#include <PTAMWrapper.h>

Inheritance diagram for PTAMWrapper:

Public Types
enum	{ PTAM_IDLE = 0, PTAM_INITIALIZING = 1, PTAM_LOST = 2, PTAM_GOOD = 3, PTAM_BEST = 4, PTAM_TOOKKF = 5, PTAM_FALSEPOSITIVE = 6 }
Public Member Functions
bool	handleCommand (std::string s)
void	newImage (sensor_msgs::ImageConstPtr img)
void	newNavdata (ardrone_autonomy::Navdata *nav)
virtual void	on_key_down (int key)
virtual void	on_mouse_down (CVD::ImageRef where, int state, int button)
	PTAMWrapper (DroneKalmanFilter dkf, EstimationNode nde)
void	Reset ()
void	setPTAMPars (double minKFTimeDist, double minKFWiggleDist, double minKFDist, double min_tol, double max_tol)
void	startSystem ()
void	stopSystem ()
	~PTAMWrapper (void)
Public Attributes
std::vector< tse3 >	keyFramesTransformed
ardrone_autonomy::Navdata	lastNavinfoReceived
std::string	lastPTAMMessage
TooN::SE3	lastPTAMResultRaw
bool	mapLocked
std::vector< tvec3 >	mapPointsTransformed
int	maxKF
bool	newImageAvailable
int	PTAMInitializedClock
enum PTAMWrapper:: { ... }	PTAMStatus
Static Public Attributes
static pthread_mutex_t	navInfoQueueCS = PTHREAD_MUTEX_INITIALIZER
static pthread_mutex_t	shallowMapCS = PTHREAD_MUTEX_INITIALIZER
Private Types
enum	{ UI_NONE = 0, UI_DEBUG = 1, UI_PRES = 2 }
enum	{ ANIM_NONE, ANIM_TOOKKF, ANIM_GOOD, ANIM_INIT, ANIM_LOST, ANIM_FALSEPOS }
Private Member Functions
TooN::Vector< 3 >	evalNavQue (unsigned int from, unsigned int to, bool zCorrupted, bool allCorrupted, float out_start_pressure, float out_end_pressure)
void	HandleFrame ()
void	renderGrid (TooN::SE3<> camFromWorld)
void	ResetInternal ()
void	run ()
Private Attributes
bool	changeSizeNextRender
char	charBuf [1000]
CVD::ImageRef	defaultWindowSize
CVD::ImageRef	desiredWindowSize
enum PTAMWrapper:: { ... }	drawUI
DroneKalmanFilter *	filter
bool	flushMapKeypoints
bool	forceKF
int	frameHeight
int	framesIncludedForScaleXYZ
int	frameWidth
Predictor *	imuOnlyPred
int	isGoodCount
bool	keepRunning
enum PTAMWrapper:: { ... }	lastAnimSent
int	lastAnimSentClock
int	lastGoodYawClock
int	lastScaleEKFtimestamp
bool	lockNextFrame
std::ofstream *	logfileScalePairs
double	max_tol
CVD::Image< CVD::byte >	mimFrameBW
CVD::Image< CVD::byte >	mimFrameBW_workingCopy
unsigned int	mimFrameSEQ
unsigned int	mimFrameSEQ_workingCopy
int	mimFrameTime
int	mimFrameTime_workingCopy
ros::Time	mimFrameTimeRos
ros::Time	mimFrameTimeRos_workingCopy
double	min_tol
double	minKFDist
double	minKFTimeDist
double	minKFWiggleDist
ATANCamera *	mpCamera
Map *	mpMap
MapMaker *	mpMapMaker
Tracker *	mpTracker
std::string	msg
GLWindow2 *	myGLWindow
std::deque < ardrone_autonomy::Navdata >	navInfoQueue
bool	navQueueOverflown
boost::condition_variable	new_frame_signal
boost::mutex	new_frame_signal_mutex
EstimationNode *	node
Predictor *	predConvert
Predictor *	predIMUOnlyForScale
TooN::Vector< 3 >	PTAMPositionForScale
int	ptamPositionForScaleTakenTimestamp
bool	resetPTAMRequested
int	videoFramePing
Static Private Attributes
static pthread_mutex_t	logScalePairs_CS = PTHREAD_MUTEX_INITIALIZER

Detailed Description

Definition at line 54 of file PTAMWrapper.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

UI_NONE
UI_DEBUG
UI_PRES

Definition at line 110 of file PTAMWrapper.h.

anonymous enum [private]

Enumerator:

ANIM_NONE
ANIM_TOOKKF
ANIM_GOOD
ANIM_INIT
ANIM_LOST
ANIM_FALSEPOS

Definition at line 118 of file PTAMWrapper.h.

anonymous enum

Enumerator:

PTAM_IDLE
PTAM_INITIALIZING
PTAM_LOST
PTAM_GOOD
PTAM_BEST
PTAM_TOOKKF
PTAM_FALSEPOSITIVE

Definition at line 184 of file PTAMWrapper.h.

