#include <algorithm>#include <map>#include "ros/ros.h"#include "tf2_geometry_msgs/tf2_geometry_msgs.h"#include "osefTypes.h"#include "typeCaster.h"#include "alb_common.h"#include "alb_helper.h"
Include dependency graph for alb_helper.cpp:
Go to the source code of this file.
Namespaces | |
| Helper | |
| Namespace to define helper functions. | |
Typedefs | |
| using | json = nlohmann::json |
Functions | |
| void | Helper::computeOdometry (nav_msgs::Odometry &odom, const geometry_msgs::Pose ¤t_pose, const geometry_msgs::Pose &last_pose, const geometry_msgs::Pose &first_pose, float dt) |
| Compute the odometry between the last two poses. More... | |
| void | Helper::define_augmented_cloud (outsight_alb_driver::AugmentedCloud &message, const Tlv::tlv_s *frame) |
| Define the AugmentedCloud message. More... | |
| void | Helper::define_box_pose (outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *bBoxPoses, size_t objectIndex) |
| Define the bounding box pose for the tracked object. More... | |
| void | Helper::define_box_size (outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *bBoxSizes, size_t objectIndex) |
| Define the bounding box size for the tracked object. More... | |
| void | Helper::define_object_speed (outsight_alb_driver::ObjectData &tracked, const Tlv::tlv_s *objectSpeeds, size_t objectIndex) |
| Define the tracked object speed. More... | |
| void | Helper::define_point_fields (sensor_msgs::PointCloud2 &pointCloud) |
| Define the point fields for the ALB PointCloud2 message. More... | |
| void | Helper::define_points_data (sensor_msgs::PointCloud2 &pointCloud, const uint32_t layers, const uint32_t points, float *pointData, bool use_colwise_order) |
| Define the PointCloud2 point data from raw points coming from the ALB. More... | |
| void | Helper::define_pose (geometry_msgs::Pose &pose, const std::array< float, 3 > &position, const std::array< float, 9 > &rotation) |
| Define a ROS Pose message from ALB position and rotation. More... | |
| bool | Helper::get_egomotion_from_tlv (const Tlv::tlv_s *frame, geometry_msgs::PoseStamped &pose) |
| Get a ROS egomotion pose from the TLV data. More... | |
| std::string | Helper::get_object_class (uint32_t classId) |
| Get the string class of the tracked object from the ALB. More... | |
| bool | Helper::get_pose_from_tlv (const Tlv::tlv_s *frame, geometry_msgs::PoseStamped &pose) |
| Get a ROS pose from the TLV data. More... | |
| void | Helper::init_pose (geometry_msgs::Pose &pose) |
| Initialize a ROS Pose message. More... | |
| void | Helper::parse_zone_data (const std::string &raw_zones, outsight_alb_driver::Zones &zones_msg) |
| Parse the zone data in the raw string and set them in the Zones msg. More... | |
Variables | |
| const std::map< int, std::string > | k_object_class |
Typedef Documentation
◆ json
| using json = nlohmann::json |
Definition at line 17 of file alb_helper.cpp.
Variable Documentation
◆ k_object_class
| const std::map<int, std::string> k_object_class |
Initial value:
= { { 0, "UNKNOWN" }, { 1, "PERSON" }, { 2, "LUGGAGE" },
{ 3, "TROLLEY" }, { 4, "TRUCK" }, { 5, "BUS" },
{ 6, "CAR" }, { 7, "VAN" }, { 8, "TWO_WHEELER" },
{ 9, "MASK" }, { 10, "NO_MASK" } }
Definition at line 20 of file alb_helper.cpp.