#include <Node.h>

Inheritance diagram for Node:

Public Member Functions
void	Init ()

	Node (ORB_SLAM2::System::eSensor sensor, ros::NodeHandle &node_handle, image_transport::ImageTransport &image_transport)

	~Node ()

Protected Member Functions
void	Update ()

Protected Attributes
std::string	camera_info_topic_

ros::Time	current_frame_time_

ORB_SLAM2::System *	orb_slam_

Private Member Functions
void	LoadOrbParameters (ORB_SLAM2::ORBParameters &parameters)

sensor_msgs::PointCloud2	MapPointsToPointCloud (std::vector< ORB_SLAM2::MapPoint * > map_points)

void	ParamsChangedCallback (orb_slam2_ros::dynamic_reconfigureConfig &config, uint32_t level)

void	PublishGBAStatus (bool gba_status)

void	PublishMapPoints (std::vector< ORB_SLAM2::MapPoint * > map_points)

void	PublishPositionAsPoseStamped (cv::Mat position)

void	PublishPositionAsTransform (cv::Mat position)

void	PublishRenderedImage (cv::Mat image)

bool	SaveMapSrv (orb_slam2_ros::SaveMap::Request &req, orb_slam2_ros::SaveMap::Response &res)

tf2::Transform	TransformFromMat (cv::Mat position_mat)

tf2::Transform	TransformToTarget (tf2::Transform tf_in, std::string frame_in, std::string frame_target)

Private Attributes
std::string	camera_frame_id_param_

dynamic_reconfigure::Server< orb_slam2_ros::dynamic_reconfigureConfig >	dynamic_param_server_

image_transport::ImageTransport	image_transport_

bool	load_map_param_

std::string	map_file_name_param_

std::string	map_frame_id_param_

ros::Publisher	map_points_publisher_

int	min_observations_per_point_

std::string	name_of_node_

ros::NodeHandle	node_handle_

ros::Publisher	pose_publisher_

bool	publish_pointcloud_param_

bool	publish_pose_param_

bool	publish_tf_param_

image_transport::Publisher	rendered_image_publisher_

ORB_SLAM2::System::eSensor	sensor_

ros::ServiceServer	service_server_

ros::Publisher	status_gba_publisher_

std::string	target_frame_id_param_

boost::shared_ptr< tf2_ros::Buffer >	tfBuffer

boost::shared_ptr< tf2_ros::TransformListener >	tfListener

std::string	voc_file_name_param_

Detailed Description

This file is part of ORB-SLAM2.

ORB-SLAM2 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.

ORB-SLAM2 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 ORB-SLAM2. If not, see http://www.gnu.org/licenses/.

Definition at line 54 of file Node.h.

Constructor & Destructor Documentation

Node::Node	(	ORB_SLAM2::System::eSensor	sensor,
		ros::NodeHandle &	node_handle,
		image_transport::ImageTransport &	image_transport
	)

Definition at line 5 of file Node.cc.

Node::~Node ( )

Definition at line 13 of file Node.cc.

Member Function Documentation

void Node::Init ( )

Definition at line 23 of file Node.cc.

void Node::LoadOrbParameters ( ORB_SLAM2::ORBParameters & parameters )

private

Definition at line 305 of file Node.cc.

sensor_msgs::PointCloud2 Node::MapPointsToPointCloud ( std::vector< ORB_SLAM2::MapPoint * > map_points )

private

Definition at line 232 of file Node.cc.

void Node::ParamsChangedCallback	(	orb_slam2_ros::dynamic_reconfigureConfig &	config,
		uint32_t	level
	)

private

Definition at line 279 of file Node.cc.

void Node::PublishGBAStatus ( bool gba_status )

private

Definition at line 181 of file Node.cc.

void Node::PublishMapPoints ( std::vector< ORB_SLAM2::MapPoint * > map_points )

private

Definition at line 90 of file Node.cc.

void Node::PublishPositionAsPoseStamped ( cv::Mat position )

private

Definition at line 167 of file Node.cc.

void Node::PublishPositionAsTransform ( cv::Mat position )

private

Definition at line 150 of file Node.cc.

void Node::PublishRenderedImage ( cv::Mat image )

private

Definition at line 187 of file Node.cc.

bool Node::SaveMapSrv	(	orb_slam2_ros::SaveMap::Request &	req,
		orb_slam2_ros::SaveMap::Response &	res
	)

private

Definition at line 292 of file Node.cc.

tf2::Transform Node::TransformFromMat ( cv::Mat position_mat )

private

Definition at line 196 of file Node.cc.

tf2::Transform Node::TransformToTarget	(	tf2::Transform	tf_in,
		std::string	frame_in,
		std::string	frame_target
	)

private

Definition at line 95 of file Node.cc.

void Node::Update ( )

protected

Definition at line 66 of file Node.cc.

Member Data Documentation

std::string Node::camera_frame_id_param_

private

Definition at line 102 of file Node.h.

std::string Node::camera_info_topic_

protected

Definition at line 66 of file Node.h.

ros::Time Node::current_frame_time_

protected

Definition at line 64 of file Node.h.

dynamic_reconfigure::Server<orb_slam2_ros::dynamic_reconfigureConfig> Node::dynamic_param_server_

private

Definition at line 86 of file Node.h.

image_transport::ImageTransport Node::image_transport_

private

Definition at line 97 of file Node.h.

bool Node::load_map_param_

private

Definition at line 106 of file Node.h.

std::string Node::map_file_name_param_

private

Definition at line 104 of file Node.h.

std::string Node::map_frame_id_param_

private

Definition at line 101 of file Node.h.

ros::Publisher Node::map_points_publisher_

private

Definition at line 89 of file Node.h.

int Node::min_observations_per_point_

private

Definition at line 110 of file Node.h.

std::string Node::name_of_node_

private

Definition at line 95 of file Node.h.

ros::NodeHandle Node::node_handle_

private

Definition at line 96 of file Node.h.

ORB_SLAM2::System* Node::orb_slam_

protected

Definition at line 63 of file Node.h.

ros::Publisher Node::pose_publisher_

private

Definition at line 90 of file Node.h.

bool Node::publish_pointcloud_param_

private

Definition at line 107 of file Node.h.

bool Node::publish_pose_param_

private

Definition at line 109 of file Node.h.

bool Node::publish_tf_param_

private

Definition at line 108 of file Node.h.

image_transport::Publisher Node::rendered_image_publisher_

private

Definition at line 88 of file Node.h.

ORB_SLAM2::System::eSensor Node::sensor_

private

Definition at line 99 of file Node.h.

ros::ServiceServer Node::service_server_

private

Definition at line 93 of file Node.h.

ros::Publisher Node::status_gba_publisher_

private

Definition at line 91 of file Node.h.

std::string Node::target_frame_id_param_

private

Definition at line 103 of file Node.h.

boost::shared_ptr<tf2_ros::Buffer> Node::tfBuffer

private

Definition at line 79 of file Node.h.

boost::shared_ptr<tf2_ros::TransformListener> Node::tfListener

private

Definition at line 80 of file Node.h.

std::string Node::voc_file_name_param_

private

Definition at line 105 of file Node.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation