main.cpp File Reference

#include <iostream>
#include <string.h>
#include <fstream>
#include <algorithm>
#include <iterator>
#include "kf_tracker/featureDetection.h"
#include "kf_tracker/CKalmanFilter.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/video.hpp>
#include "opencv2/video/tracking.hpp"
#include <ros/ros.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include "pcl_ros/point_cloud.h"
#include <geometry_msgs/Point.h>
#include <std_msgs/Float32MultiArray.h>
#include <std_msgs/Int32MultiArray.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/common/geometry.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/common/centroid.h>
#include <visualization_msgs/MarkerArray.h>
#include <visualization_msgs/Marker.h>
#include <limits>
#include <utility>

Include dependency graph for main.cpp:

Go to the source code of this file.

Functions
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &input)
double	euclidean_distance (geometry_msgs::Point &p1, geometry_msgs::Point &p2)
std::pair< int, int >	findIndexOfMin (std::vector< std::vector< float > > distMat)
cv::KalmanFilter	KF0 (stateDim, measDim, ctrlDim, CV_32F)
cv::KalmanFilter	KF1 (stateDim, measDim, ctrlDim, CV_32F)
cv::KalmanFilter	KF2 (stateDim, measDim, ctrlDim, CV_32F)
cv::KalmanFilter	KF3 (stateDim, measDim, ctrlDim, CV_32F)
cv::KalmanFilter	KF4 (stateDim, measDim, ctrlDim, CV_32F)
cv::KalmanFilter	KF5 (stateDim, measDim, ctrlDim, CV_32F)
void	KFT (const std_msgs::Float32MultiArray ccs)
int	main (int argc, char **argv)
cv::Mat_< float >	measurement (2, 1)
void	publish_cloud (ros::Publisher &pub, pcl::PointCloud< pcl::PointXYZ >::Ptr cluster)
cv::Mat	state (stateDim, 1, CV_32F)
Variables
int	ctrlDim = 0
bool	firstFrame = true
ros::Publisher	markerPub
int	measDim = 2
std::vector< int >	objID
ros::Publisher	objID_pub
std::vector< geometry_msgs::Point >	prevClusterCenters
ros::Publisher	pub_cluster0
ros::Publisher	pub_cluster1
ros::Publisher	pub_cluster2
ros::Publisher	pub_cluster3
ros::Publisher	pub_cluster4
ros::Publisher	pub_cluster5
int	stateDim = 4

---

Function Documentation

void cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

input

)

Definition at line 341 of file main.cpp.

double euclidean_distance	(	geometry_msgs::Point &	p1,
		geometry_msgs::Point &	p2
	)

Definition at line 79 of file main.cpp.

std::pair<int,int> findIndexOfMin

(

std::vector< std::vector< float > >

distMat

)

Definition at line 104 of file main.cpp.

cv::KalmanFilter KF0	(	stateDim	,
		measDim	,
		ctrlDim	,
		CV_32F
	)

cv::KalmanFilter KF1	(	stateDim	,
		measDim	,
		ctrlDim	,
		CV_32F
	)

cv::KalmanFilter KF2	(	stateDim	,
		measDim	,
		ctrlDim	,
		CV_32F
	)

cv::KalmanFilter KF3	(	stateDim	,
		measDim	,
		ctrlDim	,
		CV_32F
	)

cv::KalmanFilter KF4	(	stateDim	,
		measDim	,
		ctrlDim	,
		CV_32F
	)

cv::KalmanFilter KF5	(	stateDim	,
		measDim	,
		ctrlDim	,
		CV_32F
	)

void KFT

(

const std_msgs::Float32MultiArray

ccs

)

Definition at line 124 of file main.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 703 of file main.cpp.

cv::Mat_<float> measurement	(	2	,
		1
	)

void publish_cloud	(	ros::Publisher &	pub,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cluster
	)

Definition at line 331 of file main.cpp.

cv::Mat state	(	stateDim	,
		1	,
		CV_32F
	)

---

Variable Documentation

int ctrlDim = 0

Definition at line 50 of file main.cpp.

bool firstFrame = true

Definition at line 76 of file main.cpp.

ros::Publisher markerPub

Definition at line 65 of file main.cpp.

int measDim = 2

Definition at line 49 of file main.cpp.

std::vector<int> objID

Definition at line 73 of file main.cpp.

ros::Publisher objID_pub

Definition at line 45 of file main.cpp.

std::vector<geometry_msgs::Point> prevClusterCenters

Definition at line 67 of file main.cpp.

ros::Publisher pub_cluster0

Definition at line 58 of file main.cpp.

ros::Publisher pub_cluster1

Definition at line 59 of file main.cpp.

ros::Publisher pub_cluster2

Definition at line 60 of file main.cpp.

ros::Publisher pub_cluster3

Definition at line 61 of file main.cpp.

ros::Publisher pub_cluster4

Definition at line 62 of file main.cpp.

ros::Publisher pub_cluster5

Definition at line 63 of file main.cpp.

int stateDim = 4

Definition at line 48 of file main.cpp.