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Protected Member Functions | Static Protected Member Functions | Private Member Functions | Private Attributes
fovis_ros::OdometerBase Class Reference

#include <odometer_base.hpp>

Inheritance diagram for fovis_ros::OdometerBase:
Inheritance graph
[legend]

List of all members.

Protected Member Functions

const
fovis::VisualOdometryOptions & 
getOptions () const
 OdometerBase ()
void process (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void setDepthSource (fovis::DepthSource *source)
virtual ~OdometerBase ()

Static Protected Member Functions

static void rosToFovis (const image_geometry::PinholeCameraModel &camera_model, fovis::CameraIntrinsicsParameters &parameters)

Private Member Functions

void eigenToTF (const Eigen::Isometry3d &pose, tf::Transform &transform)
void getBaseToSensorTransform (const ros::Time &stamp, const std::string &sensor_frame_id, tf::StampedTransform &base_to_sensor)
void initOdometer (const sensor_msgs::CameraInfoConstPtr &info_msg)
void loadParams ()

Private Attributes

std::string base_link_frame_id_
fovis::DepthSource * depth_source_
image_transport::Publisher features_pub_
ros::Publisher info_pub_
tf::StampedTransform initial_base_to_sensor_
image_transport::ImageTransport it_
ros::Time last_time_
ros::NodeHandle nh_local_
std::string odom_frame_id_
ros::Publisher odom_pub_
ros::Publisher pose_pub_
bool publish_tf_
fovis::Rectification * rectification_
std::string sensor_frame_id_
tf::TransformBroadcaster tf_broadcaster_
tf::TransformListener tf_listener_
fovis::VisualOdometry * visual_odometer_
fovis::VisualOdometryOptions visual_odometer_options_

Detailed Description

Base class for fovis odometers.

Definition at line 24 of file odometer_base.hpp.


Constructor & Destructor Documentation

fovis_ros::OdometerBase::OdometerBase ( ) [inline, protected]

Definition at line 29 of file odometer_base.hpp.

virtual fovis_ros::OdometerBase::~OdometerBase ( ) [inline, protected, virtual]

Definition at line 44 of file odometer_base.hpp.


Member Function Documentation

void fovis_ros::OdometerBase::eigenToTF ( const Eigen::Isometry3d &  pose,
tf::Transform &  transform 
) [inline, private]

Definition at line 327 of file odometer_base.hpp.

void fovis_ros::OdometerBase::getBaseToSensorTransform ( const ros::Time &  stamp,
const std::string &  sensor_frame_id,
tf::StampedTransform &  base_to_sensor 
) [inline, private]

Definition at line 304 of file odometer_base.hpp.

const fovis::VisualOdometryOptions& fovis_ros::OdometerBase::getOptions ( ) const [inline, protected]

Definition at line 50 of file odometer_base.hpp.

void fovis_ros::OdometerBase::initOdometer ( const sensor_msgs::CameraInfoConstPtr &  info_msg) [inline, private]

Initializes the visual odometry.

Definition at line 242 of file odometer_base.hpp.

void fovis_ros::OdometerBase::loadParams ( ) [inline, private]

Loads parameters from ROS node handle into members.

Definition at line 277 of file odometer_base.hpp.

void fovis_ros::OdometerBase::process ( const sensor_msgs::ImageConstPtr &  image_msg,
const sensor_msgs::CameraInfoConstPtr &  info_msg 
) [inline, protected]

To be called by implementing classes after the depth source has been fed with data.

Definition at line 78 of file odometer_base.hpp.

static void fovis_ros::OdometerBase::rosToFovis ( const image_geometry::PinholeCameraModel &  camera_model,
fovis::CameraIntrinsicsParameters &  parameters 
) [inline, static, protected]

Definition at line 63 of file odometer_base.hpp.

void fovis_ros::OdometerBase::setDepthSource ( fovis::DepthSource *  source) [inline, protected]

Sets the depth source, must be called once before calling process()

Definition at line 58 of file odometer_base.hpp.


Member Data Documentation

Definition at line 350 of file odometer_base.hpp.

fovis::DepthSource* fovis_ros::OdometerBase::depth_source_ [private]

Definition at line 342 of file odometer_base.hpp.

image_transport::Publisher fovis_ros::OdometerBase::features_pub_ [private]

Definition at line 362 of file odometer_base.hpp.

ros::Publisher fovis_ros::OdometerBase::info_pub_ [private]

Definition at line 361 of file odometer_base.hpp.

tf::StampedTransform fovis_ros::OdometerBase::initial_base_to_sensor_ [private]

Definition at line 352 of file odometer_base.hpp.

image_transport::ImageTransport fovis_ros::OdometerBase::it_ [private]

Definition at line 363 of file odometer_base.hpp.

Definition at line 345 of file odometer_base.hpp.

ros::NodeHandle fovis_ros::OdometerBase::nh_local_ [private]

Definition at line 356 of file odometer_base.hpp.

Definition at line 349 of file odometer_base.hpp.

ros::Publisher fovis_ros::OdometerBase::odom_pub_ [private]

Definition at line 359 of file odometer_base.hpp.

ros::Publisher fovis_ros::OdometerBase::pose_pub_ [private]

Definition at line 360 of file odometer_base.hpp.

Definition at line 351 of file odometer_base.hpp.

fovis::Rectification* fovis_ros::OdometerBase::rectification_ [private]

Definition at line 341 of file odometer_base.hpp.

Definition at line 348 of file odometer_base.hpp.

tf::TransformBroadcaster fovis_ros::OdometerBase::tf_broadcaster_ [private]

Definition at line 354 of file odometer_base.hpp.

tf::TransformListener fovis_ros::OdometerBase::tf_listener_ [private]

Definition at line 353 of file odometer_base.hpp.

fovis::VisualOdometry* fovis_ros::OdometerBase::visual_odometer_ [private]

Definition at line 340 of file odometer_base.hpp.

fovis::VisualOdometryOptions fovis_ros::OdometerBase::visual_odometer_options_ [private]

Definition at line 343 of file odometer_base.hpp.


The documentation for this class was generated from the following file:
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fovis_ros
Author(s): Stephan Wirth, Pep Lluis Negre Carrasco
autogenerated on Tue Oct 22 2013 10:07:54