TrainMarkerBundle.cpp File Reference

#include "ar_track_alvar/CvTestbed.h"
#include "ar_track_alvar/MarkerDetector.h"
#include "ar_track_alvar/MultiMarkerBundle.h"
#include "ar_track_alvar/MultiMarkerInitializer.h"
#include "ar_track_alvar/Shared.h"
#include <cv_bridge/cv_bridge.h>
#include <ar_track_alvar_msgs/AlvarMarker.h>
#include <ar_track_alvar_msgs/AlvarMarkers.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/image_encodings.h>
#include <Eigen/StdVector>

Include dependency graph for TrainMarkerBundle.cpp:

Go to the source code of this file.

Macros
#define	GHOST_MARKER   3
#define	MAIN_MARKER   1
#define	VISIBLE_MARKER   2

Functions
void	getCapCallback (const sensor_msgs::ImageConstPtr &image_msg)
double	GetMultiMarkerPose (IplImage *image, Pose &pose)
int	keyCallback (int key)
int	keyProcess (int key)
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_msgs::AlvarMarker *ar_pose_marker)

Variables
bool	add_measurement =false
ros::Publisher	arMarkerPub_
ar_track_alvar_msgs::AlvarMarkers	arPoseMarkers_
bool	auto_collect
int	auto_count
Camera *	cam
std::string	cam_image_topic
std::string	cam_info_topic
image_transport::Subscriber	cam_sub_
cv_bridge::CvImagePtr	cv_ptr_
bool	init =true
MarkerDetector< MarkerData >	marker_detector
double	marker_size
double	max_new_marker_error
double	max_track_error
MultiMarkerBundle *	multi_marker_bundle =NULL
MultiMarkerInitializer *	multi_marker_init =NULL
int	nof_markers
bool	optimize = false
bool	optimize_done = false
std::string	output_frame
ros::Publisher	rvizMarkerPub_
tf::TransformBroadcaster *	tf_broadcaster
tf::TransformListener *	tf_listener

Macro Definition Documentation

#define GHOST_MARKER   3

Definition at line 56 of file TrainMarkerBundle.cpp.

#define MAIN_MARKER   1

Definition at line 54 of file TrainMarkerBundle.cpp.

#define VISIBLE_MARKER   2

Definition at line 55 of file TrainMarkerBundle.cpp.

Function Documentation

void getCapCallback

(

const sensor_msgs::ImageConstPtr &

image_msg

)

Definition at line 245 of file TrainMarkerBundle.cpp.

double GetMultiMarkerPose	(	IplImage *	image,
		Pose &	pose
	)

Definition at line 91 of file TrainMarkerBundle.cpp.

int keyCallback

(

int

key

)

int keyProcess

(

int

key

)

Definition at line 319 of file TrainMarkerBundle.cpp.

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

Definition at line 373 of file TrainMarkerBundle.cpp.

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

Definition at line 168 of file TrainMarkerBundle.cpp.

Variable Documentation

bool add_measurement =false

Definition at line 73 of file TrainMarkerBundle.cpp.

ros::Publisher arMarkerPub_

Definition at line 61 of file TrainMarkerBundle.cpp.

ar_track_alvar_msgs::AlvarMarkers arPoseMarkers_

Definition at line 63 of file TrainMarkerBundle.cpp.

bool auto_collect

Definition at line 70 of file TrainMarkerBundle.cpp.

int auto_count

Definition at line 69 of file TrainMarkerBundle.cpp.

Camera* cam

Definition at line 58 of file TrainMarkerBundle.cpp.

std::string cam_image_topic

Definition at line 80 of file TrainMarkerBundle.cpp.

std::string cam_info_topic

Definition at line 81 of file TrainMarkerBundle.cpp.

image_transport::Subscriber cam_sub_

Definition at line 60 of file TrainMarkerBundle.cpp.

cv_bridge::CvImagePtr cv_ptr_

Definition at line 59 of file TrainMarkerBundle.cpp.

bool init =true

Definition at line 72 of file TrainMarkerBundle.cpp.

MarkerDetector<MarkerData> marker_detector

Definition at line 66 of file TrainMarkerBundle.cpp.

double marker_size

Definition at line 77 of file TrainMarkerBundle.cpp.

double max_new_marker_error

Definition at line 78 of file TrainMarkerBundle.cpp.

double max_track_error

Definition at line 79 of file TrainMarkerBundle.cpp.

MultiMarkerBundle* multi_marker_bundle =NULL

Definition at line 68 of file TrainMarkerBundle.cpp.

MultiMarkerInitializer* multi_marker_init =NULL

Definition at line 67 of file TrainMarkerBundle.cpp.

int nof_markers

Definition at line 83 of file TrainMarkerBundle.cpp.

bool optimize = false

Definition at line 74 of file TrainMarkerBundle.cpp.

bool optimize_done = false

Definition at line 75 of file TrainMarkerBundle.cpp.

std::string output_frame

Definition at line 82 of file TrainMarkerBundle.cpp.

ros::Publisher rvizMarkerPub_

Definition at line 62 of file TrainMarkerBundle.cpp.

tf::TransformBroadcaster* tf_broadcaster

Definition at line 65 of file TrainMarkerBundle.cpp.

tf::TransformListener* tf_listener

Definition at line 64 of file TrainMarkerBundle.cpp.