Converts a ROI in image to vector in camera frame. More...

Inheritance diagram for RoiToPositionConverter:

Collaboration diagram for RoiToPositionConverter:

Public Member Functions
	RoiToPositionConverter (ros::NodeHandle &nh)
	Constructor. More...

bool	getTrackingVectors (std::unordered_map< uint32_t, Position > &pos)
	Get the stored tracking vector. More...

bool	trackingIsValid ()
	Check whether tracking is valid. More...

bool	isConnected ()
	Check whether topics are connected. More...

Public Member Functions inherited from BaseTracker
	BaseTracker (TrackingStrategy *tracking_strategy)

virtual bool	initialize ()
	Initialze the tracker. Can simply return true if the subclass requires no additional initialization. More...

virtual bool	getTrackingVector (Position &pos)
	Get the tracking vector. More...

virtual bool	getTrackingVector (std::tuple< uint32_t, Position > &pos)
	Get the tracking vector. More...

Static Public Member Functions
static void	computeTrackingVector (const sensor_msgs::RegionOfInterest &roi, const cv::Mat &depth, const sensor_msgs::CameraInfo &cam_info, double max_distance, double foreground_percent, Position &pos)
	Get the 3D position of the ROI (in the frame of the camera) More...

Detailed Description

Converts a ROI in image to vector in camera frame.

Constructor & Destructor Documentation

RoiToPositionConverter::RoiToPositionConverter ( ros::NodeHandle & nh )

inline

Constructor.

Parameters

nh	Nodehandle for subscribers, publishers

void RoiToPositionConverter::computeTrackingVector	(	const sensor_msgs::RegionOfInterest &	roi,
		const cv::Mat &	depth,
		const sensor_msgs::CameraInfo &	cam_info,
		double	max_distance,
		double	foreground_percent,
		Position &	pos
	)

static

Get the 3D position of the ROI (in the frame of the camera)

Parameters

roi	Region of interest to consider
depth	Pixel depths
cam_info	Camera calibration parameters
max_distance	Ignore pixels farther away than this
foreground_percent	Average over closest foreground_percent of pixels
pos	Returned position

bool RoiToPositionConverter::getTrackingVectors ( std::unordered_map< uint32_t, Position > & pos )

virtual

Get the stored tracking vector.

Parameters

pos	Returned tracking vectors

Implements BaseTracker.

bool RoiToPositionConverter::isConnected ( )

Check whether topics are connected.

bool RoiToPositionConverter::trackingIsValid ( )

virtual

Check whether tracking is valid.

Implements BaseTracker.

The documentation for this class was generated from the following files: