#include <sys/time.h>#include "scoped_timer.h"#include "graph_manager.h"#include "misc.h"#include "pcl_ros/transforms.h"#include "pcl/io/pcd_io.h"#include "pcl/io/ply_io.h"#include <opencv2/features2d/features2d.hpp>#include <qtconcurrentrun.h>#include <QFile>#include <utility>#include <fstream>#include <boost/foreach.hpp>#include <rosbag/bag.h>#include "g2o/types/slam3d/se3quat.h"#include "g2o/types/slam3d/edge_se3.h"#include "g2o/core/optimizable_graph.h"#include <pcl_ros/point_cloud.h>#include <visualization_msgs/Marker.h>#include <geometry_msgs/Point.h>
Include dependency graph for graph_mgr_io.cpp:
Go to the source code of this file.
Typedefs | |
| typedef std::set < g2o::HyperGraph::Edge * > | EdgeSet |
Functions | |
| void | drawFeatureConnectors (cv::Mat &canvas, cv::Scalar line_color, const std::vector< cv::DMatch > matches, const std::vector< cv::KeyPoint > &newer_keypoints, const std::vector< cv::KeyPoint > &older_keypoints, int line_thickness=2, int line_type=16) |
| void | publishCloud (Node *node, ros::Time timestamp, ros::Publisher pub) |
| Send node's pointcloud with given publisher and timestamp. | |
Typedef Documentation
The following function are used for visualization in RVIZ. They are only activated if their ros topics are subscribed to. Be careful, they haven't been tested in a long time
Definition at line 684 of file graph_mgr_io.cpp.
Function Documentation
| void drawFeatureConnectors | ( | cv::Mat & | canvas, |
| cv::Scalar | line_color, | ||
| const std::vector< cv::DMatch > | matches, | ||
| const std::vector< cv::KeyPoint > & | newer_keypoints, | ||
| const std::vector< cv::KeyPoint > & | older_keypoints, | ||
| int | line_thickness = 2, |
||
| int | line_type = 16 |
||
| ) |
Definition at line 1018 of file graph_mgr_io.cpp.
| void publishCloud | ( | Node * | node, |
| ros::Time | timestamp, | ||
| ros::Publisher | pub | ||
| ) |
Send node's pointcloud with given publisher and timestamp.
Definition at line 1006 of file graph_mgr_io.cpp.