#include <tracker-client.hh>

Classes
struct	reconfigureSrvStruct

Public Types
typedef vpImage< unsigned char >	image_t

typedef std::vector< vpImagePoint >	imagePoints_t

typedef std::vector< vpPoint >	points_t

Public Member Functions
void	spin ()

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

	~TrackerClient ()

Protected Member Functions
void	checkInputs ()
	Make sure the topics we subscribe already exist. More...

std::string	fetchResource (const std::string &)

void	init ()

void	initPoint (unsigned &i, points_t &points, imagePoints_t &imagePoints, ros::Rate &rate, vpPose &pose)

points_t	loadInitializationPoints ()

vpHomogeneousMatrix	loadInitialPose ()

void	loadModel ()

bool	makeModelFile (boost::filesystem::ofstream &modelStream, const std::string &resourcePath, std::string &fullModelPath)

void	saveInitialPose (const vpHomogeneousMatrix &cMo)

void	sendcMo (const vpHomogeneousMatrix &cMo)

bool	validatePose (const vpHomogeneousMatrix &cMo)

void	waitForImage ()

Private Member Functions
bool	exiting ()

Private Attributes
boost::filesystem::path	bInitPath_

boost::filesystem::path	bModelPath_

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...

bool	confirmInit_

volatile bool &	exiting_

double	frameSize_

std_msgs::Header	header_

image_t	image_

image_transport::ImageTransport	imageTransport_

sensor_msgs::CameraInfoConstPtr	info_

vpKltOpencv	kltTracker_

std::string	modelName_

std::string	modelPath_

std::string	modelPathAndExt_

vpMe	movingEdge_

boost::recursive_mutex	mutex_

ros::NodeHandle &	nodeHandle_

ros::NodeHandle &	nodeHandlePrivate_

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_

resource_retriever::Retriever	resourceRetriever_

bool	startFromSavedPose_

vpMbTracker *	tracker_

std::string	trackerType_

Detailed Description

Definition at line 39 of file tracker-client.hh.

Member Typedef Documentation

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

Definition at line 42 of file tracker-client.hh.

typedef std::vector<vpImagePoint> visp_tracker::TrackerClient::imagePoints_t

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

typedef std::vector<vpPoint> visp_tracker::TrackerClient::points_t

Definition at line 43 of file tracker-client.hh.

Constructor & Destructor Documentation

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

Definition at line 46 of file tracker-client.cpp.

visp_tracker::TrackerClient::~TrackerClient ( )

Definition at line 337 of file tracker-client.cpp.

Member Function Documentation

void visp_tracker::TrackerClient::checkInputs ( )

protected

Make sure the topics we subscribe already exist.

Definition at line 231 of file tracker-client.cpp.

bool visp_tracker::TrackerClient::exiting ( )

inlineprivate

Definition at line 88 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::fetchResource ( const std::string & s )

protected

Definition at line 834 of file tracker-client.cpp.

void visp_tracker::TrackerClient::init ( )

protected

Definition at line 665 of file tracker-client.cpp.

void visp_tracker::TrackerClient::initPoint	(	unsigned &	i,
		points_t &	points,
		imagePoints_t &	imagePoints,
		ros::Rate &	rate,
		vpPose &	pose
	)

protected

Definition at line 781 of file tracker-client.cpp.

TrackerClient::points_t visp_tracker::TrackerClient::loadInitializationPoints ( )

protected

Definition at line 577 of file tracker-client.cpp.

vpHomogeneousMatrix visp_tracker::TrackerClient::loadInitialPose ( )

protected

Definition at line 468 of file tracker-client.cpp.

void visp_tracker::TrackerClient::loadModel ( )

protected

Definition at line 408 of file tracker-client.cpp.

bool visp_tracker::TrackerClient::makeModelFile	(	boost::filesystem::ofstream &	modelStream,
		const std::string &	resourcePath,
		std::string &	fullModelPath
	)

protected

Definition at line 847 of file tracker-client.cpp.

