr info_
 Shared pointer to latest received camera information.
ros::ServiceServer initService_
 Service called when user ends tracker_client node.
visp_tracker::KltPoints::ConstPtr klt_
 Shared pointer to latest received KLT point positions.
boost::filesystem::path modelPath_
 Model path.
ros::NodeHandlenodeHandle_
ros::NodeHandlenodeHandlePrivate_
unsigned queueSize_
 Queue size for all subscribers.
ros::ServiceServer reconfigureService_
 Service called when user is reconfiguring tracker node.
visp_tracker::MovingEdgeSites::ConstPtr sites_
 Shared pointer to latest received moving edge sites.
vpMbEdgeTracker tracker_
 ViSP edge tracker.
std::string trackerName_
 Name of the tracker used in this viewer node.
Topics and services strings.
std::string rectifiedImageTopic_
 Full topic name for rectified image.
std::string cameraInfoTopic_
 Full topic name for camera information.
Subscribers and synchronizer.

Subscriber to image topic.

image_transport::SubscriberFilter imageSubscriber_
message_filters::Subscriber
< sensor_msgs::CameraInfo > 
cameraInfoSubscriber_
 Subscriber to camera information topic.
message_filters::Subscriber
< geometry_msgs::PoseWithCovarianceStamped > 
trackingResultSubscriber_
 Subscriber to tracking result topic.
message_filters::Subscriber
< visp_tracker::MovingEdgeSites > 
movingEdgeSitesSubscriber_
 Subscriber to moving edge sites topics.
message_filters::Subscriber
< visp_tracker::KltPoints > 
kltPointsSubscriber_
 Subscriber to KLT point topics.
message_filters::Synchronizer
< syncPolicy_t
synchronizer_
 Synchronizer with approximate time policy.
Synchronization check

}

ros::WallTimer timer_
unsigned countAll_
unsigned countImages_
unsigned countCameraInfo_
unsigned countTrackingResult_
unsigned countMovingEdgeSites_
unsigned countKltPoints_

Detailed Description

Monitors the tracking result provided by the tracking node.

Definition at line 31 of file tracker-viewer.hh.


Member Typedef Documentation

typedef vpImage<unsigned char> visp_tracker::TrackerViewer::image_t

ViSP image type.

Definition at line 35 of file tracker-viewer.hh.

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::TrackerViewer::initCallback_t

Definition at line 40 of file tracker-viewer.hh.

typedef boost::function<bool (visp_tracker::Init::Request&, visp_tracker::Init::Response& res)> visp_tracker::TrackerViewer::reconfigureCallback_t

Definition at line 44 of file tracker-viewer.hh.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, geometry_msgs::PoseWithCovarianceStamped, visp_tracker::MovingEdgeSites, visp_tracker::KltPoints > visp_tracker::TrackerViewer::syncPolicy_t

Synchronization policy.

This is used to make sure that the image, the object position and the moving edge sites are synchronized. This may not be the case as these informations are published on different topics. The approximate time allows light differences in timestamps which are not critical as this is only a viewer.

Definition at line 58 of file tracker-viewer.hh.


Constructor & Destructor Documentation

visp_tracker::TrackerViewer::TrackerViewer ( ros::NodeHandle nh,
ros::NodeHandle privateNh,
volatile bool &  exiting,
unsigned  queueSize = 5u 
)

Constructor.

Definition at line 72 of file tracker-viewer.cpp.


Member Function Documentation

void visp_tracker::TrackerViewer::callback ( const sensor_msgs::ImageConstPtr &  imageConst,
const sensor_msgs::CameraInfoConstPtr &  infoConst,
const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  trackingResult,
const visp_tracker::MovingEdgeSites::ConstPtr &  sitesConst,
const visp_tracker::KltPoints::ConstPtr &  kltConst 
) [protected]

Callback used to received synchronized data.

Definition at line 404 of file tracker-viewer.cpp.

Make sure the topics we subscribe already exist.

Definition at line 320 of file tracker-viewer.cpp.

Display KLT points that are tracked.

Definition at line 466 of file tracker-viewer.cpp.

Display moving edge sites.

Definition at line 431 of file tracker-viewer.cpp.

bool visp_tracker::TrackerViewer::exiting ( ) [inline, private]

Definition at line 105 of file tracker-viewer.hh.

bool visp_tracker::TrackerViewer::initCallback ( visp_tracker::Init::Request &  req,
visp_tracker::Init::Response &  res 
) [protected]

Definition at line 38 of file tracker-viewer.cpp.

