/home/laradmin/lar/perception/planarobstacles/mtt/src/mht.cpp File Reference

MHT main implementation. More...

#include <mtt/mht.h>

Include dependency graph for mht.cpp:

Go to the source code of this file.

Functions
vector < visualization_msgs::Marker >	createClustersMarkers (vector< MeasurementPtr > &clusters)
	Create markers from clusters.
void	createObjects (vector< PointPtr > &data, vector< MeasurementPtr > &measurements, double clustering_distance)
	Clustering function.
vector < visualization_msgs::Marker >	createTargetMarkers (vector< TargetPtr > &targets)
	Create markers from targets.
void	dataHandler (const sensor_msgs::PointCloud2 &msg)
	Handler for the incoming data.
void	dataHandlerFromFile_clusters (vector< MeasurementPtr > &clusters)
void	dataHandlerFromFile_points (vector< PointPtr > &raw_points)
double	euclideanDistance (PointPtr &p1, PointPtr &p2)
void *	graphicalThread (void *data)
	Graphical thread.
int	main (int argc, char **argv)
std_msgs::ColorRGBA	makeColor (int id)
	Create a std_msgs color from a hsv color map.
std_msgs::ColorRGBA	makeColor (double r, double g, double b, double a)
	Create a std_msgs color from rgba values.
visualization_msgs::Marker	makeEllipse (Vector2d mean, Matrix2d covariance, double threshold, string ns, std_msgs::ColorRGBA color, int id, geometry_msgs::Point position)
geometry_msgs::Point	makePoint (double x, double y, double z)
template<class T >
visualization_msgs::Marker	makeTrail (vector< T > &past_states, string ns, std_msgs::ColorRGBA color, int id, geometry_msgs::Point position)
void	pointCloud2ToUnorganizedVector (const sensor_msgs::PointCloud2 &cloud, vector< PointPtr > &data)
void	pointCloud2ToVector (const sensor_msgs::PointCloud2 &cloud, vector< PointPtr > &data)
	Convert the point cloud data into a laser scan type structure.
void	recursiveAssociation (vector< PointPtr > &data, vector< pair< MeasurementPtr, bool > > &point_association, double clustering_distance, uint p)
Variables
string	fileName
GVGraph *	graph_context
	Graph context pointer, used in the xgtk plug-in.
hypothesisTreePtr	htreePtr
	External variable linking to the Mht context class (main workhorse of the mht algorithm).
Publisher	markers_publisher
Mht	mht
	Mht context class (main workhorse of the mht algorithm).
string	tracking_frame
	Tracking frame, frame id of the current tracking frame.

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Detailed Description

MHT main implementation.

Definition in file mht.cpp.

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Function Documentation

vector<visualization_msgs::Marker> createClustersMarkers

(

vector< MeasurementPtr > &

clusters

)

Create markers from clusters.

This function creates a set of markers for the current point clusters, this uses the Markers class to keep a up to date list of the current markers.

Parameters:

clusters

vector of Measurement 's classes

Returns:

markers to be published

Definition at line 727 of file mht.cpp.

void createObjects	(	vector< PointPtr > &	data,
		vector< MeasurementPtr > &	clusters,
		double	clustering_distance
	)

Clustering function.

This functions separates the incoming data vector into a set of clusters based on a clustering_distance.

Parameters:

	data	input point vector (it is in fact a std::vector<Mht::PointPtr> reference since its safer to work with shared_ptr's.
	clusters	output vector of clusters, these clusters are treated has measurements and use the Measurement class.
	clustering_distance	distance value used to break clusters.

Definition at line 173 of file mht.cpp.

vector<visualization_msgs::Marker> createTargetMarkers

(

vector< TargetPtr > &

targets

)

Create markers from targets.

This function creates a set of markers for the current targets, this uses the Markers class to keep a up to date list of the current markers.

Parameters:

targets

vector of Target 's

Returns:

markers to be published

Definition at line 507 of file mht.cpp.

void dataHandler

(

const sensor_msgs::PointCloud2 &

msg

)

Handler for the incoming data.

Parameters:

msg

incoming point cloud

Definition at line 211 of file mht.cpp.

void dataHandlerFromFile_clusters

(

vector< MeasurementPtr > &

clusters

)

Definition at line 307 of file mht.cpp.

void dataHandlerFromFile_points

(

vector< PointPtr > &

raw_points

)

Definition at line 259 of file mht.cpp.

double euclideanDistance	(	PointPtr &	p1,
		PointPtr &	p2
	)

Definition at line 56 of file mht.cpp.

void* graphicalThread

(

void *

data

)

Graphical thread.

This function is the main workhorse for the graphical interface. The graphical interface works in a separate thread that runs this function.

Parameters:

data

generic pointer, is not used

Returns:

data generic pointer, is not used

Definition at line 808 of file mht.cpp.

int main	(	int	argc,
		char **	argv
	)

Additional thread to run the graphviz plug-in

Definition at line 822 of file mht.cpp.

std_msgs::ColorRGBA makeColor

(

int

id

)

Create a std_msgs color from a hsv color map.

Parameters:

id

color code

Returns:

a std_msgs::ColorRGBA color

Definition at line 721 of file mht.cpp.

std_msgs::ColorRGBA makeColor	(	double	r,
		double	g,
		double	b,
		double	a
	)

Create a std_msgs color from rgba values.

Parameters:

	r	red value
	g	green value
	b	blue value
	a	alpha value

Returns:

a std_msgs::ColorRGBA color

Definition at line 709 of file mht.cpp.

visualization_msgs::Marker makeEllipse	(	Vector2d	mean,
		Matrix2d	covariance,
		double	threshold,
		string	ns,
		std_msgs::ColorRGBA	color,
		int	id,
		geometry_msgs::Point	position
	)

Definition at line 409 of file mht.cpp.

geometry_msgs::Point makePoint	(	double	x,
		double	y,
		double	z
	)

Definition at line 400 of file mht.cpp.

template<class T >

visualization_msgs::Marker makeTrail	(	vector< T > &	past_states,
		string	ns,
		std_msgs::ColorRGBA	color,
		int	id,
		geometry_msgs::Point	position
	)			[inline]

Definition at line 464 of file mht.cpp.

void pointCloud2ToUnorganizedVector	(	const sensor_msgs::PointCloud2 &	cloud,
		vector< PointPtr > &	data
	)

Definition at line 61 of file mht.cpp.

void pointCloud2ToVector	(	const sensor_msgs::PointCloud2 &	cloud,
		vector< PointPtr > &	data
	)

Convert the point cloud data into a laser scan type structure.

Convert from ros format to a local format.

Parameters:

	cloud	ros format used in point clouds, input message.
	data	outgoing vector of Point class points.

Definition at line 81 of file mht.cpp.

void recursiveAssociation	(	vector< PointPtr > &	data,
		vector< pair< MeasurementPtr, bool > > &	point_association,
		double	clustering_distance,
		uint	p
	)

Definition at line 142 of file mht.cpp.

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Variable Documentation

string fileName

Definition at line 54 of file mht.cpp.

GVGraph* graph_context

Graph context pointer, used in the xgtk plug-in.

External variable linking to the main graph context created in the mht main source code pmht.cpp.

Definition at line 43 of file mht.cpp.

hypothesisTreePtr htreePtr

External variable linking to the Mht context class (main workhorse of the mht algorithm).

Definition at line 50 of file mht.cpp.

Publisher markers_publisher

Definition at line 52 of file mht.cpp.

Mht mht

Mht context class (main workhorse of the mht algorithm).

Definition at line 49 of file mht.cpp.

string tracking_frame

Tracking frame, frame id of the current tracking frame.

Definition at line 46 of file mht.cpp.