Public Member Functions
void	addNewTargetToList (Target::Ptr new_target)

void	associateTargets (const vector< Target::Ptr > current_targets, vector< Target::Ptr > &targets)

void	clustering (const vector< Point::Ptr > data, vector< Target::Ptr > &current_targets, double clustering_distance)

vector < visualization_msgs::Marker >	createMeasurementsMarkers (const vector< Target::Ptr > targets)

void	createOutputTargets (const vector< Target::Ptr > targets, mtt::TargetList &target_list)

vector < visualization_msgs::Marker >	createTargetMarkers (const vector< Target::Ptr > targets)

	GNN (ros::NodeHandle nh_)

void	hungarianMatching (vector< Target::Ptr > &targets, vector< Target::Ptr > &measurements)

void	pointCloudToVector (const sensor_msgs::PointCloud2 &cloud, vector< Point::Ptr > &data)

void	pointsHandler (const sensor_msgs::PointCloud2 &msg)

void	recursiveAssociation (const vector< Point::Ptr > data, vector< pair< Target::Ptr, bool > > &point_association, double clustering_distance, uint p)

void	stepModels (const vector< Target::Ptr > targets)

void	updateSearchAreas (const vector< Target::Ptr > targets)

	~GNN ()

Private Attributes
double	clustering_distance

double	ezA

double	ezB

bool	first_iteration

string	frame_id

ros::Publisher	markers_publisher

double	max_ellipse_axis

int	max_missing_iterations

ros::Publisher	measurements_markers_publisher

double	min_ellipse_axis

ros::NodeHandle	nh

double	not_found_factor

cv::FileStorage	parameters

ros::Subscriber	points_subscriber

double	size_factor

vector< Target::Ptr >	targets

ros::Publisher	targets_publisher

Detailed Description

Definition at line 540 of file gnn.cpp.

Constructor & Destructor Documentation

GNN::GNN ( ros::NodeHandle nh_ )

inline

Definition at line 543 of file gnn.cpp.

GNN::~GNN ( )

inline

Definition at line 578 of file gnn.cpp.

Member Function Documentation

void GNN::addNewTargetToList ( Target::Ptr new_target )

inline

Definition at line 669 of file gnn.cpp.

void GNN::associateTargets	(	const vector< Target::Ptr >	current_targets,
		vector< Target::Ptr > &	targets
	)

inline

Run thorough all the new objects

Inside ellipse

New target found in list

Object not found

Add not found objects to list

Calculate min_distance_to_existing_object

Definition at line 753 of file gnn.cpp.

void GNN::clustering	(	const vector< Point::Ptr >	data,
		vector< Target::Ptr > &	current_targets,
		double	clustering_distance
	)

inline

Definition at line 604 of file gnn.cpp.

vector<visualization_msgs::Marker> GNN::createMeasurementsMarkers ( const vector< Target::Ptr > targets )

inline

Definition at line 899 of file gnn.cpp.

void GNN::createOutputTargets	(	const vector< Target::Ptr >	targets,
		mtt::TargetList &	target_list
	)

inline

Definition at line 862 of file gnn.cpp.

vector<visualization_msgs::Marker> GNN::createTargetMarkers ( const vector< Target::Ptr > targets )

inline

Definition at line 955 of file gnn.cpp.

void GNN::hungarianMatching	(	vector< Target::Ptr > &	targets,
		vector< Target::Ptr > &	measurements
	)

inline

Add not found objects to list

Calculate min_distance_to_existing_object

Definition at line 1119 of file gnn.cpp.

void GNN::pointCloudToVector	(	const sensor_msgs::PointCloud2 &	cloud,
		vector< Point::Ptr > &	data
	)

inline

Definition at line 581 of file gnn.cpp.

void GNN::pointsHandler ( const sensor_msgs::PointCloud2 & msg )

inline

Definition at line 1238 of file gnn.cpp.

void GNN::recursiveAssociation	(	const vector< Point::Ptr >	data,
		vector< pair< Target::Ptr, bool > > &	point_association,
		double	clustering_distance,
		uint	p
	)

inline

Definition at line 642 of file gnn.cpp.

void GNN::stepModels ( const vector< Target::Ptr > targets )

inline

Definition at line 695 of file gnn.cpp.

void GNN::updateSearchAreas ( const vector< Target::Ptr > targets )

inline

Small bonus to new objects

Todo:: I should use a equation that allowed a more soft transition

Definition at line 701 of file gnn.cpp.

Member Data Documentation

double GNN::clustering_distance

private

Definition at line 1307 of file gnn.cpp.

double GNN::ezA

private

Definition at line 1299 of file gnn.cpp.

double GNN::ezB

private

Definition at line 1300 of file gnn.cpp.

bool GNN::first_iteration

private

Definition at line 1306 of file gnn.cpp.

string GNN::frame_id

private

Definition at line 1308 of file gnn.cpp.

ros::Publisher GNN::markers_publisher

private

Definition at line 1314 of file gnn.cpp.

double GNN::max_ellipse_axis

private

Definition at line 1301 of file gnn.cpp.

int GNN::max_missing_iterations

private

Definition at line 1305 of file gnn.cpp.

ros::Publisher GNN::measurements_markers_publisher

private

Definition at line 1315 of file gnn.cpp.

double GNN::min_ellipse_axis

private

Definition at line 1302 of file gnn.cpp.

ros::NodeHandle GNN::nh

private

Definition at line 1310 of file gnn.cpp.

double GNN::not_found_factor

private

Definition at line 1304 of file gnn.cpp.

cv::FileStorage GNN::parameters

private

Definition at line 1317 of file gnn.cpp.

ros::Subscriber GNN::points_subscriber

private

Definition at line 1311 of file gnn.cpp.

double GNN::size_factor

private

Definition at line 1303 of file gnn.cpp.

vector<Target::Ptr> GNN::targets

private

Definition at line 1320 of file gnn.cpp.

ros::Publisher GNN::targets_publisher

private

Definition at line 1313 of file gnn.cpp.

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

gnn.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation