VONode Class Reference

List of all members.

Public Member Functions
bool	addFrame (const frame_common::CamParams &camera_parameters, const cv::Mat &left, const cv::Mat &right)
void	addProjections (fc::Frame &f0, fc::Frame &f1, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w, int ndi0, int ndi1)
void	configCb (vslam_system::StereoVslamNodeConfig &config, uint32_t level)
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)
void	publishFrame ()
void	publishLatestFrame ()
int	publishNode (Eigen::Matrix< double, 4, 1 > trans, Eigen::Quaternion< double > fq, const frame_common::CamParams &cp, bool isFixed)
int	publishPoint (sba::Point pt)
void	publishProjection (int ci, int pi, Eigen::Vector3d &q, bool stereo)
	VONode (const std::string &vocab_tree_file, const std::string &vocab_weights_file, const std::string &calonder_trees_file)
Private Types
typedef dynamic_reconfigure::Server < vslam_system::StereoVslamNodeConfig >	ReconfigureServer
Private Attributes
image_geometry::StereoCameraModel	cam_model_
cv::Ptr< cv::FeatureDetector >	detector_
frame_common::FrameProc	frame_processor_
std::vector < frame_common::Frame, Eigen::aligned_allocator < frame_common::Frame > >	frames_
	stereo image key frames in system
bool	init
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::NodeHandle	nh_
vector< sba::CameraNode >	node_msgs
int	numcameras
int	numframes
	VO processor.
int	numpoints
vector< sba::WorldPoint >	point_msgs
vector< sba::Projection >	proj_msgs
sensor_msgs::CvBridge	r_bridge_
image_transport::SubscriberFilter	r_image_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	r_info_sub_
ReconfigureServer	reconfigure_server_
ros::Publisher	sba_frames_pub_
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo >	sync_
vslam::voSt	vo_
cv::Mat	vo_display_
image_transport::CameraPublisher	vo_tracks_pub_

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Detailed Description

Definition at line 29 of file vo_node.cpp.

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Member Typedef Documentation

typedef dynamic_reconfigure::Server<vslam_system::StereoVslamNodeConfig> VONode::ReconfigureServer [private]

Definition at line 67 of file vo_node.cpp.

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Constructor & Destructor Documentation

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

Definition at line 74 of file vo_node.cpp.

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Member Function Documentation

bool VONode::addFrame	(	const frame_common::CamParams &	camera_parameters,
		const cv::Mat &	left,
		const cv::Mat &	right
	)			[inline]

Definition at line 157 of file vo_node.cpp.

void VONode::addProjections	(	fc::Frame &	f0,
		fc::Frame &	f1,
		const std::vector< cv::DMatch > &	inliers,
		const Matrix< double, 3, 4 > &	f2w,
		int	ndi0,
		int	ndi1
	)			[inline]

Definition at line 316 of file vo_node.cpp.

void VONode::configCb	(	vslam_system::StereoVslamNodeConfig &	config,
		uint32_t	level
	)			[inline]

Definition at line 146 of file vo_node.cpp.

void VONode::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]

Definition at line 105 of file vo_node.cpp.

void VONode::publishFrame

(

)

[inline]

Definition at line 244 of file vo_node.cpp.

void VONode::publishLatestFrame

(

)

[inline]

TODO this also assume most recent VO operation was a keyframe should reconstruct inliers from most recent two frames

Also assumes that last node was published from this node as well

Definition at line 181 of file vo_node.cpp.

int VONode::publishNode	(	Eigen::Matrix< double, 4, 1 >	trans,
		Eigen::Quaternion< double >	fq,
		const frame_common::CamParams &	cp,
		bool	isFixed
	)			[inline]

Definition at line 254 of file vo_node.cpp.

int VONode::publishPoint

(

sba::Point

pt

)

[inline]

Definition at line 283 of file vo_node.cpp.

void VONode::publishProjection	(	int	ci,
		int	pi,
		Eigen::Vector3d &	q,
		bool	stereo
	)			[inline]

Definition at line 301 of file vo_node.cpp.

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Member Data Documentation

image_geometry::StereoCameraModel VONode::cam_model_ [private]

Definition at line 50 of file vo_node.cpp.

cv::Ptr<cv::FeatureDetector> VONode::detector_ [private]

Definition at line 51 of file vo_node.cpp.

frame_common::FrameProc VONode::frame_processor_ [private]

Definition at line 53 of file vo_node.cpp.

std::vector<frame_common::Frame, Eigen::aligned_allocator<frame_common::Frame> > VONode::frames_ [private]

stereo image key frames in system

Definition at line 55 of file vo_node.cpp.

bool VONode::init [private]

Definition at line 70 of file vo_node.cpp.

image_transport::ImageTransport VONode::it_ [private]

Definition at line 33 of file vo_node.cpp.

sensor_msgs::CvBridge VONode::l_bridge_ [private]

Definition at line 49 of file vo_node.cpp.

image_transport::SubscriberFilter VONode::l_image_sub_ [private]

Definition at line 36 of file vo_node.cpp.

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

Definition at line 37 of file vo_node.cpp.

ros::NodeHandle VONode::nh_ [private]

Definition at line 32 of file vo_node.cpp.

vector<sba::CameraNode> VONode::node_msgs [private]

Definition at line 64 of file vo_node.cpp.

int VONode::numcameras [private]

Definition at line 60 of file vo_node.cpp.

int VONode::numframes [private]

VO processor.

Definition at line 58 of file vo_node.cpp.

int VONode::numpoints [private]

Definition at line 59 of file vo_node.cpp.

vector<sba::WorldPoint> VONode::point_msgs [private]

Definition at line 63 of file vo_node.cpp.

vector<sba::Projection> VONode::proj_msgs [private]

Definition at line 62 of file vo_node.cpp.

sensor_msgs::CvBridge VONode::r_bridge_ [private]

Definition at line 49 of file vo_node.cpp.

image_transport::SubscriberFilter VONode::r_image_sub_ [private]

Definition at line 36 of file vo_node.cpp.

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

Definition at line 37 of file vo_node.cpp.

ReconfigureServer VONode::reconfigure_server_ [private]

Definition at line 68 of file vo_node.cpp.

ros::Publisher VONode::sba_frames_pub_ [private]

Definition at line 42 of file vo_node.cpp.

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

Definition at line 39 of file vo_node.cpp.

vslam::voSt VONode::vo_ [private]

Definition at line 56 of file vo_node.cpp.

cv::Mat VONode::vo_display_ [private]

Definition at line 46 of file vo_node.cpp.

image_transport::CameraPublisher VONode::vo_tracks_pub_ [private]

Definition at line 45 of file vo_node.cpp.

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

• vo_node.cpp