#include <tracker.hh>

Classes
struct	reconfigureSrvStruct

Public Types
typedef vpImage< unsigned char >	image_t

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

enum	State { WAITING_FOR_INITIALIZATION, TRACKING, LOST }

Public Member Functions
void	spin ()

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

	~Tracker ()

Protected Member Functions
void	checkInputs ()

bool	initCallback (visp_tracker::Init::Request &req, visp_tracker::Init::Response &res)

void	objectPositionHintCallback (const geometry_msgs::TransformStampedConstPtr &)

void	updateKltPoints (visp_tracker::KltPointsPtr klt)

void	updateMovingEdgeSites (visp_tracker::MovingEdgeSitesPtr sites)

void	waitForImage ()

Private Member Functions
bool	exiting ()

void	spinOnce ()

Private Attributes
std::string	cameraInfoTopic_

vpCameraParameters	cameraParameters_

std::string	cameraPrefix_

image_transport::CameraSubscriber	cameraSubscriber_

image_proc::AdvertisementChecker	checkInputs_
	Helper used to check that subscribed topics exist. More...

std::string	childFrameId_

vpHomogeneousMatrix	cMo_

bool	compensateRobotMotion_

volatile bool &	exiting_

std_msgs::Header	header_

image_t	image_

image_transport::ImageTransport	imageTransport_

sensor_msgs::CameraInfoConstPtr	info_

ros::ServiceServer	initService_

ros::Publisher	kltPointsPublisher_

vpKltOpencv	kltTracker_

unsigned	lastTrackedImage_

tf::TransformListener	listener_

boost::filesystem::path	modelPath_

vpMe	movingEdge_

ros::Publisher	movingEdgeSitesPublisher_

boost::recursive_mutex	mutex_

ros::NodeHandle &	nodeHandle_

ros::NodeHandle &	nodeHandlePrivate_

geometry_msgs::TransformStamped	objectPositionHint_

ros::Subscriber	objectPositionHintSubscriber_

unsigned	queueSize_

reconfigureSrvStruct< visp_tracker::ModelBasedSettingsEdgeConfig >::reconfigureSrv_t *	reconfigureEdgeSrv_

reconfigureSrvStruct< visp_tracker::ModelBasedSettingsKltConfig >::reconfigureSrv_t *	reconfigureKltSrv_

reconfigureSrvStruct< visp_tracker::ModelBasedSettingsConfig >::reconfigureSrv_t *	reconfigureSrv_

std::string	rectifiedImageTopic_

ros::Publisher	resultPublisher_

State	state_

tf::TransformBroadcaster	tfBroadcaster_

vpMbTracker *	tracker_

std::string	trackerType_

ros::Publisher	transformationPublisher_

tf::TransformBroadcaster	transformBroadcaster_

std::string	worldFrameId_

Detailed Description

Definition at line 39 of file tracker.hh.

Member Typedef Documentation

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

Definition at line 42 of file tracker.hh.

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

Definition at line 46 of file tracker.hh.

Member Enumeration Documentation

enum visp_tracker::Tracker::State

Enumerator
WAITING_FOR_INITIALIZATION
TRACKING
LOST

Definition at line 53 of file tracker.hh.

Constructor & Destructor Documentation

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

Definition at line 288 of file libvisp_tracker/tracker.cpp.

visp_tracker::Tracker::~Tracker ( )

Definition at line 490 of file libvisp_tracker/tracker.cpp.

Member Function Documentation

void visp_tracker::Tracker::checkInputs ( )

protected

Definition at line 281 of file libvisp_tracker/tracker.cpp.

bool visp_tracker::Tracker::exiting ( )

inlineprivate

Definition at line 82 of file tracker.hh.

bool visp_tracker::Tracker::initCallback	(	visp_tracker::Init::Request &	req,
		visp_tracker::Init::Response &	res
	)

protected

Definition at line 39 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::objectPositionHintCallback ( const geometry_msgs::TransformStampedConstPtr & transform )

protected

Definition at line 698 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::spin ( )

Definition at line 504 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::spinOnce ( )

inlineprivate

Definition at line 87 of file tracker.hh.

void visp_tracker::Tracker::updateKltPoints ( visp_tracker::KltPointsPtr klt )

protected

Definition at line 221 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::updateMovingEdgeSites ( visp_tracker::MovingEdgeSitesPtr sites )

protected

Definition at line 155 of file libvisp_tracker/tracker.cpp.

void visp_tracker::Tracker::waitForImage ( )

protected

Definition at line 683 of file libvisp_tracker/tracker.cpp.

