ar_kinect.h
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00001 /*
00002  *  Multi Marker Pose Estimation using ARToolkit
00003  *  Copyright (C) 2010, CCNY Robotics Lab, 2011 ILS Robotics Lab
00004  *  Ivan Dryanovski <ivan.dryanovski@gmail.com>
00005  *  William Morris <morris@ee.ccny.cuny.edu>
00006  *  Gautier Dumonteil <gautier.dumonteil@gmail.com>
00007  *  http://robotics.ccny.cuny.edu
00008  * 
00009  *  Michael Ferguson <ferguson@cs.albany.edu>
00010  *  http://robotics.ils.albany.edu
00011  *
00012  *  This program is free software: you can redistribute it and/or modify
00013  *  it under the terms of the GNU General Public License as published by
00014  *  the Free Software Foundation, either version 3 of the License, or
00015  *  (at your option) any later version.
00016  *
00017  *  This program is distributed in the hope that it will be useful,
00018  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00019  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00020  *  GNU General Public License for more details.
00021  *
00022  *  You should have received a copy of the GNU General Public License
00023  *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
00024  */
00025 
00026 #ifndef AR_POSE_AR_MULTI_H
00027 #define AR_POSE_AR_MULTI_H
00028 
00029 #include <string.h>
00030 #include <stdarg.h>
00031 
00032 #include <AR/gsub.h>
00033 #include <AR/video.h>
00034 #include <AR/param.h>
00035 #include <AR/ar.h>
00036 #include <AR/arMulti.h>
00037 
00038 #include <ros/ros.h>
00039 #include <ros/package.h>
00040 #include <ros/console.h>
00041 #include <geometry_msgs/TransformStamped.h>
00042 #include <tf/transform_broadcaster.h>
00043 #include <visualization_msgs/Marker.h>
00044 
00045 #include <sensor_msgs/PointCloud2.h>
00046 #include <pcl/ros/conversions.h>
00047 #include <pcl/point_types.h>
00048 #include <pcl/registration/icp.h>
00049 #include <pcl/registration/registration.h>
00050 #include <pcl/registration/transformation_estimation_svd.h>
00051 
00052 #include <opencv/cv.h>
00053 #include <cv_bridge/cv_bridge.h>
00054 #include <sensor_msgs/image_encodings.h>
00055 
00056 #include <ar_pose/ARMarkers.h>
00057 #include <ar_pose/ARMarker.h>
00058 #include <ar_kinect/object.h>
00059 
00060 const std::string cloudTopic_ = "points";
00061 
00062 const double AR_TO_ROS = 0.001;
00063 typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
00064 typedef pcl::registration::TransformationEstimationSVD<pcl::PointXYZRGB, pcl::PointXYZRGB> TransformationEstimationSVD;
00065 
00066 namespace ar_pose
00067 {
00068   class ARPublisher
00069   {
00070   public:
00071     ARPublisher (ros::NodeHandle & n);
00072     ~ARPublisher (void);
00073 
00074   private:
00075     void arInit ();
00076     void getTransformationCallback (const sensor_msgs::PointCloud2ConstPtr &);
00077 
00078     ros::NodeHandle n_;
00079     tf::TransformBroadcaster broadcaster_;
00080     ros::Subscriber cloud_sub_;
00081     ros::Publisher arMarkerPub_;
00082 
00083     // **** for visualisation in rviz
00084     ros::Publisher rvizMarkerPub_;
00085     visualization_msgs::Marker rvizMarker_;
00086 
00087     // **** parameters
00088     ARParam cam_param_;         // Camera Calibration Parameters
00089     ARMultiMarkerInfoT *config; // AR Marker Info
00090     ar_object::ObjectData_T * object;
00091     int objectnum;
00092     char pattern_filename_[FILENAME_MAX];
00093     char data_directory_[FILENAME_MAX];
00094 
00095     ar_pose::ARMarkers arPoseMarkers_;
00096     int threshold_;
00097     bool getCamInfo_;
00098     bool publishTf_;
00099     bool publishVisualMarkers_;
00100     CvSize sz_;
00101     IplImage *capture_;
00102     bool configured_;
00103   };                            // end class ARPublisher
00104 }                               //end namespace ar_pose
00105 
00106 #endif


ar_kinect
Author(s): Michael Ferguson
autogenerated on Sun Oct 5 2014 22:12:31