Public Member Functions | Protected Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
rtabmap_ros::StereoOdometry Class Reference
Inheritance diagram for rtabmap_ros::StereoOdometry:
Inheritance graph
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Public Member Functions

 StereoOdometry ()
 
virtual ~StereoOdometry ()
 
- Public Member Functions inherited from rtabmap_ros::OdometryROS
const std::string & frameId () const
 
const std::string & guessFrameId () const
 
bool isPaused () const
 
 OdometryROS (bool stereoParams, bool visParams, bool icpParams)
 
const std::string & odomFrameId () const
 
const rtabmap::ParametersMap & parameters () const
 
bool pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void processData (rtabmap::SensorData &data, const std_msgs::Header &header)
 
bool reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool resetToPose (rtabmap_ros::ResetPose::Request &, rtabmap_ros::ResetPose::Response &)
 
bool resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
virtual ~OdometryROS ()
 
- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 

Protected Member Functions

virtual void flushCallbacks ()
 
- Protected Member Functions inherited from rtabmap_ros::OdometryROS
void callbackCalled ()
 
virtual void postProcessData (const rtabmap::SensorData &data, const std_msgs::Header &header) const
 
double previousStamp () const
 
void startWarningThread (const std::string &subscribedTopicsMsg, bool approxSync)
 
tf::TransformListener & tfListener ()
 
rtabmap::Transform velocityGuess () const
 
double waitForTransformDuration () const
 
- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface & getMTCallbackQueue () const
 
ros::NodeHandle & getMTNodeHandle () const
 
ros::NodeHandle & getMTPrivateNodeHandle () const
 
const V_string & getMyArgv () const
 
const std::string & getName () const
 
ros::NodeHandle & getNodeHandle () const
 
ros::NodeHandle & getPrivateNodeHandle () const
 
const M_string & getRemappingArgs () const
 
ros::CallbackQueueInterface & getSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

Private Types

typedef message_filters::sync_policies::ApproximateTime< rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage > MyApproxSync2Policy
 
typedef message_filters::sync_policies::ApproximateTime< rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage > MyApproxSync3Policy
 
typedef message_filters::sync_policies::ApproximateTime< rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage > MyApproxSync4Policy
 
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo > MyApproxSyncPolicy
 
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage > MyExactSync2Policy
 
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage > MyExactSync3Policy
 
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage > MyExactSync4Policy
 
typedef message_filters::sync_policies::ExactTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo > MyExactSyncPolicy
 

Private Member Functions

void callback (const sensor_msgs::ImageConstPtr &imageLeft, const sensor_msgs::ImageConstPtr &imageRight, const sensor_msgs::CameraInfoConstPtr &cameraInfoLeft, const sensor_msgs::CameraInfoConstPtr &cameraInfoRight)
 
void callbackRGBD (const rtabmap_ros::RGBDImageConstPtr &image)
 
void callbackRGBD2 (const rtabmap_ros::RGBDImageConstPtr &image, const rtabmap_ros::RGBDImageConstPtr &image2)
 
void callbackRGBD3 (const rtabmap_ros::RGBDImageConstPtr &image, const rtabmap_ros::RGBDImageConstPtr &image2, const rtabmap_ros::RGBDImageConstPtr &image3)
 
void callbackRGBD4 (const rtabmap_ros::RGBDImageConstPtr &image, const rtabmap_ros::RGBDImageConstPtr &image2, const rtabmap_ros::RGBDImageConstPtr &image3, const rtabmap_ros::RGBDImageConstPtr &image4)
 
void callbackRGBDX (const rtabmap_ros::RGBDImagesConstPtr &images)
 
void commonCallback (const std::vector< cv_bridge::CvImageConstPtr > &leftImages, const std::vector< cv_bridge::CvImageConstPtr > &rightImages, const std::vector< sensor_msgs::CameraInfo > &leftCameraInfos, const std::vector< sensor_msgs::CameraInfo > &rightCameraInfos)
 
virtual void onOdomInit ()
 
virtual void updateParameters (ParametersMap &parameters)
 