Member Data Documentation

std::string visp_tracker::Tracker::cameraInfoTopic_

private

Definition at line 108 of file tracker.hh.

vpCameraParameters visp_tracker::Tracker::cameraParameters_

private

Definition at line 133 of file tracker.hh.

std::string visp_tracker::Tracker::cameraPrefix_

private

Definition at line 106 of file tracker.hh.

image_transport::CameraSubscriber visp_tracker::Tracker::cameraSubscriber_

private

Definition at line 112 of file tracker.hh.

image_proc::AdvertisementChecker visp_tracker::Tracker::checkInputs_

private

Helper used to check that subscribed topics exist.

Definition at line 139 of file tracker.hh.

std::string visp_tracker::Tracker::childFrameId_

private

Definition at line 148 of file tracker.hh.

vpHomogeneousMatrix visp_tracker::Tracker::cMo_

private

Definition at line 141 of file tracker.hh.

bool visp_tracker::Tracker::compensateRobotMotion_

private

Definition at line 145 of file tracker.hh.

volatile bool& visp_tracker::Tracker::exiting_

private

Definition at line 93 of file tracker.hh.

std_msgs::Header visp_tracker::Tracker::header_

private

Definition at line 128 of file tracker.hh.

image_t visp_tracker::Tracker::image_

private

Definition at line 104 of file tracker.hh.

image_transport::ImageTransport visp_tracker::Tracker::imageTransport_

private

Definition at line 99 of file tracker.hh.

sensor_msgs::CameraInfoConstPtr visp_tracker::Tracker::info_

private

Definition at line 129 of file tracker.hh.

ros::ServiceServer visp_tracker::Tracker::initService_

private

Definition at line 126 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::kltPointsPublisher_

private

Definition at line 124 of file tracker.hh.

vpKltOpencv visp_tracker::Tracker::kltTracker_

private

Definition at line 131 of file tracker.hh.

unsigned visp_tracker::Tracker::lastTrackedImage_

private

Definition at line 136 of file tracker.hh.

tf::TransformListener visp_tracker::Tracker::listener_

private

Definition at line 143 of file tracker.hh.

boost::filesystem::path visp_tracker::Tracker::modelPath_

private

Definition at line 110 of file tracker.hh.

vpMe visp_tracker::Tracker::movingEdge_

private

Definition at line 132 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::movingEdgeSitesPublisher_

private

Definition at line 123 of file tracker.hh.

boost::recursive_mutex visp_tracker::Tracker::mutex_

private

Definition at line 114 of file tracker.hh.

ros::NodeHandle& visp_tracker::Tracker::nodeHandle_

private

Definition at line 97 of file tracker.hh.

ros::NodeHandle& visp_tracker::Tracker::nodeHandlePrivate_

private

Definition at line 98 of file tracker.hh.

geometry_msgs::TransformStamped visp_tracker::Tracker::objectPositionHint_

private

Definition at line 151 of file tracker.hh.

ros::Subscriber visp_tracker::Tracker::objectPositionHintSubscriber_

private

Definition at line 150 of file tracker.hh.

unsigned visp_tracker::Tracker::queueSize_

private

Definition at line 95 of file tracker.hh.

reconfigureSrvStruct<visp_tracker::ModelBasedSettingsEdgeConfig>::reconfigureSrv_t* visp_tracker::Tracker::reconfigureEdgeSrv_

private

Definition at line 118 of file tracker.hh.

reconfigureSrvStruct<visp_tracker::ModelBasedSettingsKltConfig>::reconfigureSrv_t* visp_tracker::Tracker::reconfigureKltSrv_

private

Definition at line 117 of file tracker.hh.

reconfigureSrvStruct<visp_tracker::ModelBasedSettingsConfig>::reconfigureSrv_t* visp_tracker::Tracker::reconfigureSrv_

private

Definition at line 116 of file tracker.hh.

std::string visp_tracker::Tracker::rectifiedImageTopic_

private

Definition at line 107 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::resultPublisher_

private

Definition at line 120 of file tracker.hh.

State visp_tracker::Tracker::state_

private

Definition at line 101 of file tracker.hh.

tf::TransformBroadcaster visp_tracker::Tracker::tfBroadcaster_

private

Definition at line 122 of file tracker.hh.

vpMbTracker* visp_tracker::Tracker::tracker_

private

Definition at line 134 of file tracker.hh.

std::string visp_tracker::Tracker::trackerType_

private

Definition at line 102 of file tracker.hh.

ros::Publisher visp_tracker::Tracker::transformationPublisher_

private

Definition at line 121 of file tracker.hh.

tf::TransformBroadcaster visp_tracker::Tracker::transformBroadcaster_

private

Definition at line 147 of file tracker.hh.

std::string visp_tracker::Tracker::worldFrameId_

private

Definition at line 144 of file tracker.hh.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation