IRI ROS Specific Algorithm Class. More...

#include <stereo_visual_odometry_alg_node.h>

Inheritance diagram for StereoVisualOdometryAlgNode:

Public Member Functions
	StereoVisualOdometryAlgNode (void)
	Constructor.
	~StereoVisualOdometryAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	left_image_callback (const sensor_msgs::Image::ConstPtr &msg)
void	right_image_callback (const sensor_msgs::Image::ConstPtr &msg)
Private Attributes
int	count_left_images
int	count_right_images
cv::Mat	H
cv::Mat	Hcov
cv::Mat	image1
cv::Mat	image2
cv::Mat	image3
cv::Mat	image4
CMutex	left_image_mutex_
ros::Subscriber	left_image_subscriber_
cv::Mat	point
ros::Publisher	pose_with_covariance_publisher_
geometry_msgs::PoseWithCovarianceStamped	PoseWithCovarianceStamped_msg_
CMutex	right_image_mutex_
ros::Subscriber	right_image_subscriber_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 43 of file stereo_visual_odometry_alg_node.h.

Constructor & Destructor Documentation

StereoVisualOdometryAlgNode::StereoVisualOdometryAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 5 of file stereo_visual_odometry_alg_node.cpp.

StereoVisualOdometryAlgNode::~StereoVisualOdometryAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 34 of file stereo_visual_odometry_alg_node.cpp.

Member Function Documentation

void StereoVisualOdometryAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< StereoVisualOdometryAlgorithm >.

Definition at line 197 of file stereo_visual_odometry_alg_node.cpp.

void StereoVisualOdometryAlgNode::left_image_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 140 of file stereo_visual_odometry_alg_node.cpp.

void StereoVisualOdometryAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< StereoVisualOdometryAlgorithm >.

Definition at line 39 of file stereo_visual_odometry_alg_node.cpp.

void StereoVisualOdometryAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< StereoVisualOdometryAlgorithm >.

Definition at line 190 of file stereo_visual_odometry_alg_node.cpp.

void StereoVisualOdometryAlgNode::right_image_callback ( const sensor_msgs::Image::ConstPtr & msg ) [private]

Definition at line 99 of file stereo_visual_odometry_alg_node.cpp.