Public Member Functions
void	configCb (vslam_system::StereoVslamNodeConfig &config, uint32_t level)
void	configCb (vslam_system::StereoVslamNodeConfig &config, uint32_t level)
void	imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info)
void	imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info, const sensor_msgs::ImageConstPtr &r_image, const sensor_msgs::CameraInfoConstPtr &r_cam_info)
	StereoVslamNode (const std::string &vocab_tree_file, const std::string &vocab_weights_file, const std::string &calonder_trees_file)
	StereoVslamNode (const std::string &vocab_tree_file, const std::string &vocab_weights_file, const std::string &calonder_trees_file)
Private Types
typedef dynamic_reconfigure::Server < vslam_system::StereoVslamNodeConfig >	ReconfigureServer
typedef dynamic_reconfigure::Server < vslam_system::StereoVslamNodeConfig >	ReconfigureServer
Private Attributes
ros::Publisher	cam_marker_pub_
image_geometry::PinholeCameraModel	cam_model_
image_geometry::StereoCameraModel	cam_model_
cv::Ptr< cv::FeatureDetector >	detector_
image_transport::ImageTransport	it_
sensor_msgs::CvBridge	l_bridge_
image_transport::SubscriberFilter	l_image_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	l_info_sub_
ros::NodeHandle	nh_
ros::Publisher	odom_pub_
ros::Publisher	point_marker_pub_
ros::Publisher	pointcloud_pub_
sensor_msgs::CvBridge	r_bridge_
image_transport::SubscriberFilter	r_image_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	r_info_sub_
ReconfigureServer	reconfigure_server_
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::CameraInfo >	sync_
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo >	sync_
tf::TransformBroadcaster	tf_broadcast_
tf::TransformListener	tf_listener_
tf::Transform	tf_transform_
cv::Mat	vo_display_
image_transport::CameraPublisher	vo_tracks_pub_
vslam::VslamSystemMono	vslam_system_
vslam::VslamSystem	vslam_system_

Detailed Description

Definition at line 24 of file mono_vslam_node.cpp.

Member Typedef Documentation

typedef dynamic_reconfigure::Server<vslam_system::StereoVslamNodeConfig> StereoVslamNode::ReconfigureServer [private]

Definition at line 51 of file mono_vslam_node.cpp.

typedef dynamic_reconfigure::Server<vslam_system::StereoVslamNodeConfig> StereoVslamNode::ReconfigureServer [private]

Definition at line 59 of file stereo_vslam_node.cpp.

Constructor & Destructor Documentation

StereoVslamNode::StereoVslamNode	(	const std::string &	vocab_tree_file,
		const std::string &	vocab_weights_file,
		const std::string &	calonder_trees_file
	)		`[inline]`

Definition at line 56 of file mono_vslam_node.cpp.

StereoVslamNode::StereoVslamNode	(	const std::string &	vocab_tree_file,
		const std::string &	vocab_weights_file,
		const std::string &	calonder_trees_file
	)		`[inline]`

Definition at line 64 of file stereo_vslam_node.cpp.

Member Function Documentation

void StereoVslamNode::configCb	(	vslam_system::StereoVslamNodeConfig &	config,
		uint32_t	level
	)		`[inline]`

Definition at line 84 of file mono_vslam_node.cpp.

void StereoVslamNode::configCb	(	vslam_system::StereoVslamNodeConfig &	config,
		uint32_t	level
	)		`[inline]`

Definition at line 95 of file stereo_vslam_node.cpp.

void StereoVslamNode::imageCb	(	const sensor_msgs::ImageConstPtr &	l_image,
		const sensor_msgs::CameraInfoConstPtr &	l_cam_info
	)		`[inline]`

Todo:: Not rely on broken encapsulation of VslamSystem here

Definition at line 96 of file mono_vslam_node.cpp.

void StereoVslamNode::imageCb	(	const sensor_msgs::ImageConstPtr &	l_image,
		const sensor_msgs::CameraInfoConstPtr &	l_cam_info,
		const sensor_msgs::ImageConstPtr &	r_image,
		const sensor_msgs::CameraInfoConstPtr &	r_cam_info
	)		`[inline]`

Todo:: Not rely on broken encapsulation of VslamSystem here

Definition at line 107 of file stereo_vslam_node.cpp.

Member Data Documentation

ros::Publisher StereoVslamNode::cam_marker_pub_ [private]

Definition at line 36 of file mono_vslam_node.cpp.

image_geometry::PinholeCameraModel StereoVslamNode::cam_model_ [private]

Definition at line 47 of file mono_vslam_node.cpp.

image_geometry::StereoCameraModel StereoVslamNode::cam_model_ [private]

Definition at line 55 of file stereo_vslam_node.cpp.

cv::Ptr< cv::FeatureDetector > StereoVslamNode::detector_ [private]

Definition at line 49 of file mono_vslam_node.cpp.

image_transport::ImageTransport StereoVslamNode::it_ [private]

Definition at line 28 of file mono_vslam_node.cpp.

sensor_msgs::CvBridge StereoVslamNode::l_bridge_ [private]

Definition at line 46 of file mono_vslam_node.cpp.

image_transport::SubscriberFilter StereoVslamNode::l_image_sub_ [private]

Definition at line 31 of file mono_vslam_node.cpp.

message_filters::Subscriber< sensor_msgs::CameraInfo > StereoVslamNode::l_info_sub_ [private]

Definition at line 32 of file mono_vslam_node.cpp.

ros::NodeHandle StereoVslamNode::nh_ [private]

Definition at line 27 of file mono_vslam_node.cpp.

ros::Publisher StereoVslamNode::odom_pub_ [private]

Definition at line 40 of file mono_vslam_node.cpp.

ros::Publisher StereoVslamNode::point_marker_pub_ [private]

Definition at line 37 of file mono_vslam_node.cpp.

ros::Publisher StereoVslamNode::pointcloud_pub_ [private]

Definition at line 51 of file stereo_vslam_node.cpp.

sensor_msgs::CvBridge StereoVslamNode::r_bridge_ [private]

Definition at line 46 of file mono_vslam_node.cpp.

image_transport::SubscriberFilter StereoVslamNode::r_image_sub_ [private]

Definition at line 37 of file stereo_vslam_node.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> StereoVslamNode::r_info_sub_ [private]

Definition at line 38 of file stereo_vslam_node.cpp.

ReconfigureServer StereoVslamNode::reconfigure_server_ [private]

Definition at line 52 of file mono_vslam_node.cpp.

message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::CameraInfo> StereoVslamNode::sync_ [private]

Definition at line 33 of file mono_vslam_node.cpp.

message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo> StereoVslamNode::sync_ [private]

Definition at line 40 of file stereo_vslam_node.cpp.

tf::TransformBroadcaster StereoVslamNode::tf_broadcast_ [private]

Definition at line 41 of file mono_vslam_node.cpp.

tf::TransformListener StereoVslamNode::tf_listener_ [private]

Definition at line 42 of file mono_vslam_node.cpp.

tf::Transform StereoVslamNode::tf_transform_ [private]

Definition at line 43 of file mono_vslam_node.cpp.

cv::Mat StereoVslamNode::vo_display_ [private]

Definition at line 39 of file mono_vslam_node.cpp.

image_transport::CameraPublisher StereoVslamNode::vo_tracks_pub_ [private]

Definition at line 38 of file mono_vslam_node.cpp.

vslam::VslamSystemMono StereoVslamNode::vslam_system_ [private]