IRI ROS Specific Driver Class. More...
#include <stereo_visual_odometry_alg.h>
Public Types | |
typedef iri_stereo_visual_odometry::StereoVisualOdometryConfig | Config |
define config type | |
Public Member Functions | |
void | compute_H_Hcov (cv::Mat &img1, cv::Mat &img2, cv::Mat &img3, cv::Mat &img4, cv::Mat &H, cv::Mat &Hcov, cv::Mat &point) |
void | config_update (Config &new_cfg, uint32_t level=0) |
config update | |
void | extract_ypr (cv::Mat &H, double &y, double &p, double &r) |
void | lock (void) |
Lock Algorithm. | |
StereoVisualOdometryAlgorithm (void) | |
constructor | |
bool | try_enter (void) |
Tries Access to Algorithm. | |
void | unlock (void) |
Unlock Algorithm. | |
~StereoVisualOdometryAlgorithm (void) | |
Destructor. | |
Public Attributes | |
Config | config_ |
config variable | |
Protected Attributes | |
CMutex | alg_mutex_ |
define config type |
IRI ROS Specific Driver Class.
Definition at line 43 of file stereo_visual_odometry_alg.h.
typedef iri_stereo_visual_odometry::StereoVisualOdometryConfig StereoVisualOdometryAlgorithm::Config |
define config type
Define a Config type with the StereoVisualOdometryConfig. All driver implementations will then use the same variable type Config.
Definition at line 63 of file stereo_visual_odometry_alg.h.
constructor
In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.
Definition at line 5 of file stereo_visual_odometry_alg.cpp.
Destructor.
This destructor is called when the object is about to be destroyed.
Definition at line 9 of file stereo_visual_odometry_alg.cpp.
void StereoVisualOdometryAlgorithm::compute_H_Hcov | ( | cv::Mat & | img1, |
cv::Mat & | img2, | ||
cv::Mat & | img3, | ||
cv::Mat & | img4, | ||
cv::Mat & | H, | ||
cv::Mat & | Hcov, | ||
cv::Mat & | point | ||
) |
Definition at line 31 of file stereo_visual_odometry_alg.cpp.
void StereoVisualOdometryAlgorithm::config_update | ( | Config & | new_cfg, |
uint32_t | level = 0 |
||
) |
config update
In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.
new_cfg | the new driver configuration state |
level | level in which the update is taken place |
Definition at line 13 of file stereo_visual_odometry_alg.cpp.
void StereoVisualOdometryAlgorithm::extract_ypr | ( | cv::Mat & | H, |
double & | y, | ||
double & | p, | ||
double & | r | ||
) |
Definition at line 186 of file stereo_visual_odometry_alg.cpp.
void StereoVisualOdometryAlgorithm::lock | ( | void | ) | [inline] |
Lock Algorithm.
Locks access to the Algorithm class
Definition at line 88 of file stereo_visual_odometry_alg.h.
bool StereoVisualOdometryAlgorithm::try_enter | ( | void | ) | [inline] |
Tries Access to Algorithm.
Tries access to Algorithm
Definition at line 104 of file stereo_visual_odometry_alg.h.
void StereoVisualOdometryAlgorithm::unlock | ( | void | ) | [inline] |
Unlock Algorithm.
Unlocks access to the Algorithm class
Definition at line 95 of file stereo_visual_odometry_alg.h.
CMutex StereoVisualOdometryAlgorithm::alg_mutex_ [protected] |
define config type
Define a Config type with the StereoVisualOdometryConfig. All driver implementations will then use the same variable type Config.
Definition at line 52 of file stereo_visual_odometry_alg.h.
config variable
This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.
Definition at line 71 of file stereo_visual_odometry_alg.h.