Inheritance diagram for fovis_ros::OdometerBase:

Protected Member Functions
const fovis::VisualOdometryOptions &	getOptions () const
	OdometerBase ()
void	process (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	setDepthSource (fovis::DepthSource *source)
virtual	~OdometerBase ()
Static Protected Member Functions
static void	rosToFovis (const image_geometry::PinholeCameraModel &camera_model, fovis::CameraIntrinsicsParameters &parameters)
Private Member Functions
void	eigenToTF (const Eigen::Isometry3d &pose, tf::Transform &transform)
void	getBaseToSensorTransform (const ros::Time &stamp, const std::string &sensor_frame_id, tf::StampedTransform &base_to_sensor)
void	initOdometer (const sensor_msgs::CameraInfoConstPtr &info_msg)
void	loadParams ()
Private Attributes
std::string	base_link_frame_id_
fovis::DepthSource *	depth_source_
image_transport::Publisher	features_pub_
ros::Publisher	info_pub_
tf::StampedTransform	initial_base_to_sensor_
image_transport::ImageTransport	it_
ros::Time	last_time_
ros::NodeHandle	nh_local_
std::string	odom_frame_id_
nav_msgs::Odometry	odom_msg_
ros::Publisher	odom_pub_
geometry_msgs::PoseStamped	pose_msg_
ros::Publisher	pose_pub_
bool	publish_tf_
fovis::Rectification *	rectification_
std::string	sensor_frame_id_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
fovis::VisualOdometry *	visual_odometer_
fovis::VisualOdometryOptions	visual_odometer_options_

Detailed Description

Base class for fovis odometers.

Definition at line 24 of file odometer_base.hpp.

Constructor & Destructor Documentation

fovis_ros::OdometerBase::OdometerBase ( ) [inline, protected]

Definition at line 29 of file odometer_base.hpp.

virtual fovis_ros::OdometerBase::~OdometerBase ( ) [inline, protected, virtual]

Definition at line 44 of file odometer_base.hpp.

void fovis_ros::OdometerBase::eigenToTF	(	const Eigen::Isometry3d &	pose,
		tf::Transform &	transform
	)		`[inline, private]`

Definition at line 327 of file odometer_base.hpp.

void fovis_ros::OdometerBase::getBaseToSensorTransform	(	const ros::Time &	stamp,
		const std::string &	sensor_frame_id,
		tf::StampedTransform &	base_to_sensor
	)		`[inline, private]`

Definition at line 304 of file odometer_base.hpp.

const fovis::VisualOdometryOptions& fovis_ros::OdometerBase::getOptions ( ) const [inline, protected]

Definition at line 50 of file odometer_base.hpp.

void fovis_ros::OdometerBase::initOdometer ( const sensor_msgs::CameraInfoConstPtr & info_msg ) [inline, private]

Initializes the visual odometry.

Definition at line 242 of file odometer_base.hpp.

void fovis_ros::OdometerBase::loadParams ( ) [inline, private]

Loads parameters from ROS node handle into members.

Definition at line 277 of file odometer_base.hpp.

void fovis_ros::OdometerBase::process	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[inline, protected]`

To be called by implementing classes after the depth source has been fed with data.

Definition at line 78 of file odometer_base.hpp.

static void fovis_ros::OdometerBase::rosToFovis	(	const image_geometry::PinholeCameraModel &	camera_model,
		fovis::CameraIntrinsicsParameters &	parameters
	)		`[inline, static, protected]`