Struct LedFinder::CloudDifferenceTracker

Defined in File led_finder.hpp

Nested Relationships

This struct is a nested type of Class LedFinder.

Struct Documentation

struct CloudDifferenceTracker

Internally used within LED finder to track each of several LEDs.

Public Functions

CloudDifferenceTracker(std::string frame, double x, double y, double z)

bool process(sensor_msgs::msg::PointCloud2 &cloud, sensor_msgs::msg::PointCloud2 &prev, geometry_msgs::msg::Point &led_point, double max_distance, double weight)

Update the tracker based on new cloud compared to previous.

Parameters:

cloud – The newest cloud
prev – The previous cloud
led_point – The expected pose of this led in cloud frame
max_distance – The maximum distance from expected led pose that we should consider changes.
weight – Whether the change between frames should increase or decrease the LED point values. Should be +/- 1 typically.

bool isFound(const sensor_msgs::msg::PointCloud2 &cloud, double threshold)

bool getRefinedCentroid(const sensor_msgs::msg::PointCloud2 &cloud, geometry_msgs::msg::PointStamped &centroid)

void reset(size_t height, size_t width)

sensor_msgs::msg::Image getImage()

Public Members

std::vector<double> diff_

double max_

int max_idx_

int count_

size_t height_

size_t width_

std::string frame_

geometry_msgs::msg::Point point_