unified_tracker_node.cpp File Reference

#include <cv_bridge/cv_bridge.h>
#include <homography_optimizer/unified.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <ros/ros.h>
#include <std_msgs/Char.h>
#include <vtec_msgs/TrackingResult.h>

Include dependency graph for unified_tracker_node.cpp:

Go to the source code of this file.

Enumerations
enum	tracking_states {   STARTING = 0, NOT_TRACKING = 1, TRACKING = 2, STARTING = 0,   NOT_TRACKING = 1, TRACKING = 2 }

Functions
void	cmdCallback (const std_msgs::Char cmd_msg)
	Callback for the keyboard command. More...
void	fillTrackingMsg (vtec_msgs::TrackingResult &msg, const double score, const cv::Mat &H, const float alpha, const float beta, int bbox_size_x, int bbox_size_y)
	Fills a vtec_msgs/TrackingResult message. More...
void	imageCallback (const sensor_msgs::ImageConstPtr &msg)
	Callback to handle incoming images. More...
int	main (int argc, char **argv)
void	start_tracking ()
	Starts a tracking. More...

Variables
float	alpha
image_transport::Publisher *	annotated_pub_ptr
int	BBOX_POS_X
int	BBOX_POS_Y
int	BBOX_SIZE_X
int	BBOX_SIZE_Y
float	beta
cv::Mat	cur_img
cv::Mat	H
int	image_index = 0
ros::Time	last_ref_pub_time
cv::Mat	out_ref_template
image_transport::Publisher *	reference_pub_ptr
ros::Publisher *	results_pub_ptr
image_transport::Publisher *	stabilized_pub_ptr
bool	start_command = false
int	state = STARTING
VTEC::UnifiedHomographyOptimizer *	unified_optimizer

Enumeration Type Documentation

enum tracking_states

Enumerator
STARTING
NOT_TRACKING
TRACKING
STARTING
NOT_TRACKING
TRACKING

Definition at line 9 of file unified_tracker_node.cpp.

Function Documentation

void cmdCallback

(

const std_msgs::Char

cmd_msg

)

Callback for the keyboard command.

Parameters

[in]

cmd_msg

The command message

Definition at line 201 of file unified_tracker_node.cpp.

void fillTrackingMsg	(	vtec_msgs::TrackingResult &	msg,
		const double	score,
		const cv::Mat &	H,
		const float	alpha,
		const float	beta,
		int	bbox_size_x,
		int	bbox_size_y
	)

Fills a vtec_msgs/TrackingResult message.

Parameters

	msg	The message
[in]	score	The (zncc) score
[in]	H	The homography matrix
[in]	alpha	The photometric gain
[in]	beta	The photometric bias
[in]	bbox_size_x	The bounding box size x
[in]	bbox_size_y	The bounding box size y

Definition at line 46 of file unified_tracker_node.cpp.

void imageCallback

(

const sensor_msgs::ImageConstPtr &

msg

)

Callback to handle incoming images.

Parameters

[in]

msg

The message

Definition at line 112 of file unified_tracker_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 215 of file unified_tracker_node.cpp.

void start_tracking

(

)

Starts a tracking.

Definition at line 91 of file unified_tracker_node.cpp.

Variable Documentation

float alpha

Definition at line 19 of file unified_tracker_node.cpp.

image_transport::Publisher* annotated_pub_ptr

Definition at line 20 of file unified_tracker_node.cpp.

int BBOX_POS_X

Definition at line 25 of file unified_tracker_node.cpp.

int BBOX_POS_Y

Definition at line 25 of file unified_tracker_node.cpp.

int BBOX_SIZE_X

Definition at line 24 of file unified_tracker_node.cpp.

int BBOX_SIZE_Y

Definition at line 24 of file unified_tracker_node.cpp.

float beta

Definition at line 19 of file unified_tracker_node.cpp.

cv::Mat cur_img

Definition at line 31 of file unified_tracker_node.cpp.

cv::Mat H

Definition at line 18 of file unified_tracker_node.cpp.

int image_index = 0

Definition at line 33 of file unified_tracker_node.cpp.

ros::Time last_ref_pub_time

Definition at line 27 of file unified_tracker_node.cpp.

cv::Mat out_ref_template

Definition at line 28 of file unified_tracker_node.cpp.

image_transport::Publisher * reference_pub_ptr

Definition at line 20 of file unified_tracker_node.cpp.

ros::Publisher* results_pub_ptr

Definition at line 21 of file unified_tracker_node.cpp.

image_transport::Publisher * stabilized_pub_ptr

Definition at line 20 of file unified_tracker_node.cpp.

bool start_command = false

Definition at line 30 of file unified_tracker_node.cpp.

int state = STARTING

Definition at line 23 of file unified_tracker_node.cpp.

VTEC::UnifiedHomographyOptimizer* unified_optimizer

Definition at line 16 of file unified_tracker_node.cpp.