Handles most of the ROS-based communication. More...
#include <bagloader.h>
Public Slots | |
| void | clearPointCloud (pointcloud_type *) |
| void | loadBagFileAsync (QString) |
| void | loadBagFileAsync (std::string) |
| void | togglePause () |
| Switch between processing or ignoring new incoming data. | |
Signals | |
| void | bagFinished () |
| void | setGUIInfo (QString message) |
| Set the info label on the right side in the statusbar of the GUI. | |
| void | setGUIInfo2 (QString message) |
| void | setGUIStatus (QString message) |
| Set the temporary status-message in the GUI. | |
| void | setPointCloud (pointcloud_type *pc, QMatrix4x4 transformation) |
| QT Stuff, to communicate with the gui. | |
Public Member Functions | |
| BagLoader () | |
| Ctor: setup synced listening to ros topics (kinect/stereo data) and prepare the feature handling. | |
| void | callback (const sensor_msgs::PointCloud2ConstPtr &point_cloud) |
| ~BagLoader () | |
| Delete tflistener, shutdown ros publishers. | |
Protected Member Functions | |
| void | loadBag (std::string filename) |
| Load data from bag file. | |
| void | sendWithTransformation (pointcloud_type *cloud) |
| Retrieve the transform between the lens and the base-link at capturing time. | |
Protected Attributes | |
| rosbag::Bag | bag |
| int | data_id_ |
| bool | pause_ |
| ros::Publisher | tf_pub_ |
| this being a pointer saves the include (using the above forward declaration) | |
| tf::TransformListener * | tflistener_ |
Handles most of the ROS-based communication.
The purpose of this class is to listen to synchronized image pairs from the kinect convert them to opencv, process them, convert them to a qt image and send them to the mainwindow defined in qtcv.h/.cpp
Definition at line 48 of file bagloader.h.
Ctor: setup synced listening to ros topics (kinect/stereo data) and prepare the feature handling.
Constructor: The listener needs to know the node handle and the GraphManager instance. Which topics to listen to and which feature detector/extractor to use is queried from the parameter server.
Definition at line 49 of file bagloader.cpp.
Delete tflistener, shutdown ros publishers.
Definition at line 154 of file bagloader.cpp.
| void BagLoader::bagFinished | ( | ) | [signal] |
| void BagLoader::callback | ( | const sensor_msgs::PointCloud2ConstPtr & | point_cloud | ) |
Definition at line 139 of file bagloader.cpp.
| void BagLoader::clearPointCloud | ( | pointcloud_type * | pc | ) | [slot] |
Definition at line 201 of file bagloader.cpp.
| void BagLoader::loadBag | ( | std::string | filename | ) | [protected] |
Load data from bag file.
This function reads the sensor input from a bagfile specified in the parameter bagfile_name. It is meant for offline processing of each frame
Definition at line 61 of file bagloader.cpp.
| void BagLoader::loadBagFileAsync | ( | QString | file | ) | [slot] |
Definition at line 196 of file bagloader.cpp.
| void BagLoader::loadBagFileAsync | ( | std::string | file | ) | [slot] |
Definition at line 191 of file bagloader.cpp.
| void BagLoader::sendWithTransformation | ( | pointcloud_type * | cloud | ) | [protected] |
Retrieve the transform between the lens and the base-link at capturing time.
Definition at line 168 of file bagloader.cpp.
| void BagLoader::setGUIInfo | ( | QString | message | ) | [signal] |
Set the info label on the right side in the statusbar of the GUI.
| void BagLoader::setGUIInfo2 | ( | QString | message | ) | [signal] |
| void BagLoader::setGUIStatus | ( | QString | message | ) | [signal] |
Set the temporary status-message in the GUI.
| void BagLoader::setPointCloud | ( | pointcloud_type * | pc, |
| QMatrix4x4 | transformation | ||
| ) | [signal] |
QT Stuff, to communicate with the gui.
| void BagLoader::togglePause | ( | ) | [slot] |
Switch between processing or ignoring new incoming data.
Definition at line 160 of file bagloader.cpp.
rosbag::Bag BagLoader::bag [protected] |
Definition at line 84 of file bagloader.h.
int BagLoader::data_id_ [protected] |
Definition at line 91 of file bagloader.h.
bool BagLoader::pause_ [protected] |
Definition at line 88 of file bagloader.h.
ros::Publisher BagLoader::tf_pub_ [protected] |
this being a pointer saves the include (using the above forward declaration)
Definition at line 90 of file bagloader.h.
tf::TransformListener* BagLoader::tflistener_ [protected] |
Definition at line 89 of file bagloader.h.