Initialize the tracker.

Definition at line 386 of file tracker-viewer.cpp.

Initialize the common parameters (visibility angles, etc)

Definition at line 332 of file tracker-viewer.cpp.

bool visp_tracker::TrackerViewer::reconfigureCallback ( visp_tracker::Init::Request &  req,
visp_tracker::Init::Response &  res 
) [protected]

Definition at line 61 of file tracker-viewer.cpp.

Display camera image, tracked object position and moving edge sites.

Definition at line 247 of file tracker-viewer.cpp.

Definition at line 490 of file tracker-viewer.cpp.

Hang until the first image is received.

Definition at line 307 of file tracker-viewer.cpp.


Member Data Documentation

Subscriber to camera information topic.

Definition at line 169 of file tracker-viewer.hh.

Full topic name for camera information.

Definition at line 129 of file tracker-viewer.hh.

vpCameraParameters visp_tracker::TrackerViewer::cameraParameters_ [private]

ViSP camera parameters.

Definition at line 151 of file tracker-viewer.hh.

Helper used to check that subscribed topics exist.

Definition at line 146 of file tracker-viewer.hh.

boost::optional<vpHomogeneousMatrix> visp_tracker::TrackerViewer::cMo_ [private]

Last tracked object position, set to none if tracking failed.

Definition at line 158 of file tracker-viewer.hh.

Definition at line 187 of file tracker-viewer.hh.

Definition at line 189 of file tracker-viewer.hh.

Definition at line 188 of file tracker-viewer.hh.

Definition at line 192 of file tracker-viewer.hh.

Definition at line 191 of file tracker-viewer.hh.

Definition at line 190 of file tracker-viewer.hh.

volatile bool& visp_tracker::TrackerViewer::exiting_ [private]

Definition at line 110 of file tracker-viewer.hh.

Definition at line 121 of file tracker-viewer.hh.

ViSP image.

Definition at line 153 of file tracker-viewer.hh.

Definition at line 167 of file tracker-viewer.hh.

Image transport used to receive images.

Definition at line 119 of file tracker-viewer.hh.

sensor_msgs::CameraInfoConstPtr visp_tracker::TrackerViewer::info_ [private]

Shared pointer to latest received camera information.

Definition at line 156 of file tracker-viewer.hh.

Service called when user ends tracker_client node.

Definition at line 134 of file tracker-viewer.hh.

visp_tracker::KltPoints::ConstPtr visp_tracker::TrackerViewer::klt_ [private]

Shared pointer to latest received KLT point positions.

Definition at line 162 of file tracker-viewer.hh.

Subscriber to KLT point topics.

Definition at line 178 of file tracker-viewer.hh.

boost::filesystem::path visp_tracker::TrackerViewer::modelPath_ [private]

Model path.

Definition at line 143 of file tracker-viewer.hh.

Subscriber to moving edge sites topics.

Definition at line 175 of file tracker-viewer.hh.

Definition at line 115 of file tracker-viewer.hh.

Definition at line 116 of file tracker-viewer.hh.

Queue size for all subscribers.

Definition at line 113 of file tracker-viewer.hh.

Service called when user is reconfiguring tracker node.

Definition at line 137 of file tracker-viewer.hh.

Full topic name for rectified image.

Definition at line 127 of file tracker-viewer.hh.

visp_tracker::MovingEdgeSites::ConstPtr visp_tracker::TrackerViewer::sites_ [private]

Shared pointer to latest received moving edge sites.

Definition at line 160 of file tracker-viewer.hh.

Synchronizer with approximate time policy.

Definition at line 181 of file tracker-viewer.hh.

Definition at line 186 of file tracker-viewer.hh.

vpMbEdgeTracker visp_tracker::TrackerViewer::tracker_ [private]

ViSP edge tracker.

Definition at line 149 of file tracker-viewer.hh.

Name of the tracker used in this viewer node.

Definition at line 140 of file tracker-viewer.hh.

message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped> visp_tracker::TrackerViewer::trackingResultSubscriber_ [private]

Subscriber to tracking result topic.

Definition at line 172 of file tracker-viewer.hh.


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


visp_tracker
Author(s): Thomas Moulard
autogenerated on Sun Feb 19 2017 03:28:46