void visp_tracker::TrackerClient::saveInitialPose ( const vpHomogeneousMatrix & cMo )

protected

Definition at line 530 of file tracker-client.cpp.

void visp_tracker::TrackerClient::sendcMo ( const vpHomogeneousMatrix & cMo )

protected

Definition at line 352 of file tracker-client.cpp.

void visp_tracker::TrackerClient::spin ( )

Definition at line 240 of file tracker-client.cpp.

bool visp_tracker::TrackerClient::validatePose ( const vpHomogeneousMatrix & cMo )

protected

Definition at line 635 of file tracker-client.cpp.

void visp_tracker::TrackerClient::waitForImage ( )

protected

Definition at line 821 of file tracker-client.cpp.

Member Data Documentation

boost::filesystem::path visp_tracker::TrackerClient::bInitPath_

private

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

boost::filesystem::path visp_tracker::TrackerClient::bModelPath_

private

Definition at line 114 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::cameraInfoTopic_

private

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

vpCameraParameters visp_tracker::TrackerClient::cameraParameters_

private

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

std::string visp_tracker::TrackerClient::cameraPrefix_

private

Definition at line 108 of file tracker-client.hh.

image_transport::CameraSubscriber visp_tracker::TrackerClient::cameraSubscriber_

private

Definition at line 117 of file tracker-client.hh.

image_proc::AdvertisementChecker visp_tracker::TrackerClient::checkInputs_

private

Helper used to check that subscribed topics exist.

Definition at line 136 of file tracker-client.hh.

bool visp_tracker::TrackerClient::confirmInit_

private

Definition at line 133 of file tracker-client.hh.

volatile bool& visp_tracker::TrackerClient::exiting_

private

Definition at line 93 of file tracker-client.hh.

double visp_tracker::TrackerClient::frameSize_

private

Definition at line 112 of file tracker-client.hh.

std_msgs::Header visp_tracker::TrackerClient::header_

private

Definition at line 124 of file tracker-client.hh.

image_t visp_tracker::TrackerClient::image_

private

Definition at line 102 of file tracker-client.hh.

image_transport::ImageTransport visp_tracker::TrackerClient::imageTransport_

private

Definition at line 100 of file tracker-client.hh.

sensor_msgs::CameraInfoConstPtr visp_tracker::TrackerClient::info_

private

Definition at line 125 of file tracker-client.hh.

vpKltOpencv visp_tracker::TrackerClient::kltTracker_

private

Definition at line 128 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::modelName_

private

Definition at line 106 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::modelPath_

private

Definition at line 104 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::modelPathAndExt_

private

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

vpMe visp_tracker::TrackerClient::movingEdge_

private

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

boost::recursive_mutex visp_tracker::TrackerClient::mutex_

private

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

ros::NodeHandle& visp_tracker::TrackerClient::nodeHandle_

private

Definition at line 97 of file tracker-client.hh.

ros::NodeHandle& visp_tracker::TrackerClient::nodeHandlePrivate_

private

Definition at line 98 of file tracker-client.hh.

unsigned visp_tracker::TrackerClient::queueSize_

private

Definition at line 95 of file tracker-client.hh.

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

private

Definition at line 122 of file tracker-client.hh.

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

private

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

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

private

Definition at line 120 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::rectifiedImageTopic_

private

Definition at line 109 of file tracker-client.hh.

resource_retriever::Retriever visp_tracker::TrackerClient::resourceRetriever_

private

Definition at line 138 of file tracker-client.hh.

bool visp_tracker::TrackerClient::startFromSavedPose_

private

Definition at line 132 of file tracker-client.hh.

vpMbTracker* visp_tracker::TrackerClient::tracker_

private

Definition at line 130 of file tracker-client.hh.

std::string visp_tracker::TrackerClient::trackerType_

private

Definition at line 111 of file tracker-client.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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation