KidnappedNode Class Reference

List of all members.

Public Member Functions
void	addToSamplePoses (const tf::Transform &base_in_map, const tf::Transform &camera_in_base)
void	collectImages (int n)
	Collect n images evenly spaced around the robot.
void	imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info, const sensor_msgs::ImageConstPtr &r_image, const sensor_msgs::CameraInfoConstPtr &r_cam_info)
	KidnappedNode (const std::string &db_file, const std::string &vocab_tree_file, const std::string &vocab_weights_file, const std::string &calonder_trees_file)
void	loadDbSamplePoses ()
bool	localizeCb (kidnapped_robot::RecognizePlace::Request &request, kidnapped_robot::RecognizePlace::Response &response)
void	lookAt (double x, double y, double z)
	Points the camera frame at a point in the target frame.
void	poseCb (const geometry_msgs::PoseWithCovarianceStamped &pose_estimate)
void	publishSamplePoses ()
void	subscribeStereo ()
void	unsubscribeStereo ()
Private Attributes
int	best_inliers_
tf::Stamped< tf::Pose >	best_pose_
image_geometry::StereoCameraModel	cam_model_
std::string	camera_optical_frame_
bool	collect_new_data_
double	distance_threshold_
frame_common::FrameProc	frame_processor_
double	head_target_z_
image_transport::Publisher	image_match_pub_
image_transport::Publisher	image_sample_pub_
ros::Publisher	initial_pose_pub_
ros::Publisher	initial_pose_viz_pub_
boost::scoped_ptr < image_transport::ImageTransport >	it_
sensor_msgs::CvBridge	l_bridge_
image_transport::SubscriberFilter	l_image_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	l_info_sub_
ros::Subscriber	localization_sub_
std::string	map_frame_
ros::ServiceClient	mux_client_
ros::NodeHandle	nh_
int	num_samples_
kidnapped_robot::PlaceDatabase	place_db_
PointHeadClient	point_head_client_
pe::PoseEstimator3d	pose_estimator_
int	pr_inliers_
ros::ServiceServer	pr_server_
sensor_msgs::CvBridge	r_bridge_
image_transport::SubscriberFilter	r_image_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	r_info_sub_
boost::condition_variable	sample_cond_
boost::mutex	sample_mutex_
ros::Publisher	sample_pose_pub_
geometry_msgs::PoseArray	sample_poses_
boost::scoped_ptr < ros::AsyncSpinner >	spinner_
ros::CallbackQueue	stereo_cb_queue_
ros::NodeHandle	stereo_nh_
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo >	sync_
bool	take_sample_
std::string	target_frame_
tf::TransformListener	tf_

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Detailed Description

Definition at line 28 of file kidnapped_node.cpp.

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Constructor & Destructor Documentation

KidnappedNode::KidnappedNode	(	const std::string &	db_file,
		const std::string &	vocab_tree_file,
		const std::string &	vocab_weights_file,
		const std::string &	calonder_trees_file
	)			[inline]

Definition at line 81 of file kidnapped_node.cpp.

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Member Function Documentation

void KidnappedNode::addToSamplePoses	(	const tf::Transform &	base_in_map,
		const tf::Transform &	camera_in_base
	)			[inline]

Definition at line 423 of file kidnapped_node.cpp.

void KidnappedNode::collectImages

(

int

n

)

[inline]

Collect n images evenly spaced around the robot.

Definition at line 248 of file kidnapped_node.cpp.

void KidnappedNode::imageCb	(	const sensor_msgs::ImageConstPtr &	l_image,
		const sensor_msgs::CameraInfoConstPtr &	l_cam_info,
		const sensor_msgs::ImageConstPtr &	r_image,
		const sensor_msgs::CameraInfoConstPtr &	r_cam_info
	)			[inline]

Todo:

Don't have to look up base_in_map every time, but arguably more robust this way

Todo:

Make parameterizable

Todo:

Rename to base_to_camera, etc.

Definition at line 298 of file kidnapped_node.cpp.

void KidnappedNode::loadDbSamplePoses

(

)

[inline]

Definition at line 138 of file kidnapped_node.cpp.

bool KidnappedNode::localizeCb	(	kidnapped_robot::RecognizePlace::Request &	request,
		kidnapped_robot::RecognizePlace::Response &	response
	)			[inline]

Definition at line 436 of file kidnapped_node.cpp.

void KidnappedNode::lookAt	(	double	x,
		double	y,
		double	z
	)			[inline]

Points the camera frame at a point in the target frame.

Definition at line 183 of file kidnapped_node.cpp.

void KidnappedNode::poseCb

(

const geometry_msgs::PoseWithCovarianceStamped &

pose_estimate

)

[inline]

Definition at line 213 of file kidnapped_node.cpp.

void KidnappedNode::publishSamplePoses

(

)

[inline]

Definition at line 159 of file kidnapped_node.cpp.

void KidnappedNode::subscribeStereo

(

)

[inline]

Definition at line 166 of file kidnapped_node.cpp.

void KidnappedNode::unsubscribeStereo

(

)

[inline]

Definition at line 174 of file kidnapped_node.cpp.

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Member Data Documentation

int KidnappedNode::best_inliers_ [private]

Definition at line 70 of file kidnapped_node.cpp.

tf::Stamped<tf::Pose> KidnappedNode::best_pose_ [private]

Definition at line 69 of file kidnapped_node.cpp.

image_geometry::StereoCameraModel KidnappedNode::cam_model_ [private]

Definition at line 74 of file kidnapped_node.cpp.

std::string KidnappedNode::camera_optical_frame_ [private]

Definition at line 77 of file kidnapped_node.cpp.

bool KidnappedNode::collect_new_data_ [private]

Definition at line 62 of file kidnapped_node.cpp.

double KidnappedNode::distance_threshold_ [private]

Definition at line 61 of file kidnapped_node.cpp.

frame_common::FrameProc KidnappedNode::frame_processor_ [private]

Definition at line 57 of file kidnapped_node.cpp.

double KidnappedNode::head_target_z_ [private]

Definition at line 78 of file kidnapped_node.cpp.

image_transport::Publisher KidnappedNode::image_match_pub_ [private]

Definition at line 45 of file kidnapped_node.cpp.

image_transport::Publisher KidnappedNode::image_sample_pub_ [private]

Definition at line 45 of file kidnapped_node.cpp.

ros::Publisher KidnappedNode::initial_pose_pub_ [private]

Definition at line 48 of file kidnapped_node.cpp.

ros::Publisher KidnappedNode::initial_pose_viz_pub_ [private]

Definition at line 49 of file kidnapped_node.cpp.

boost::scoped_ptr<image_transport::ImageTransport> KidnappedNode::it_ [private]

Definition at line 33 of file kidnapped_node.cpp.

sensor_msgs::CvBridge KidnappedNode::l_bridge_ [private]

Definition at line 73 of file kidnapped_node.cpp.

image_transport::SubscriberFilter KidnappedNode::l_image_sub_ [private]

Definition at line 37 of file kidnapped_node.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> KidnappedNode::l_info_sub_ [private]

Definition at line 38 of file kidnapped_node.cpp.

ros::Subscriber KidnappedNode::localization_sub_ [private]

Definition at line 41 of file kidnapped_node.cpp.

std::string KidnappedNode::map_frame_ [private]

Definition at line 77 of file kidnapped_node.cpp.

ros::ServiceClient KidnappedNode::mux_client_ [private]

Definition at line 52 of file kidnapped_node.cpp.

ros::NodeHandle KidnappedNode::nh_ [private]

Definition at line 30 of file kidnapped_node.cpp.

int KidnappedNode::num_samples_ [private]

Definition at line 60 of file kidnapped_node.cpp.

kidnapped_robot::PlaceDatabase KidnappedNode::place_db_ [private]

Definition at line 56 of file kidnapped_node.cpp.

PointHeadClient KidnappedNode::point_head_client_ [private]

Definition at line 76 of file kidnapped_node.cpp.

pe::PoseEstimator3d KidnappedNode::pose_estimator_ [private]

Definition at line 58 of file kidnapped_node.cpp.

int KidnappedNode::pr_inliers_ [private]

Definition at line 59 of file kidnapped_node.cpp.

ros::ServiceServer KidnappedNode::pr_server_ [private]

Definition at line 53 of file kidnapped_node.cpp.

sensor_msgs::CvBridge KidnappedNode::r_bridge_ [private]

Definition at line 73 of file kidnapped_node.cpp.

image_transport::SubscriberFilter KidnappedNode::r_image_sub_ [private]

Definition at line 37 of file kidnapped_node.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> KidnappedNode::r_info_sub_ [private]

Definition at line 38 of file kidnapped_node.cpp.

boost::condition_variable KidnappedNode::sample_cond_ [private]

Todo:

Probably could have kept this single-threaded, just do own spin on stereo_cb_queue_

Definition at line 66 of file kidnapped_node.cpp.

boost::mutex KidnappedNode::sample_mutex_ [private]

Definition at line 67 of file kidnapped_node.cpp.

ros::Publisher KidnappedNode::sample_pose_pub_ [private]

Definition at line 47 of file kidnapped_node.cpp.

geometry_msgs::PoseArray KidnappedNode::sample_poses_ [private]

Definition at line 46 of file kidnapped_node.cpp.

boost::scoped_ptr<ros::AsyncSpinner> KidnappedNode::spinner_ [private]

Definition at line 34 of file kidnapped_node.cpp.

ros::CallbackQueue KidnappedNode::stereo_cb_queue_ [private]

Definition at line 31 of file kidnapped_node.cpp.

ros::NodeHandle KidnappedNode::stereo_nh_ [private]

Definition at line 32 of file kidnapped_node.cpp.

message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo> KidnappedNode::sync_ [private]

Definition at line 40 of file kidnapped_node.cpp.

bool KidnappedNode::take_sample_ [private]

Definition at line 68 of file kidnapped_node.cpp.

std::string KidnappedNode::target_frame_ [private]

Definition at line 77 of file kidnapped_node.cpp.

tf::TransformListener KidnappedNode::tf_ [private]

Definition at line 42 of file kidnapped_node.cpp.

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

• kidnapped_node.cpp