viso2_ros::StereoOdometer Class Reference

Inheritance diagram for viso2_ros::StereoOdometer:

List of all members.

Public Types
typedef pcl::PointCloud < pcl::PointXYZRGB >	PointCloud
Public Member Functions
	StereoOdometer (const std::string &transport)
Protected Member Functions
void	computeAndPublishPointCloud (const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const std::vector< Matcher::p_match > &matches, const std::vector< int32_t > &inlier_indices)
double	computeFeatureFlow (const std::vector< Matcher::p_match > &matches)
void	imageCallback (const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::ImageConstPtr &r_image_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)
void	initOdometer (const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)
Private Attributes
bool	change_reference_frame_
bool	got_lost_
ros::Publisher	info_pub_
ros::Publisher	point_cloud_pub_
int	ref_frame_change_method_
int	ref_frame_inlier_threshold_
double	ref_frame_motion_threshold_
Matrix	reference_motion_
boost::shared_ptr < VisualOdometryStereo >	visual_odometer_
VisualOdometryStereo::parameters	visual_odometer_params_

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Detailed Description

Definition at line 46 of file stereo_odometer.cpp.

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Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZRGB> viso2_ros::StereoOdometer::PointCloud

Definition at line 68 of file stereo_odometer.cpp.

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Constructor & Destructor Documentation

viso2_ros::StereoOdometer::StereoOdometer

(

const std::string &

transport

)

[inline]

Definition at line 70 of file stereo_odometer.cpp.

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Member Function Documentation

void viso2_ros::StereoOdometer::computeAndPublishPointCloud	(	const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::ImageConstPtr &	l_image_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg,
		const std::vector< Matcher::p_match > &	matches,
		const std::vector< int32_t > &	inlier_indices
	)		[inline, protected]

Definition at line 281 of file stereo_odometer.cpp.

double viso2_ros::StereoOdometer::computeFeatureFlow

(

const std::vector< Matcher::p_match > &

matches

)

[inline, protected]

Definition at line 268 of file stereo_odometer.cpp.

void viso2_ros::StereoOdometer::imageCallback	(	const sensor_msgs::ImageConstPtr &	l_image_msg,
		const sensor_msgs::ImageConstPtr &	r_image_msg,
		const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg
	)		[inline, protected, virtual]

Implement this method in sub-classes

Implements viso2_ros::StereoProcessor.

Definition at line 121 of file stereo_odometer.cpp.

void viso2_ros::StereoOdometer::initOdometer	(	const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg
	)		[inline, protected]

Definition at line 90 of file stereo_odometer.cpp.

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Member Data Documentation

bool viso2_ros::StereoOdometer::change_reference_frame_ [private]

Definition at line 61 of file stereo_odometer.cpp.

bool viso2_ros::StereoOdometer::got_lost_ [private]

Definition at line 57 of file stereo_odometer.cpp.

ros::Publisher viso2_ros::StereoOdometer::info_pub_ [private]

Definition at line 55 of file stereo_odometer.cpp.

ros::Publisher viso2_ros::StereoOdometer::point_cloud_pub_ [private]

Definition at line 54 of file stereo_odometer.cpp.

int viso2_ros::StereoOdometer::ref_frame_change_method_ [private]

Definition at line 60 of file stereo_odometer.cpp.

int viso2_ros::StereoOdometer::ref_frame_inlier_threshold_ [private]

Definition at line 63 of file stereo_odometer.cpp.

double viso2_ros::StereoOdometer::ref_frame_motion_threshold_ [private]

Definition at line 62 of file stereo_odometer.cpp.

Matrix viso2_ros::StereoOdometer::reference_motion_ [private]

Definition at line 64 of file stereo_odometer.cpp.

boost::shared_ptr<VisualOdometryStereo> viso2_ros::StereoOdometer::visual_odometer_ [private]

Definition at line 51 of file stereo_odometer.cpp.

VisualOdometryStereo::parameters viso2_ros::StereoOdometer::visual_odometer_params_ [private]

Definition at line 52 of file stereo_odometer.cpp.

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The documentation for this class was generated from the following file:

• stereo_odometer.cpp