#include <blob_store.h>

Public Member Functions
	BlobStore (const std::string &canonical_frame, const std::string &rgb_camera_frame, const std::string &db_name, const std::string &collection_namespace)
bool	switchDb (SwitchDB::Request &req, SwitchDB::Response &resp)
	Switch to using a new db.
void	update (const std::vector< Blob * > &blobs, const sensor_msgs::Image &img, const sensor_msgs::CameraInfo &info)
	Update the database with the current visible set of blobs. This will add any new blobs (based on id) and leave existing ones alone.
Private Types
typedef mongo_ros::MessageCollection < BlobMessage >	BlobCollection
typedef mongo_ros::MessageCollection < sensor_msgs::Image >	ImageCollection
Private Member Functions
geometry_msgs::Pose2D	getViewpoint (const sensor_msgs::Image &img)
btQuaternion	headAngleAt (const ros::Time &t)
double	headAngularSpeed (const ros::Time &t)
sensor_msgs::Image::Ptr	highlightBlobInImage (const Blob &blob, const sensor_msgs::Image &img, const sensor_msgs::CameraInfo &info)
Private Attributes
const std::string	base_frame_
boost::shared_ptr< BlobCollection >	blobs_
image_geometry::PinholeCameraModel	cam_model_
const std::string	canonical_frame_
const std::string	db_name_
boost::shared_ptr < ImageCollection >	images_
image_transport::ImageTransport	it_
const double	max_head_angular_speed_
boost::mutex	mutex_
ros::NodeHandle	nh_
image_transport::Publisher	pub_
const std::string	rgb_camera_frame_
ros::ServiceServer	switch_srv_
tf::TransformListener	tf_

Detailed Description

Definition at line 60 of file blob_store.h.

Member Typedef Documentation

Definition at line 114 of file blob_store.h.

Definition at line 115 of file blob_store.h.

semanticmodel::BlobStore::BlobStore	(	const std::string &	canonical_frame,
		const std::string &	rgb_camera_frame,
		const std::string &	db_name,
		const std::string &	collection_namespace
	)

Definition at line 72 of file blob_store.cc.

gm::Pose2D semanticmodel::BlobStore::getViewpoint ( const sensor_msgs::Image & img ) [private]

Definition at line 373 of file blob_store.cc.

btQuaternion semanticmodel::BlobStore::headAngleAt ( const ros::Time & t ) [private]

Definition at line 119 of file blob_store.cc.

double semanticmodel::BlobStore::headAngularSpeed ( const ros::Time & t ) [private]

Definition at line 133 of file blob_store.cc.

sm::Image::Ptr semanticmodel::BlobStore::highlightBlobInImage	(	const Blob &	blob,
		const sensor_msgs::Image &	img,
		const sensor_msgs::CameraInfo &	info
	)		`[private]`