#include "CvTestbed.h"
#include "MarkerDetector.h"
#include "MultiMarkerBundle.h"
#include "MultiMarkerInitializer.h"
#include "Shared.h"
#include <cv_bridge/CvBridge.h>
#include <ar_track_alvar/AlvarMarker.h>
#include <ar_track_alvar/AlvarMarkers.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/registration.h>
#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/filters/extract_indices.h>
#include <boost/lexical_cast.hpp>
#include <LinearMath/btMatrix3x3.h>
#include <Eigen/Core>
#include <ar_track_alvar/kinect_filtering.h>
#include <ar_track_alvar/medianFilter.h>

Include dependency graph for FindMarkerBundles.cpp:

Defines
#define	GHOST_MARKER 3
#define	MAIN_MARKER 1
#define	VISIBLE_MARKER 2
Typedefs
typedef pcl::PointCloud< ARPoint >	ARCloud
typedef pcl::PointXYZRGB	ARPoint
Functions
int	calcAndSaveMasterCoords (MultiMarkerBundle &master)
void	draw3dPoints (ARCloud::Ptr cloud, string frame, int color, int id, double rad)
void	drawArrow (gm::Point start, btMatrix3x3 mat, string frame, int color, int id)
void	GetMultiMarkerPoses (IplImage *image, ARCloud &cloud)
void	getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
int	InferCorners (const ARCloud &cloud, MultiMarkerBundle &master, ARCloud &bund_corners)
int	main (int argc, char *argv[])
void	makeMarkerMsgs (int type, int id, Pose &p, sensor_msgs::ImageConstPtr image_msg, tf::StampedTransform &CamToOutput, visualization_msgs::Marker rvizMarker, ar_track_alvar::AlvarMarker ar_pose_marker, int confidence)
int	makeMasterTransform (const CvPoint3D64f &p0, const CvPoint3D64f &p1, const CvPoint3D64f &p2, const CvPoint3D64f &p3, btTransform &retT)
int	PlaneFitPoseImprovement (int id, const ARCloud &corners_3D, ARCloud::Ptr selected_points, const ARCloud &cloud, Pose &p)
Variables
ros::Publisher	arMarkerPub_
ar_track_alvar::AlvarMarkers	arPoseMarkers_
sensor_msgs::CvBridge	bridge_
std::vector< int > *	bundle_indices
Pose *	bundlePoses
int *	bundles_seen
Camera *	cam
std::string	cam_image_topic
std::string	cam_info_topic
image_transport::Subscriber	cam_sub_
IplImage *	capture_
ros::Subscriber	cloud_sub_
bool	init = true
MarkerDetector< MarkerData >	marker_detector
double	marker_size
int *	master_id
bool *	master_visible
double	max_new_marker_error
double	max_track_error
int	med_filt_size
ata::MedianFilter **	med_filts
MultiMarkerBundle **	multi_marker_bundles = NULL
int	n_bundles = 0
std::string	output_frame
ros::Publisher	rvizMarkerPub2_
ros::Publisher	rvizMarkerPub_
tf::TransformBroadcaster *	tf_broadcaster
tf::TransformListener *	tf_listener

Define Documentation

#define GHOST_MARKER 3

Definition at line 73 of file FindMarkerBundles.cpp.

#define MAIN_MARKER 1

Definition at line 71 of file FindMarkerBundles.cpp.

#define VISIBLE_MARKER 2

Definition at line 72 of file FindMarkerBundles.cpp.

Typedef Documentation

typedef pcl::PointCloud<ARPoint> ARCloud

Definition at line 79 of file FindMarkerBundles.cpp.

typedef pcl::PointXYZRGB ARPoint

Definition at line 78 of file FindMarkerBundles.cpp.

Function Documentation

int calcAndSaveMasterCoords ( MultiMarkerBundle & master )

Definition at line 731 of file FindMarkerBundles.cpp.

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

Definition at line 117 of file FindMarkerBundles.cpp.

void drawArrow	(	gm::Point	start,
		btMatrix3x3	mat,
		string	frame,
		int	color,
		int	id
	)

Definition at line 165 of file FindMarkerBundles.cpp.

void GetMultiMarkerPoses	(	IplImage *	image,
		ARCloud &	cloud
	)

Definition at line 376 of file FindMarkerBundles.cpp.

void getPointCloudCallback ( const sensor_msgs::PointCloud2ConstPtr & msg )

Definition at line 594 of file FindMarkerBundles.cpp.

int InferCorners	(	const ARCloud &	cloud,
		MultiMarkerBundle &	master,
		ARCloud &	bund_corners
	)

Definition at line 219 of file FindMarkerBundles.cpp.

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

Examples:: SampleCamCalib.cpp, SampleCvTestbed.cpp, SampleFilter.cpp, SampleIntegralImage.cpp, SampleLabeling.cpp, SampleMarkerCreator.cpp, SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMarkerlessCreator.cpp, SampleMarkerlessDetector.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, SampleOptimization.cpp, SamplePointcloud.cpp, and SampleTrack.cpp.

Definition at line 771 of file FindMarkerBundles.cpp.

void makeMarkerMsgs	(	int	type,
		int	id,
		Pose &	p,
		sensor_msgs::ImageConstPtr	image_msg,
		tf::StampedTransform &	CamToOutput,
		visualization_msgs::Marker *	rvizMarker,
		ar_track_alvar::AlvarMarker *	ar_pose_marker,
		int	confidence
	)