Constructor & Destructor Documentation

PTAMWrapper::PTAMWrapper	(	DroneKalmanFilter *	dkf,
		EstimationNode *	nde
	)

Definition at line 48 of file PTAMWrapper.cpp.

PTAMWrapper::~PTAMWrapper ( void )

Definition at line 161 of file PTAMWrapper.cpp.

Member Function Documentation

TooN::Vector< 3 > PTAMWrapper::evalNavQue	(	unsigned int	from,
		unsigned int	to,
		bool *	zCorrupted,
		bool *	allCorrupted,
		float *	out_start_pressure,
		float *	out_end_pressure
	)		`[private]`

Definition at line 777 of file PTAMWrapper.cpp.

bool PTAMWrapper::handleCommand ( std::string s )

Definition at line 1012 of file PTAMWrapper.cpp.

void PTAMWrapper::HandleFrame ( ) [private]

Definition at line 264 of file PTAMWrapper.cpp.

void PTAMWrapper::newImage ( sensor_msgs::ImageConstPtr img )

Definition at line 915 of file PTAMWrapper.cpp.

void PTAMWrapper::newNavdata ( ardrone_autonomy::Navdata * nav )

Definition at line 879 of file PTAMWrapper.cpp.

void PTAMWrapper::on_key_down ( int key ) [virtual]

Reimplemented from MouseKeyHandler.

Definition at line 949 of file PTAMWrapper.cpp.

void PTAMWrapper::on_mouse_down	(	CVD::ImageRef	where,
		int	state,
		int	button
	)		`[virtual]`

Reimplemented from MouseKeyHandler.

Definition at line 1086 of file PTAMWrapper.cpp.

void PTAMWrapper::renderGrid ( TooN::SE3<> camFromWorld ) [private]

Definition at line 722 of file PTAMWrapper.cpp.

void PTAMWrapper::Reset ( ) [inline]

Definition at line 178 of file PTAMWrapper.h.

void PTAMWrapper::ResetInternal ( ) [private]

Definition at line 81 of file PTAMWrapper.cpp.

void PTAMWrapper::run ( ) [private]

Definition at line 189 of file PTAMWrapper.cpp.

void PTAMWrapper::setPTAMPars	(	double	minKFTimeDist,
		double	minKFWiggleDist,
		double	minKFDist,
		double	min_tol,
		double	max_tol
	)

Definition at line 139 of file PTAMWrapper.cpp.

void PTAMWrapper::startSystem ( )

Definition at line 174 of file PTAMWrapper.cpp.

void PTAMWrapper::stopSystem ( )

Definition at line 181 of file PTAMWrapper.cpp.

Member Data Documentation

bool PTAMWrapper::changeSizeNextRender [private]

Definition at line 61 of file PTAMWrapper.h.

char PTAMWrapper::charBuf[1000] [private]

Definition at line 75 of file PTAMWrapper.h.

CVD::ImageRef PTAMWrapper::defaultWindowSize [private]

Definition at line 60 of file PTAMWrapper.h.

CVD::ImageRef PTAMWrapper::desiredWindowSize [private]

Definition at line 59 of file PTAMWrapper.h.

enum { ... } PTAMWrapper::drawUI [private]

DroneKalmanFilter* PTAMWrapper::filter [private]

Definition at line 71 of file PTAMWrapper.h.

bool PTAMWrapper::flushMapKeypoints [private]

Definition at line 115 of file PTAMWrapper.h.

bool PTAMWrapper::forceKF [private]

Definition at line 113 of file PTAMWrapper.h.

int PTAMWrapper::frameHeight [private]

Definition at line 86 of file PTAMWrapper.h.

int PTAMWrapper::framesIncludedForScaleXYZ [private]

Definition at line 126 of file PTAMWrapper.h.

int PTAMWrapper::frameWidth [private]

Definition at line 86 of file PTAMWrapper.h.

Predictor* PTAMWrapper::imuOnlyPred [private]

Definition at line 106 of file PTAMWrapper.h.

int PTAMWrapper::isGoodCount [private]

Definition at line 122 of file PTAMWrapper.h.

bool PTAMWrapper::keepRunning [private]

Definition at line 133 of file PTAMWrapper.h.

std::vector<tse3> PTAMWrapper::keyFramesTransformed

Definition at line 190 of file PTAMWrapper.h.

enum { ... } PTAMWrapper::lastAnimSent [private]

int PTAMWrapper::lastAnimSentClock [private]

Definition at line 117 of file PTAMWrapper.h.

int PTAMWrapper::lastGoodYawClock [private]

Definition at line 121 of file PTAMWrapper.h.

ardrone_autonomy::Navdata PTAMWrapper::lastNavinfoReceived

Definition at line 192 of file PTAMWrapper.h.

std::string PTAMWrapper::lastPTAMMessage

Definition at line 186 of file PTAMWrapper.h.