Private Attributes

message_filters::Synchronizer< MyApproxSync2Policy > * approxSync2_
 
message_filters::Synchronizer< MyApproxSync3Policy > * approxSync3_
 
message_filters::Synchronizer< MyApproxSync4Policy > * approxSync4_
 
message_filters::Synchronizer< MyApproxSyncPolicy > * approxSync_
 
message_filters::Subscriber< sensor_msgs::CameraInfo > cameraInfoLeft_
 
message_filters::Subscriber< sensor_msgs::CameraInfo > cameraInfoRight_
 
message_filters::Synchronizer< MyExactSync2Policy > * exactSync2_
 
message_filters::Synchronizer< MyExactSync3Policy > * exactSync3_
 
message_filters::Synchronizer< MyExactSync4Policy > * exactSync4_
 
message_filters::Synchronizer< MyExactSyncPolicy > * exactSync_
 
image_transport::SubscriberFilter imageRectLeft_
 
image_transport::SubscriberFilter imageRectRight_
 
bool keepColor_
 
int queueSize_
 
message_filters::Subscriber< rtabmap_ros::RGBDImage > rgbd_image1_sub_
 
message_filters::Subscriber< rtabmap_ros::RGBDImage > rgbd_image2_sub_
 
message_filters::Subscriber< rtabmap_ros::RGBDImage > rgbd_image3_sub_
 
message_filters::Subscriber< rtabmap_ros::RGBDImage > rgbd_image4_sub_
 
message_filters::Subscriber< rtabmap_ros::RGBDImage > rgbd_image5_sub_
 
ros::Subscriber rgbdSub_
 
ros::Subscriber rgbdxSub_
 

Detailed Description

Definition at line 60 of file stereo_odometry.cpp.

Member Typedef Documentation

◆ MyApproxSync2Policy

typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::MyApproxSync2Policy
private

Definition at line 827 of file stereo_odometry.cpp.

◆ MyApproxSync3Policy

typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::MyApproxSync3Policy
private

Definition at line 831 of file stereo_odometry.cpp.

◆ MyApproxSync4Policy

typedef message_filters::sync_policies::ApproximateTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::MyApproxSync4Policy
private

Definition at line 835 of file stereo_odometry.cpp.

◆ MyApproxSyncPolicy

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> rtabmap_ros::StereoOdometry::MyApproxSyncPolicy
private

Definition at line 823 of file stereo_odometry.cpp.

◆ MyExactSync2Policy

typedef message_filters::sync_policies::ExactTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::MyExactSync2Policy
private

Definition at line 829 of file stereo_odometry.cpp.

◆ MyExactSync3Policy

typedef message_filters::sync_policies::ExactTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::MyExactSync3Policy
private

Definition at line 833 of file stereo_odometry.cpp.

◆ MyExactSync4Policy

typedef message_filters::sync_policies::ExactTime<rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::MyExactSync4Policy
private

Definition at line 837 of file stereo_odometry.cpp.

◆ MyExactSyncPolicy

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> rtabmap_ros::StereoOdometry::MyExactSyncPolicy
private

Definition at line 825 of file stereo_odometry.cpp.

Constructor & Destructor Documentation

◆ StereoOdometry()

rtabmap_ros::StereoOdometry::StereoOdometry ( )
inline

Definition at line 63 of file stereo_odometry.cpp.

◆ ~StereoOdometry()

virtual rtabmap_ros::StereoOdometry::~StereoOdometry ( )
inlinevirtual

Definition at line 78 of file stereo_odometry.cpp.

Member Function Documentation

◆ callback()

void rtabmap_ros::StereoOdometry::callback ( const sensor_msgs::ImageConstPtr &  imageLeft,
const sensor_msgs::ImageConstPtr &  imageRight,
const sensor_msgs::CameraInfoConstPtr &  cameraInfoLeft,
const sensor_msgs::CameraInfoConstPtr &  cameraInfoRight 
)
inlineprivate

Definition at line 575 of file stereo_odometry.cpp.

◆ callbackRGBD()

void rtabmap_ros::StereoOdometry::callbackRGBD ( const rtabmap_ros::RGBDImageConstPtr &  image)
inlineprivate

Definition at line 609 of file stereo_odometry.cpp.

◆ callbackRGBD2()

void rtabmap_ros::StereoOdometry::callbackRGBD2 ( const rtabmap_ros::RGBDImageConstPtr &  image,
const rtabmap_ros::RGBDImageConstPtr &  image2 
)
inlineprivate

Definition at line 653 of file stereo_odometry.cpp.

◆ callbackRGBD3()

void rtabmap_ros::StereoOdometry::callbackRGBD3 ( const rtabmap_ros::RGBDImageConstPtr &  image,
const rtabmap_ros::RGBDImageConstPtr &  image2,
const rtabmap_ros::RGBDImageConstPtr &  image3 
)
inlineprivate

Definition at line 675 of file stereo_odometry.cpp.

◆ callbackRGBD4()

void rtabmap_ros::StereoOdometry::callbackRGBD4 ( const rtabmap_ros::RGBDImageConstPtr &  image,
const rtabmap_ros::RGBDImageConstPtr &  image2,
const rtabmap_ros::RGBDImageConstPtr &  image3,
const rtabmap_ros::RGBDImageConstPtr &  image4 
)
inlineprivate

Definition at line 701 of file stereo_odometry.cpp.

◆ callbackRGBDX()

void rtabmap_ros::StereoOdometry::callbackRGBDX ( const rtabmap_ros::RGBDImagesConstPtr &  images)
inlineprivate

Definition at line 627 of file stereo_odometry.cpp.

◆ commonCallback()

void rtabmap_ros::StereoOdometry::commonCallback ( const std::vector< cv_bridge::CvImageConstPtr > &  leftImages,
const std::vector< cv_bridge::CvImageConstPtr > &  rightImages,
const std::vector< sensor_msgs::CameraInfo > &  leftCameraInfos,
const std::vector< sensor_msgs::CameraInfo > &  rightCameraInfos 
)
inlineprivate

Definition at line 299 of file stereo_odometry.cpp.

