IndividualMarkers.cpp File Reference

#include "ar_track_alvar/CvTestbed.h"
#include "ar_track_alvar/MarkerDetector.h"
#include "ar_track_alvar/Shared.h"
#include <cv_bridge/cv_bridge.h>
#include <ar_track_alvar_msgs/AlvarMarker.h>
#include <ar_track_alvar_msgs/AlvarMarkers.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/image_encodings.h>
#include <pcl_conversions/pcl_conversions.h>
#include <dynamic_reconfigure/server.h>
#include <ar_track_alvar/ParamsConfig.h>
#include <Eigen/StdVector>

Include dependency graph for IndividualMarkers.cpp:

Go to the source code of this file.

Typedefs
typedef pcl::PointCloud< ARPoint >	ARCloud
typedef pcl::PointXYZRGB	ARPoint

Functions
void	configCallback (ar_track_alvar::ParamsConfig &config, uint32_t level)
void	draw3dPoints (ARCloud::Ptr cloud, string frame, int color, int id, double rad)
void	drawArrow (gm::Point start, tf::Matrix3x3 mat, string frame, int color, int id)
void	GetMarkerPoses (IplImage *image, ARCloud &cloud)
void	getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
int	main (int argc, char *argv[])
int	PlaneFitPoseImprovement (int id, const ARCloud &corners_3D, ARCloud::Ptr selected_points, const ARCloud &cloud, Pose &p)

Variables
ros::Publisher	arMarkerPub_
ar_track_alvar_msgs::AlvarMarkers	arPoseMarkers_
Camera *	cam
std::string	cam_image_topic
std::string	cam_info_topic
image_transport::Subscriber	cam_sub_
ros::Subscriber	cloud_sub_
cv_bridge::CvImagePtr	cv_ptr_
bool	enabled = true
bool	enableSwitched = false
bool	init =true
MarkerDetector< MarkerData >	marker_detector
int	marker_margin = 2
int	marker_resolution = 5
double	marker_size
double	max_frequency
double	max_new_marker_error
double	max_track_error
std::string	output_frame
bool	output_frame_from_msg
visualization_msgs::Marker	rvizMarker_
ros::Publisher	rvizMarkerPub2_
ros::Publisher	rvizMarkerPub_
tf::TransformBroadcaster *	tf_broadcaster
tf::TransformListener *	tf_listener

Typedef Documentation

typedef pcl::PointCloud<ARPoint> ARCloud

Definition at line 56 of file IndividualMarkers.cpp.

typedef pcl::PointXYZRGB ARPoint

Definition at line 55 of file IndividualMarkers.cpp.

Function Documentation

void configCallback	(	ar_track_alvar::ParamsConfig &	config,
		uint32_t	level
	)

Definition at line 477 of file IndividualMarkers.cpp.

void draw3dPoints	(	ARCloud::Ptr	cloud,
		string	frame,
		int	color,
		int	id,
		double	rad
	)

Definition at line 91 of file IndividualMarkers.cpp.

void drawArrow	(	gm::Point	start,
		tf::Matrix3x3	mat,
		string	frame,
		int	color,
		int	id
	)

Definition at line 139 of file IndividualMarkers.cpp.

void GetMarkerPoses	(	IplImage *	image,
		ARCloud &	cloud
	)

Definition at line 271 of file IndividualMarkers.cpp.

void getPointCloudCallback

(

const sensor_msgs::PointCloud2ConstPtr &

msg

)

Definition at line 320 of file IndividualMarkers.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 491 of file IndividualMarkers.cpp.

int PlaneFitPoseImprovement	(	int	id,
		const ARCloud &	corners_3D,
		ARCloud::Ptr	selected_points,
		const ARCloud &	cloud,
		Pose &	p
	)

Definition at line 191 of file IndividualMarkers.cpp.

Variable Documentation

ros::Publisher arMarkerPub_

Definition at line 67 of file IndividualMarkers.cpp.

ar_track_alvar_msgs::AlvarMarkers arPoseMarkers_

Definition at line 70 of file IndividualMarkers.cpp.

Camera* cam

Definition at line 63 of file IndividualMarkers.cpp.

std::string cam_image_topic

Definition at line 83 of file IndividualMarkers.cpp.

std::string cam_info_topic

Definition at line 84 of file IndividualMarkers.cpp.

image_transport::Subscriber cam_sub_

Definition at line 65 of file IndividualMarkers.cpp.

ros::Subscriber cloud_sub_

Definition at line 66 of file IndividualMarkers.cpp.

cv_bridge::CvImagePtr cv_ptr_

Definition at line 64 of file IndividualMarkers.cpp.

bool enabled = true

Definition at line 77 of file IndividualMarkers.cpp.

bool enableSwitched = false

Definition at line 76 of file IndividualMarkers.cpp.

bool init =true

Definition at line 62 of file IndividualMarkers.cpp.

MarkerDetector<MarkerData> marker_detector

Definition at line 74 of file IndividualMarkers.cpp.

int marker_margin = 2

Definition at line 87 of file IndividualMarkers.cpp.

int marker_resolution = 5

Definition at line 86 of file IndividualMarkers.cpp.

double marker_size

Definition at line 80 of file IndividualMarkers.cpp.

double max_frequency

Definition at line 79 of file IndividualMarkers.cpp.

double max_new_marker_error

Definition at line 81 of file IndividualMarkers.cpp.

double max_track_error

Definition at line 82 of file IndividualMarkers.cpp.

std::string output_frame

Definition at line 85 of file IndividualMarkers.cpp.

bool output_frame_from_msg

Definition at line 78 of file IndividualMarkers.cpp.

visualization_msgs::Marker rvizMarker_

Definition at line 71 of file IndividualMarkers.cpp.

ros::Publisher rvizMarkerPub2_

Definition at line 69 of file IndividualMarkers.cpp.

ros::Publisher rvizMarkerPub_

Definition at line 68 of file IndividualMarkers.cpp.

tf::TransformBroadcaster* tf_broadcaster

Definition at line 73 of file IndividualMarkers.cpp.

tf::TransformListener* tf_listener

Definition at line 72 of file IndividualMarkers.cpp.