TooN::SE3 PTAMWrapper::lastPTAMResultRaw

Definition at line 185 of file PTAMWrapper.h.

int PTAMWrapper::lastScaleEKFtimestamp [private]

Definition at line 107 of file PTAMWrapper.h.

bool PTAMWrapper::lockNextFrame [private]

Definition at line 135 of file PTAMWrapper.h.

std::ofstream* PTAMWrapper::logfileScalePairs [private]

Definition at line 148 of file PTAMWrapper.h.

pthread_mutex_t PTAMWrapper::logScalePairs_CS = PTHREAD_MUTEX_INITIALIZER [static, private]

Definition at line 149 of file PTAMWrapper.h.

bool PTAMWrapper::mapLocked

Definition at line 165 of file PTAMWrapper.h.

std::vector<tvec3> PTAMWrapper::mapPointsTransformed

Definition at line 189 of file PTAMWrapper.h.

double PTAMWrapper::max_tol [private]

Definition at line 103 of file PTAMWrapper.h.

int PTAMWrapper::maxKF

Definition at line 166 of file PTAMWrapper.h.

CVD::Image<CVD::byte> PTAMWrapper::mimFrameBW [private]

Definition at line 78 of file PTAMWrapper.h.

CVD::Image<CVD::byte> PTAMWrapper::mimFrameBW_workingCopy [private]

Definition at line 79 of file PTAMWrapper.h.

unsigned int PTAMWrapper::mimFrameSEQ [private]

Definition at line 82 of file PTAMWrapper.h.

unsigned int PTAMWrapper::mimFrameSEQ_workingCopy [private]

Definition at line 83 of file PTAMWrapper.h.

int PTAMWrapper::mimFrameTime [private]

Definition at line 80 of file PTAMWrapper.h.

int PTAMWrapper::mimFrameTime_workingCopy [private]

Definition at line 81 of file PTAMWrapper.h.

ros::Time PTAMWrapper::mimFrameTimeRos [private]

Definition at line 84 of file PTAMWrapper.h.

ros::Time PTAMWrapper::mimFrameTimeRos_workingCopy [private]

Definition at line 85 of file PTAMWrapper.h.

double PTAMWrapper::min_tol [private]

Definition at line 102 of file PTAMWrapper.h.

double PTAMWrapper::minKFDist [private]

Definition at line 100 of file PTAMWrapper.h.

double PTAMWrapper::minKFTimeDist [private]

Definition at line 98 of file PTAMWrapper.h.

double PTAMWrapper::minKFWiggleDist [private]

Definition at line 99 of file PTAMWrapper.h.

ATANCamera* PTAMWrapper::mpCamera [private]

Definition at line 94 of file PTAMWrapper.h.

Map* PTAMWrapper::mpMap [private]

Definition at line 91 of file PTAMWrapper.h.

MapMaker* PTAMWrapper::mpMapMaker [private]

Definition at line 92 of file PTAMWrapper.h.

Tracker* PTAMWrapper::mpTracker [private]

Definition at line 93 of file PTAMWrapper.h.

std::string PTAMWrapper::msg [private]

Definition at line 76 of file PTAMWrapper.h.

GLWindow2* PTAMWrapper::myGLWindow [private]

Definition at line 58 of file PTAMWrapper.h.

std::deque<ardrone_autonomy::Navdata> PTAMWrapper::navInfoQueue [private]

Definition at line 127 of file PTAMWrapper.h.

pthread_mutex_t PTAMWrapper::navInfoQueueCS = PTHREAD_MUTEX_INITIALIZER [static]

This file is part of uga_tum_ardrone.

Copyright 2012 Jakob Engel <jajuengel@gmail.com> (Technical University of Munich) Portions Copyright 2015 Kenneth Bogert <kbogert@uga.edu> and Sina Solaimanpour <sina@uga.edu> (THINC Lab, University of Georgia) For more information see <https://vision.in.tum.de/data/software/uga_tum_ardrone>.

uga_tum_ardrone is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

uga_tum_ardrone is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with uga_tum_ardrone. If not, see <http://www.gnu.org/licenses/>.

Definition at line 167 of file PTAMWrapper.h.

bool PTAMWrapper::navQueueOverflown [private]

Definition at line 128 of file PTAMWrapper.h.

boost::condition_variable PTAMWrapper::new_frame_signal [private]

Definition at line 137 of file PTAMWrapper.h.

boost::mutex PTAMWrapper::new_frame_signal_mutex [private]

Definition at line 138 of file PTAMWrapper.h.

bool PTAMWrapper::newImageAvailable

Definition at line 160 of file PTAMWrapper.h.

EstimationNode* PTAMWrapper::node [private]

Definition at line 72 of file PTAMWrapper.h.