#include <map_keyframe_based.h>

Public Member Functions
void	getDescriptors (const ucl_drone::Pose3D &pose, cv::Mat &descriptors, std::vector< int > &idx, bool only_visible=true)
	old implementation of searches in the map, do not use keyframe, not used anymore
void	getDescriptors (const std::vector< int > &idx, cv::Mat &descriptors)
	old implementation of searches in the map, do not use keyframe, not used anymore
void	getVisibleKeyFrames (const ucl_drone::Pose3D &pose, std::vector< std::vector< int > > &keyframes_ID)
void	getVisiblePoints (const ucl_drone::Pose3D &pose, std::vector< int > &idx)
	Map ()
	Contructor. Initialize an empty map.
void	publishPoseVisual (ucl_drone::Pose3D poseFrame, ucl_drone::Pose3D posePnP)
void	targetDetectedPublisher ()
	better if in the future, PnP is used, for the moment, detection with 2D hypothesis.
	~Map ()
	Destructor.
Public Attributes
pcl::PointCloud < pcl::PointXYZRGBSIFT >::Ptr	cloud
	The cloud object containing 3D points.
bool	pending_reset
	true during a reset
boost::shared_ptr < pcl::visualization::PCLVisualizer >	visualizer
	The visualizer object to perform projection.
Private Member Functions
bool	closestKeyFrame (const ucl_drone::Pose3D &pose, int &keyframe_ID, Frame current_frame)
bool	doPnP (Frame current_frame, ucl_drone::Pose3D &PnP_pose, std::vector< int > &inliers, KeyFrame *ref_keyframe)
void	endResetPoseCb (const std_msgs::Empty &msg)
	Callback.
void	init_planes ()
bool	newKeyFrameNeeded (int number_of_common_keypoints)
bool	newKeyFrameNeeded (int number_of_common_keypoints, KeyFrame *reference_keyframe_candidate)
void	processedImageCb (const ucl_drone::ProcessedImageMsg::ConstPtr processed_image_in)
	Callback when image is received.
void	resetPoseCb (const std_msgs::Empty &msg)
	Callback.
Private Attributes
cv::Mat	cam_plane_bottom
cv::Mat	cam_plane_left
cv::Mat	cam_plane_right
cv::Mat	cam_plane_top
cv::Mat	camera_matrix_K
bool	do_search
	parameter: if true the previous keyframe are used to perform searches
std::string	end_reset_pose_channel
ros::Subscriber	end_reset_pose_sub
	EndPoseReset subscriber.
ucl_drone::ProcessedImageMsg::ConstPtr	lastProcessedImgReceived
	s last message received
ros::NodeHandle	nh
ucl_drone::Pose3D	PnP_pose
	last visual pose estimation
std::string	pose_correction_channel
ros::Publisher	pose_correction_pub
std::string	pose_PnP_channel
ros::Publisher	pose_PnP_pub
	visual pose estimation publisher
Frame	previous_frame
	Frame built with the previous ImageProcessed message.
std::string	processed_image_channel_in
ros::Subscriber	processed_image_sub
	ProcessedImage subscriber.
bool	processedImgReceived
	true after receiving the first ProcessedImage message
KeyFrame *	reference_keyframe
	The reference KeyFrame is the last matching keyframe.
std::string	reset_pose_channel
ros::Subscriber	reset_pose_sub
	PoseReset subscriber.
cv::Mat	rvec
	last rotational vector (PnP estimation)
bool	stop_if_lost
	parameter: if true the mapping stops when tracking_lost is true
std::string	target_channel_out
ros::Publisher	target_pub
	target publisher
int	threshold_lost
int	threshold_new_keyframe
double	threshold_new_keyframe_percentage
bool	tracking_lost
cv::Mat	tvec
	last translation vector (PnP estimation)

Detailed Description

This object wraps functions to execute the mapping node

Definition at line 68 of file map_keyframe_based.h.

Constructor & Destructor Documentation

Map::Map ( )

Contructor. Initialize an empty map.

Definition at line 12 of file map_keyframe_based.cpp.

Map::~Map ( )

Destructor.

Definition at line 91 of file map_keyframe_based.cpp.

Member Function Documentation

bool Map::closestKeyFrame	(	const ucl_drone::Pose3D &	pose,
		int &	keyframe_ID,
		Frame	current_frame
	)		`[private]`

This method searches among previously mapped KeyFrame the closest one with the given Frame

Parameters:

[in]	pose	The estimated pose
[out]	keyframe_ID	The identification number of the closest KeyFrame
[in]	current_frame	The frame object

Definition at line 422 of file map_keyframe_based.cpp.

bool Map::doPnP	(	Frame	current_frame,
		ucl_drone::Pose3D &	PnP_pose,
		std::vector< int > &	inliers,
		KeyFrame *	ref_keyframe
	)		`[private]`

This method computes the PnP estimation

Parameters:

[in]	current_frame	The frame containing keypoint of the last camera observation
[out]	PnP_pose	The visual pose estimation
[out]	inliers	The indexes of keypoints with a correct matching
[in]	ref_keyframe	The KeyFrame used to perform the estimation

Definition at line 265 of file map_keyframe_based.cpp.

void Map::endResetPoseCb ( const std_msgs::Empty & msg ) [private]

Callback.

Definition at line 111 of file map_keyframe_based.cpp.

void Map::getDescriptors	(	const ucl_drone::Pose3D &	pose,
		cv::Mat &	descriptors,
		std::vector< int > &	idx,
		bool	only_visible = `true`
	)

old implementation of searches in the map, do not use keyframe, not used anymore

Definition at line 565 of file map_keyframe_based.cpp.

void Map::getDescriptors	(	const std::vector< int > &	idx,
		cv::Mat &	descriptors
	)

old implementation of searches in the map, do not use keyframe, not used anymore

Definition at line 594 of file map_keyframe_based.cpp.

void Map::getVisibleKeyFrames	(	const ucl_drone::Pose3D &	pose,
		std::vector< std::vector< int > > &	keyframes_ID
	)

This method searches all keyframes containing keypoints visible frome the pose given

Parameters:

[in]	pose	The pose of the drone
[out]	keyframes_ID	Identification number of all keyframes in the map visible from the given pose

Definition at line 487 of file map_keyframe_based.cpp.

void Map::getVisiblePoints	(	const ucl_drone::Pose3D &	pose,
		std::vector< int > &	idx
	)

This method searches all keypoints visible frome the pose given

Parameters:

[in]	pose	The pose of the drone
[out]	idx	Indexes of all keypoints in the map visible from the given pose

Definition at line 522 of file map_keyframe_based.cpp.

void Map::init_planes ( ) [private]

This method initializes planes defining the visible area from the camera (according to camera parameters)

Definition at line 395 of file map_keyframe_based.cpp.

bool Map::newKeyFrameNeeded ( int number_of_common_keypoints ) [private]

This method determines if a new KeyFrame is needed

Parameters:

[in] number_of_common_keypoints The number of commin keypoint between the reference KeyFrame and the last Frame

Returns:: true if a new KeyFrame is needed, false otherwise

Definition at line 606 of file map_keyframe_based.cpp.

bool Map::newKeyFrameNeeded	(	int	number_of_common_keypoints,
		KeyFrame *	reference_keyframe_candidate
	)		`[private]`

Definition at line 611 of file map_keyframe_based.cpp.

void Map::processedImageCb ( const ucl_drone::ProcessedImageMsg::ConstPtr processed_image_in ) [private]

Callback when image is received.

IF THE MAP IS NOT EMPTY

IF THE MAP IS EMPTY

Definition at line 116 of file map_keyframe_based.cpp.

void Map::publishPoseVisual	(	ucl_drone::Pose3D	poseFrame,
		ucl_drone::Pose3D	posePnP
	)

This method publishes a message containing the visual pose estimation

Parameters:

[in]	poseFrame	Pose published by sensors when the camera picture was received
[in]	poseFrame	Pose estimated with visual information and the contents of the map

Definition at line 251 of file map_keyframe_based.cpp.

void Map::resetPoseCb ( const std_msgs::Empty & msg ) [private]

Callback.

Definition at line 95 of file map_keyframe_based.cpp.

void Map::targetDetectedPublisher ( )

better if in the future, PnP is used, for the moment, detection with 2D hypothesis.

TODO: for the moment, detection with 2D hypothesis. In the future, use PnP.

This method publishes a message if the last ImageProcessed contains information about the target detection and add the estimated pose of the detected target in world coordinates

Definition at line 369 of file map_keyframe_based.cpp.