◆ flushCallbacks()

virtual void rtabmap_ros::StereoOdometry::flushCallbacks ( )
inlineprotectedvirtual

Implements rtabmap_ros::OdometryROS.

Definition at line 732 of file stereo_odometry.cpp.

◆ onOdomInit()

virtual void rtabmap_ros::StereoOdometry::onOdomInit ( )
inlineprivatevirtual

Implements rtabmap_ros::OdometryROS.

Definition at line 91 of file stereo_odometry.cpp.

◆ updateParameters()

virtual void rtabmap_ros::StereoOdometry::updateParameters ( ParametersMap &  parameters)
inlineprivatevirtual

Definition at line 288 of file stereo_odometry.cpp.

Member Data Documentation

◆ approxSync2_

message_filters::Synchronizer<MyApproxSync2Policy>* rtabmap_ros::StereoOdometry::approxSync2_
private

Definition at line 828 of file stereo_odometry.cpp.

◆ approxSync3_

message_filters::Synchronizer<MyApproxSync3Policy>* rtabmap_ros::StereoOdometry::approxSync3_
private

Definition at line 832 of file stereo_odometry.cpp.

◆ approxSync4_

message_filters::Synchronizer<MyApproxSync4Policy>* rtabmap_ros::StereoOdometry::approxSync4_
private

Definition at line 836 of file stereo_odometry.cpp.

◆ approxSync_

message_filters::Synchronizer<MyApproxSyncPolicy>* rtabmap_ros::StereoOdometry::approxSync_
private

Definition at line 824 of file stereo_odometry.cpp.

◆ cameraInfoLeft_

message_filters::Subscriber<sensor_msgs::CameraInfo> rtabmap_ros::StereoOdometry::cameraInfoLeft_
private

Definition at line 812 of file stereo_odometry.cpp.

◆ cameraInfoRight_

message_filters::Subscriber<sensor_msgs::CameraInfo> rtabmap_ros::StereoOdometry::cameraInfoRight_
private

Definition at line 813 of file stereo_odometry.cpp.

◆ exactSync2_

message_filters::Synchronizer<MyExactSync2Policy>* rtabmap_ros::StereoOdometry::exactSync2_
private

Definition at line 830 of file stereo_odometry.cpp.

◆ exactSync3_

message_filters::Synchronizer<MyExactSync3Policy>* rtabmap_ros::StereoOdometry::exactSync3_
private

Definition at line 834 of file stereo_odometry.cpp.

◆ exactSync4_

message_filters::Synchronizer<MyExactSync4Policy>* rtabmap_ros::StereoOdometry::exactSync4_
private

Definition at line 838 of file stereo_odometry.cpp.

◆ exactSync_

message_filters::Synchronizer<MyExactSyncPolicy>* rtabmap_ros::StereoOdometry::exactSync_
private

Definition at line 826 of file stereo_odometry.cpp.

◆ imageRectLeft_

image_transport::SubscriberFilter rtabmap_ros::StereoOdometry::imageRectLeft_
private

Definition at line 810 of file stereo_odometry.cpp.

◆ imageRectRight_

image_transport::SubscriberFilter rtabmap_ros::StereoOdometry::imageRectRight_
private

Definition at line 811 of file stereo_odometry.cpp.

◆ keepColor_

bool rtabmap_ros::StereoOdometry::keepColor_
private

Definition at line 841 of file stereo_odometry.cpp.

◆ queueSize_

int rtabmap_ros::StereoOdometry::queueSize_
private

Definition at line 840 of file stereo_odometry.cpp.

◆ rgbd_image1_sub_

message_filters::Subscriber<rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::rgbd_image1_sub_
private

Definition at line 817 of file stereo_odometry.cpp.

◆ rgbd_image2_sub_

message_filters::Subscriber<rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::rgbd_image2_sub_
private

Definition at line 818 of file stereo_odometry.cpp.

◆ rgbd_image3_sub_

message_filters::Subscriber<rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::rgbd_image3_sub_
private

Definition at line 819 of file stereo_odometry.cpp.

◆ rgbd_image4_sub_

message_filters::Subscriber<rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::rgbd_image4_sub_
private

Definition at line 820 of file stereo_odometry.cpp.

◆ rgbd_image5_sub_

message_filters::Subscriber<rtabmap_ros::RGBDImage> rtabmap_ros::StereoOdometry::rgbd_image5_sub_
private

Definition at line 821 of file stereo_odometry.cpp.

◆ rgbdSub_

ros::Subscriber rtabmap_ros::StereoOdometry::rgbdSub_
private

Definition at line 815 of file stereo_odometry.cpp.

◆ rgbdxSub_

ros::Subscriber rtabmap_ros::StereoOdometry::rgbdxSub_
private

Definition at line 816 of file stereo_odometry.cpp.

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

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40