PlaceRecognitionNode Class Reference

List of all members.

Public Member Functions
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, bool save_in_db, uint32_t save_id)
void	matchCb (const kidnapped_robot::MatchRequestConstPtr &msg)
	PlaceRecognitionNode (const std::string &db_file, const std::string &vocab_tree_file, const std::string &vocab_weights_file, const std::string &calonder_trees_file)
void	publishTransform (const tf::Transform &transform, int64_t match_id)
void	saveCb (const kidnapped_robot::SavePlaceConstPtr &msg)
Private Attributes
image_geometry::StereoCameraModel	cam_model_
frame_common::FrameProc	frame_processor_
image_transport::Publisher	image_match_pub_
image_transport::Publisher	image_sample_pub_
sensor_msgs::CvBridge	l_bridge_
message_filters::Cache < sensor_msgs::Image >	l_image_cache_
image_transport::SubscriberFilter	l_image_sub_
message_filters::Cache < sensor_msgs::CameraInfo >	l_info_cache_
message_filters::Subscriber < sensor_msgs::CameraInfo >	l_info_sub_
ros::Subscriber	match_sub_
kidnapped_robot::PlaceDatabase	place_db_
pe::PoseEstimator3d	pose_estimator_
int	pr_inliers_
sensor_msgs::CvBridge	r_bridge_
message_filters::Cache < sensor_msgs::Image >	r_image_cache_
image_transport::SubscriberFilter	r_image_sub_
message_filters::Cache < sensor_msgs::CameraInfo >	r_info_cache_
message_filters::Subscriber < sensor_msgs::CameraInfo >	r_info_sub_
ros::Subscriber	save_sub_
std::string	target_frame_
tf::TransformListener	tf_
ros::Publisher	transform_pub_

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Detailed Description

Definition at line 28 of file place_recognition_node.cpp.

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Constructor & Destructor Documentation

PlaceRecognitionNode::PlaceRecognitionNode	(	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 55 of file place_recognition_node.cpp.

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Member Function Documentation

void PlaceRecognitionNode::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,
		bool	save_in_db,
		uint32_t	save_id
	)			[inline]

Todo:

Should take into account that image and requested time stamps differ when doing tf transforms

Todo:

Make parameterizable

Todo:

Rename to base_to_camera, etc.

Definition at line 142 of file place_recognition_node.cpp.

void PlaceRecognitionNode::matchCb

(

const kidnapped_robot::MatchRequestConstPtr &

msg

)

[inline]

Definition at line 125 of file place_recognition_node.cpp.

void PlaceRecognitionNode::publishTransform	(	const tf::Transform &	transform,
		int64_t	match_id
	)			[inline]

Definition at line 249 of file place_recognition_node.cpp.

void PlaceRecognitionNode::saveCb

(

const kidnapped_robot::SavePlaceConstPtr &

msg

)

[inline]

Definition at line 106 of file place_recognition_node.cpp.

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Member Data Documentation

image_geometry::StereoCameraModel PlaceRecognitionNode::cam_model_ [private]

Definition at line 50 of file place_recognition_node.cpp.

frame_common::FrameProc PlaceRecognitionNode::frame_processor_ [private]

Definition at line 44 of file place_recognition_node.cpp.

image_transport::Publisher PlaceRecognitionNode::image_match_pub_ [private]

Definition at line 39 of file place_recognition_node.cpp.

image_transport::Publisher PlaceRecognitionNode::image_sample_pub_ [private]

Definition at line 39 of file place_recognition_node.cpp.

sensor_msgs::CvBridge PlaceRecognitionNode::l_bridge_ [private]

Definition at line 49 of file place_recognition_node.cpp.

message_filters::Cache<sensor_msgs::Image> PlaceRecognitionNode::l_image_cache_ [private]

Definition at line 34 of file place_recognition_node.cpp.

image_transport::SubscriberFilter PlaceRecognitionNode::l_image_sub_ [private]

Definition at line 32 of file place_recognition_node.cpp.

message_filters::Cache<sensor_msgs::CameraInfo> PlaceRecognitionNode::l_info_cache_ [private]

Definition at line 35 of file place_recognition_node.cpp.

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

Definition at line 33 of file place_recognition_node.cpp.

ros::Subscriber PlaceRecognitionNode::match_sub_ [private]

Definition at line 31 of file place_recognition_node.cpp.

kidnapped_robot::PlaceDatabase PlaceRecognitionNode::place_db_ [private]

Definition at line 43 of file place_recognition_node.cpp.

pe::PoseEstimator3d PlaceRecognitionNode::pose_estimator_ [private]

Definition at line 45 of file place_recognition_node.cpp.

int PlaceRecognitionNode::pr_inliers_ [private]

Definition at line 46 of file place_recognition_node.cpp.

sensor_msgs::CvBridge PlaceRecognitionNode::r_bridge_ [private]

Definition at line 49 of file place_recognition_node.cpp.

message_filters::Cache<sensor_msgs::Image> PlaceRecognitionNode::r_image_cache_ [private]

Definition at line 34 of file place_recognition_node.cpp.

image_transport::SubscriberFilter PlaceRecognitionNode::r_image_sub_ [private]

Definition at line 32 of file place_recognition_node.cpp.

message_filters::Cache<sensor_msgs::CameraInfo> PlaceRecognitionNode::r_info_cache_ [private]

Definition at line 35 of file place_recognition_node.cpp.

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

Definition at line 33 of file place_recognition_node.cpp.

ros::Subscriber PlaceRecognitionNode::save_sub_ [private]

Definition at line 31 of file place_recognition_node.cpp.

std::string PlaceRecognitionNode::target_frame_ [private]

Definition at line 52 of file place_recognition_node.cpp.

tf::TransformListener PlaceRecognitionNode::tf_ [private]

Definition at line 36 of file place_recognition_node.cpp.

ros::Publisher PlaceRecognitionNode::transform_pub_ [private]

Definition at line 40 of file place_recognition_node.cpp.

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

• place_recognition_node.cpp