#include <System.h>

Public Member Functions
void	Run ()
	System ()
Private Types
typedef std::queue < sensor_msgs::Imu >	ImuQueue
typedef std::queue < geometry_msgs::PoseWithCovarianceStamped >	PoseQueue
Private Member Functions
template<class T >
bool	findClosest (const ros::Time &timestamp, std::queue< T > &queue, T *obj, const double &max_delay=0.01)
	finds object in queue with timestamp closest to timestamp. Requires that T has a std_msgs::header field named "header"
void	imageCallback (const sensor_msgs::ImageConstPtr &img)
void	imuCallback (const sensor_msgs::ImuConstPtr &msg)
void	init (const CVD::ImageRef &size)
void	keyboardCallback (const std_msgs::StringConstPtr &kb_input)
bool	keyframesservice (ptam_com::KeyFrame_srvRequest &req, ptam_com::KeyFrame_srvResponse &resp)
bool	pointcloudservice (ptam_com::PointCloudRequest &req, ptam_com::PointCloudResponse &resp)
void	publishPoseAndInfo (const std_msgs::Header &header)
void	publishPreviewImage (CVD::Image< CVD::byte > &img, const std_msgs::Header &header)
void	quaternionToRotationMatrix (const geometry_msgs::Quaternion &q, TooN::SO3< double > &R)
bool	transformPoint (const std::string &target_frame, const std_msgs::Header &header, const geometry_msgs::Point &t_in, TooN::Vector< 3 > &t_out)
bool	transformQuaternion (const std::string &target_frame, const std_msgs::Header &header, const geometry_msgs::Quaternion &q_in, TooN::SO3< double > &r_out)
Static Private Member Functions
static void	GUICommandCallBack (void *ptr, std::string sCommand, std::string sParams)
Private Attributes
bool	first_frame_
ros::NodeHandle	image_nh_
ros::CallbackQueue	image_queue_
CVD::Image< CVD::byte >	img_bw_
CVD::Image< CVD::Rgb< CVD::byte > >	img_rgb_
ImuQueue	imu_msgs_
GLWindow2 *	mGLWindow
ATANCamera *	mpCamera
Map *	mpMap
MapMaker *	mpMapMaker
MapViewer *	mpMapViewer
Tracker *	mpTracker
ros::NodeHandle	nh_
ros::Publisher	pub_info_
ros::Publisher	pub_pose_
ros::Publisher	pub_pose_world_
image_transport::Publisher	pub_preview_image_
ros::ServiceServer	srvKF_
ros::ServiceServer	srvPC_
ros::Subscriber	sub_calibration_
image_transport::Subscriber	sub_image_
ros::Subscriber	sub_imu_
ros::Subscriber	sub_kb_input_
tf::TransformBroadcaster	tf_pub_
tf::TransformListener	tf_sub_

Detailed Description

Definition at line 46 of file System.h.

Member Typedef Documentation

typedef std::queue<sensor_msgs::Imu> System::ImuQueue [private]

Definition at line 48 of file System.h.

typedef std::queue<geometry_msgs::PoseWithCovarianceStamped> System::PoseQueue [private]

Definition at line 49 of file System.h.

Constructor & Destructor Documentation

System::System ( )

Definition at line 23 of file System.cc.

Member Function Documentation

template<class T >

bool System::findClosest	(	const ros::Time &	timestamp,
		std::queue< T > &	queue,
		T *	obj,
		const double &	max_delay = `0.01`
	)		`[private]`

finds object in queue with timestamp closest to timestamp. Requires that T has a std_msgs::header field named "header"

Definition at line 188 of file System.cc.

void System::GUICommandCallBack	(	void *	ptr,
		std::string	sCommand,
		std::string	sParams
	)		`[static, private]`

Definition at line 619 of file System.cc.

void System::imageCallback ( const sensor_msgs::ImageConstPtr & img ) [private]

Definition at line 90 of file System.cc.

void System::imuCallback ( const sensor_msgs::ImuConstPtr & msg ) [private]

Definition at line 180 of file System.cc.

void System::init ( const CVD::ImageRef & size ) [private]

Definition at line 51 of file System.cc.

void System::keyboardCallback ( const std_msgs::StringConstPtr & kb_input ) [private]

Definition at line 221 of file System.cc.

bool System::keyframesservice	(	ptam_com::KeyFrame_srvRequest &	req,
		ptam_com::KeyFrame_srvResponse &	resp
	)		`[private]`

Definition at line 511 of file System.cc.

bool System::pointcloudservice	(	ptam_com::PointCloudRequest &	req,
		ptam_com::PointCloudResponse &	resp
	)		`[private]`

Definition at line 443 of file System.cc.

void System::publishPoseAndInfo ( const std_msgs::Header & header ) [private]

Definition at line 267 of file System.cc.

void System::publishPreviewImage	(	CVD::Image< CVD::byte > &	img,
		const std_msgs::Header &	header
	)		`[private]`

Definition at line 377 of file System.cc.

void System::quaternionToRotationMatrix	(	const geometry_msgs::Quaternion &	q,
		TooN::SO3< double > &	R
	)		`[private]`

Definition at line 583 of file System.cc.

void System::Run ( )

Definition at line 79 of file System.cc.

bool System::transformPoint	(	const std::string &	target_frame,
		const std_msgs::Header &	header,
		const geometry_msgs::Point &	t_in,
		TooN::Vector< 3 > &	t_out
	)		`[private]`

Definition at line 245 of file System.cc.

bool System::transformQuaternion	(	const std::string &	target_frame,
		const std_msgs::Header &	header,
		const geometry_msgs::Quaternion &	q_in,
		TooN::SO3< double > &	r_out
	)		`[private]`