#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/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/registration.h>
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/image_encodings.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 <tf/tf.h>
#include <Eigen/Core>
#include <ar_track_alvar/filter/kinect_filtering.h>
#include <ar_track_alvar/filter/medianFilter.h>

Include dependency graph for FindMarkerBundles.cpp:

Macros
#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, tf::Matrix3x3 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_msgs::AlvarMarker ar_pose_marker, int confidence)

int	makeMasterTransform (const CvPoint3D64f &p0, const CvPoint3D64f &p1, const CvPoint3D64f &p2, const CvPoint3D64f &p3, tf::Transform &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_msgs::AlvarMarkers	arPoseMarkers_

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_

ros::Subscriber	cloud_sub_

cv_bridge::CvImagePtr	cv_ptr_

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

Macro Definition Documentation

◆ GHOST_MARKER

#define GHOST_MARKER 3

Definition at line 73 of file FindMarkerBundles.cpp.

◆ MAIN_MARKER

#define MAIN_MARKER 1

Definition at line 71 of file FindMarkerBundles.cpp.

◆ VISIBLE_MARKER

#define VISIBLE_MARKER 2

Definition at line 72 of file FindMarkerBundles.cpp.

Typedef Documentation

◆ ARCloud

typedef pcl::PointCloud<ARPoint> ARCloud

Definition at line 79 of file FindMarkerBundles.cpp.

◆ ARPoint

typedef pcl::PointXYZRGB ARPoint

Definition at line 78 of file FindMarkerBundles.cpp.

Function Documentation

◆ calcAndSaveMasterCoords()

int calcAndSaveMasterCoords ( MultiMarkerBundle & master )

Definition at line 729 of file FindMarkerBundles.cpp.

◆ draw3dPoints()

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

Definition at line 116 of file FindMarkerBundles.cpp.

◆ drawArrow()

void drawArrow	(	gm::Point	start,
		tf::Matrix3x3	mat,
		string	frame,
		int	color,
		int	id
	)

Definition at line 164 of file FindMarkerBundles.cpp.

◆ GetMultiMarkerPoses()

void GetMultiMarkerPoses	(	IplImage *	image,
		ARCloud &	cloud
	)

Definition at line 375 of file FindMarkerBundles.cpp.

◆ getPointCloudCallback()

void getPointCloudCallback ( const sensor_msgs::PointCloud2ConstPtr & msg )

Definition at line 593 of file FindMarkerBundles.cpp.

◆ InferCorners()

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

Definition at line 218 of file FindMarkerBundles.cpp.

◆ main()

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

Definition at line 769 of file FindMarkerBundles.cpp.

◆ makeMarkerMsgs()

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,
		int	confidence
	)

Definition at line 504 of file FindMarkerBundles.cpp.

◆ makeMasterTransform()

int makeMasterTransform	(	const CvPoint3D64f &	p0,
		const CvPoint3D64f &	p1,
		const CvPoint3D64f &	p2,
		const CvPoint3D64f &	p3,
		tf::Transform &	retT
	)

Definition at line 678 of file FindMarkerBundles.cpp.

◆ PlaneFitPoseImprovement()

int PlaneFitPoseImprovement	(	int	id,
		const ARCloud &	corners_3D,
		ARCloud::Ptr	selected_points,
		const ARCloud &	cloud,
		Pose &	p
	)

Definition at line 293 of file FindMarkerBundles.cpp.

Variable Documentation

◆ arMarkerPub_

ros::Publisher arMarkerPub_

Definition at line 89 of file FindMarkerBundles.cpp.

◆ arPoseMarkers_

ar_track_alvar_msgs::AlvarMarkers arPoseMarkers_

Definition at line 92 of file FindMarkerBundles.cpp.

◆ bundle_indices

std::vector<int>* bundle_indices

Definition at line 102 of file FindMarkerBundles.cpp.

◆ bundlePoses

Pose* bundlePoses

Definition at line 98 of file FindMarkerBundles.cpp.

◆ bundles_seen

int* bundles_seen

Definition at line 100 of file FindMarkerBundles.cpp.

◆ cam

Camera* cam

Examples:: SampleCamCalib.cpp, SampleMarkerHide.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, and SampleTrack.cpp.

Definition at line 85 of file FindMarkerBundles.cpp.

◆ cam_image_topic

std::string cam_image_topic

Definition at line 110 of file FindMarkerBundles.cpp.

◆ cam_info_topic

std::string cam_info_topic

Definition at line 111 of file FindMarkerBundles.cpp.

◆ cam_sub_

image_transport::Subscriber cam_sub_

Definition at line 87 of file FindMarkerBundles.cpp.

◆ cloud_sub_

ros::Subscriber cloud_sub_

Definition at line 88 of file FindMarkerBundles.cpp.

◆ cv_ptr_

cv_bridge::CvImagePtr cv_ptr_

Definition at line 86 of file FindMarkerBundles.cpp.

◆ init

bool init = true

Examples:: SampleFilter.cpp, SampleMarkerHide.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, and SampleTrack.cpp.

Definition at line 103 of file FindMarkerBundles.cpp.

◆ marker_detector

MarkerDetector<MarkerData> marker_detector

Examples:: SampleMarkerDetector.cpp, and SampleMarkerHide.cpp.

Definition at line 95 of file FindMarkerBundles.cpp.

◆ marker_size

double marker_size

Examples:: SampleMarkerHide.cpp.

Definition at line 107 of file FindMarkerBundles.cpp.

◆ master_id

int* master_id

Definition at line 99 of file FindMarkerBundles.cpp.

◆ master_visible

bool* master_visible

Definition at line 101 of file FindMarkerBundles.cpp.

◆ max_new_marker_error

double max_new_marker_error

Definition at line 108 of file FindMarkerBundles.cpp.

◆ max_track_error

double max_track_error

Definition at line 109 of file FindMarkerBundles.cpp.

◆ med_filt_size

int med_filt_size

Definition at line 105 of file FindMarkerBundles.cpp.

◆ med_filts

ata::MedianFilter** med_filts

Definition at line 104 of file FindMarkerBundles.cpp.

◆ multi_marker_bundles

MultiMarkerBundle** multi_marker_bundles =NULL

Definition at line 96 of file FindMarkerBundles.cpp.

◆ n_bundles

int n_bundles = 0

Definition at line 113 of file FindMarkerBundles.cpp.

◆ output_frame

std::string output_frame

Definition at line 112 of file FindMarkerBundles.cpp.

◆ rvizMarkerPub2_

ros::Publisher rvizMarkerPub2_

Definition at line 91 of file FindMarkerBundles.cpp.

◆ rvizMarkerPub_

ros::Publisher rvizMarkerPub_

Definition at line 90 of file FindMarkerBundles.cpp.

◆ tf_broadcaster

tf::TransformBroadcaster* tf_broadcaster

Definition at line 94 of file FindMarkerBundles.cpp.

◆ tf_listener

tf::TransformListener* tf_listener

Definition at line 93 of file FindMarkerBundles.cpp.

Macros

Typedefs

Functions

Variables