videoslam.hpp File Reference

Declarations for the VIDEOSLAM node. More...

#include "general_resources.hpp"
#include "ros_resources.hpp"
#include "opencv_resources.hpp"
#include "pcl_resources.hpp"
#include "improc.hpp"
#include "video.hpp"
#include "features.hpp"
#include "reconstruction.hpp"
#include "sba.hpp"
#include "keyframes.hpp"
#include "geometry.hpp"
#include "feature_tracks.h"
#include "pose_confidence.h"
#include "videoslamConfig.h"
#include <std_msgs/Float32.h>

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Classes
struct	videoslamData
	Stores configuration information for the ODOMETRY routine. More...
class	videoslamNode
	Manages the ODOMETRY procedure. More...
Defines
#define	DEFAULT_DRAWGRAPH_BICOLOR   0
#define	DEFAULT_DRAWGRAPH_DECIMATION   1
#define	MAX_FRAMES   1000
#define	MAX_HISTORY   10
#define	MAX_POSES_TO_STORE   100
#define	MAX_TIME_GAP_FOR_INTERP   0.5
#define	MAX_TRACKS   10000
#define	SBA_MEMORY   134217728
Typedefs
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloud
typedef Eigen::Quaternion< double >	QuaternionDbl
typedef dynamic_reconfigure::Server < thermalvis::videoslamConfig >	Server
Functions
void	connected (const ros::SingleSubscriberPublisher &)
void	disconnected (const ros::SingleSubscriberPublisher &)
bool	interpolatePose (const geometry_msgs::Pose &pose1, ros::Time time1, const geometry_msgs::Pose &pose2, ros::Time time2, geometry_msgs::Pose &finalPose, ros::Time time3)
void	mySigintHandler (int sig)
void	shiftPose (const geometry_msgs::Pose &pose_src, geometry_msgs::Pose &pose_dst, cv::Mat transformation)
Variables
const char	__PROGRAM__ [] = "THERMALVIS_ODOMETRY"
boost::shared_ptr < videoslamNode > *	globalNodePtr
bool	wantsToShutdown = false

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Detailed Description

Declarations for the VIDEOSLAM node.

Definition in file videoslam.hpp.

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Define Documentation

#define DEFAULT_DRAWGRAPH_BICOLOR   0

Definition at line 35 of file videoslam.hpp.

#define DEFAULT_DRAWGRAPH_DECIMATION   1

Definition at line 34 of file videoslam.hpp.

#define MAX_FRAMES   1000

Definition at line 40 of file videoslam.hpp.

#define MAX_HISTORY   10

Definition at line 38 of file videoslam.hpp.

#define MAX_POSES_TO_STORE   100

Definition at line 39 of file videoslam.hpp.

#define MAX_TIME_GAP_FOR_INTERP   0.5

Definition at line 43 of file videoslam.hpp.

#define MAX_TRACKS   10000

Definition at line 41 of file videoslam.hpp.

#define SBA_MEMORY   134217728

Definition at line 42 of file videoslam.hpp.

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Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud

Definition at line 45 of file videoslam.hpp.

typedef Eigen::Quaternion<double> QuaternionDbl

Definition at line 30 of file videoslam.hpp.

typedef dynamic_reconfigure::Server< thermalvis::videoslamConfig > Server

Definition at line 31 of file videoslam.hpp.

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Function Documentation

void connected

(

const ros::SingleSubscriberPublisher &

)

Definition at line 223 of file videoslam.hpp.

void disconnected

(

const ros::SingleSubscriberPublisher &

)

Definition at line 224 of file videoslam.hpp.

bool interpolatePose	(	const geometry_msgs::Pose &	pose1,
		ros::Time	time1,
		const geometry_msgs::Pose &	pose2,
		ros::Time	time2,
		geometry_msgs::Pose &	finalPose,
		ros::Time	time3
	)

Definition at line 393 of file videoslam.cpp.

void mySigintHandler

(

int

sig

)

Definition at line 350 of file calibrator.cpp.

void shiftPose	(	const geometry_msgs::Pose &	pose_src,
		geometry_msgs::Pose &	pose_dst,
		cv::Mat	transformation
	)

Definition at line 349 of file videoslam.cpp.

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Variable Documentation

const char __PROGRAM__[] = "THERMALVIS_ODOMETRY"

Definition at line 47 of file videoslam.hpp.

boost::shared_ptr< videoslamNode >* globalNodePtr

Definition at line 226 of file videoslam.hpp.

bool wantsToShutdown = false

Definition at line 49 of file videoslam.hpp.