MHT main implementation. More...

#include <mtt/mht.h>

Include dependency graph for mht.cpp:

Functions
vector < visualization_msgs::Marker >	createClustersMarkers (vector< MeasurementPtr > &clusters)
	Create markers from clusters. More...

void	createObjects (vector< PointPtr > &data, vector< MeasurementPtr > &measurements, double clustering_distance)
	Clustering function. More...

vector < visualization_msgs::Marker >	createTargetMarkers (vector< TargetPtr > &targets)
	Create markers from targets. More...

void	dataHandler (const sensor_msgs::PointCloud2 &msg)
	Handler for the incoming data. More...

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. More...

int	main (int argc, char **argv)

std_msgs::ColorRGBA	makeColor (double r, double g, double b, double a)
	Create a std_msgs color from rgba values. More...

std_msgs::ColorRGBA	makeColor (int id)
	Create a std_msgs color from a hsv color map. More...

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. More...

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. More...

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

Publisher	markers_publisher

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

string	tracking_frame
	Tracking frame, frame id of the current tracking frame. More...

Detailed Description

MHT main implementation.

Definition in file mht.cpp.

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 729 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 175 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 509 of file mht.cpp.

void dataHandler ( const sensor_msgs::PointCloud2 & msg )

Handler for the incoming data.

Parameters

msg	incoming point cloud

Definition at line 213 of file mht.cpp.

void dataHandlerFromFile_clusters ( vector< MeasurementPtr > & clusters )

Definition at line 309 of file mht.cpp.

void dataHandlerFromFile_points ( vector< PointPtr > & raw_points )

Definition at line 261 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 810 of file mht.cpp.

int main	(	int	argc,
		char **	argv
	)

Additional thread to run the graphviz plug-in

Definition at line 824 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 711 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 723 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 411 of file mht.cpp.

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

Definition at line 402 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
	)

Definition at line 466 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 83 of file mht.cpp.

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

Definition at line 144 of file mht.cpp.

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.

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation