slamNode Class Reference

Manages the SLAM procedure. More...

#include <monoslam.hpp>

List of all members.

Public Member Functions
void	assignPose (geometry_msgs::PoseStamped &pPose, Mat &C)
double	assignStartingFrames (unsigned int best_iii, unsigned int best_jjj, double *keyframe_scores, Mat &startingTrans)
bool	checkForKeyframe ()
void	clearSystem ()
void	estimatePose (vector< unsigned int > &basisNodes, unsigned int idx)
bool	findStartingFrames ()
bool	formInitialStructure ()
void	getBasisNodes (vector< unsigned int > &basisNodes, unsigned int idx)
void	getGuidingPose (Mat *srcs, Mat &dst, unsigned int idx)
void	handle_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_tracks (const thermalvis::feature_tracksConstPtr &msg)
void	main_loop (const ros::TimerEvent &event)
void	prepareForTermination ()
void	processNextFrame ()
void	processScorecard ()
void	refreshPoses ()
void	serverCallback (thermalvis::monoslamConfig &config, uint32_t level)
void	show_poses ()
	slamNode (ros::NodeHandle &nh, slamData startupData)
bool	stillTracking ()
void	update_cameras_to_pnp ()
void	update_display ()
Private Attributes
Mat	ACM [MAX_FRAMES]
Mat	ACM2 [MAX_FRAMES]
unsigned int	baseConnectionNum
int	bicolor
Mat	blank
timeAnalyzer	bundleAdjustmentTime
boost::mutex	cam_mutex
ros::Publisher	camera_pub
Point3d	cloudCentroid [MAX_SEGMENTS]
Point3d	cloudStdDeviation [MAX_SEGMENTS]
slamData	configData
geometry_msgs::PoseStamped	currentPose
int	currentPoseIndex
struct timeval	cycle_timer
int	decimation
SysSBA	display_sys
double	distanceConstraint
double	elapsedTime
ofstream	error_file
char	error_filename [256]
bool	evaluationCompleted
ofstream	evaluationStream
Mat	eye4
dynamic_reconfigure::Server < thermalvis::monoslamConfig > ::CallbackType	f
bool	f1
Mat	F_arr [MAX_FRAMES]
vector< featureTrack >	featureTrackVector
bool	firstIteration
vector< unsigned int >	framesReceived
Mat	H_arr [MAX_FRAMES]
ros::Subscriber	info_sub
bool	infoProcessed
bool	isTracking
keyframeStore	keyframe_store
boost::mutex	keyframes_mutex
Mat	keyframeTestFlags
Mat	keyframeTestScores
unsigned int	lastBasePose
int	latestFrame
boost::mutex	main_mutex
double	minimumKeyframeScore
unsigned int	nextFrame
char	nodeName [256]
ros::Publisher	path_pub
ros::Publisher	points_pub
ros::Publisher	pose_pub
char	pose_pub_name [256]
timeAnalyzer	poseEstimationTime
unsigned int	putativelyEstimatedFrames
bool	repetitionNoted
double **	scorecardParams
dynamic_reconfigure::Server < thermalvis::monoslamConfig >	server
unsigned int	startingTracksCount
bool	structureFormed
bool	structureValid
SysSBA	sys
ros::Timer	timer
timeAnalyzer	trackHandlingTime
boost::mutex	tracks_mutex
ros::Subscriber	tracks_sub
timeAnalyzer	triangulationTime

---

Detailed Description

Manages the SLAM procedure.

Definition at line 119 of file monoslam.hpp.

---

Constructor & Destructor Documentation

slamNode::slamNode	(	ros::NodeHandle &	nh,
		slamData	startupData
	)

Definition at line 2138 of file monoslam.cpp.

---

Member Function Documentation

void slamNode::assignPose	(	geometry_msgs::PoseStamped &	pPose,
		Mat &	C
	)

Definition at line 2051 of file monoslam.cpp.

double slamNode::assignStartingFrames	(	unsigned int	best_iii,
		unsigned int	best_jjj,
		double *	keyframe_scores,
		Mat &	startingTrans
	)

Definition at line 1470 of file monoslam.cpp.

bool slamNode::checkForKeyframe

(

)

Definition at line 115 of file monoslam.cpp.

void slamNode::clearSystem

(

)

Definition at line 1447 of file monoslam.cpp.

void slamNode::estimatePose	(	vector< unsigned int > &	basisNodes,
		unsigned int	idx
	)

Definition at line 339 of file monoslam.cpp.

bool slamNode::findStartingFrames

(

)

Definition at line 1272 of file monoslam.cpp.

bool slamNode::formInitialStructure

(

)

Definition at line 1494 of file monoslam.cpp.

void slamNode::getBasisNodes	(	vector< unsigned int > &	basisNodes,
		unsigned int	idx
	)

Definition at line 411 of file monoslam.cpp.

void slamNode::getGuidingPose	(	Mat *	srcs,
		Mat &	dst,
		unsigned int	idx
	)

Definition at line 235 of file monoslam.cpp.

void slamNode::handle_info

(

const sensor_msgs::CameraInfoConstPtr &

info_msg

)

Definition at line 1145 of file monoslam.cpp.

void slamNode::handle_tracks

(

const thermalvis::feature_tracksConstPtr &

msg

)

Definition at line 862 of file monoslam.cpp.

void slamNode::main_loop

(

const ros::TimerEvent &

event

)

Definition at line 973 of file monoslam.cpp.

void slamNode::prepareForTermination

(

)

Definition at line 1268 of file monoslam.cpp.

void slamNode::processNextFrame

(

)

Definition at line 491 of file monoslam.cpp.

void slamNode::processScorecard

(

)

Definition at line 55 of file monoslam.cpp.

void slamNode::refreshPoses

(

)

Definition at line 1229 of file monoslam.cpp.

void slamNode::serverCallback	(	thermalvis::monoslamConfig &	config,
		uint32_t	level
	)

Definition at line 2088 of file monoslam.cpp.

void slamNode::show_poses

(

)

Definition at line 211 of file monoslam.cpp.

bool slamNode::stillTracking

(

)

[inline]

Definition at line 250 of file monoslam.hpp.

void slamNode::update_cameras_to_pnp

(

)

Definition at line 851 of file monoslam.cpp.

void slamNode::update_display

(

)

Definition at line 815 of file monoslam.cpp.

---

Member Data Documentation

Mat slamNode::ACM[MAX_FRAMES] [private]

Definition at line 181 of file monoslam.hpp.

Mat slamNode::ACM2[MAX_FRAMES] [private]

Definition at line 181 of file monoslam.hpp.

unsigned int slamNode::baseConnectionNum [private]

Definition at line 131 of file monoslam.hpp.

int slamNode::bicolor [private]

Definition at line 123 of file monoslam.hpp.

Mat slamNode::blank [private]

Definition at line 162 of file monoslam.hpp.

timeAnalyzer slamNode::bundleAdjustmentTime [private]

Definition at line 205 of file monoslam.hpp.

boost::mutex slamNode::cam_mutex [private]

Definition at line 208 of file monoslam.hpp.

ros::Publisher slamNode::camera_pub [private]

Definition at line 155 of file monoslam.hpp.

Point3d slamNode::cloudCentroid[MAX_SEGMENTS] [private]

Definition at line 177 of file monoslam.hpp.

Point3d slamNode::cloudStdDeviation[MAX_SEGMENTS] [private]

Definition at line 177 of file monoslam.hpp.

slamData slamNode::configData [private]

Definition at line 135 of file monoslam.hpp.

geometry_msgs::PoseStamped slamNode::currentPose [private]

Definition at line 190 of file monoslam.hpp.

int slamNode::currentPoseIndex [private]

Definition at line 192 of file monoslam.hpp.

struct timeval slamNode::cycle_timer [private]

Definition at line 170 of file monoslam.hpp.

int slamNode::decimation [private]

Definition at line 122 of file monoslam.hpp.

SysSBA slamNode::display_sys [private]

Definition at line 153 of file monoslam.hpp.

double slamNode::distanceConstraint [private]

Definition at line 173 of file monoslam.hpp.

double slamNode::elapsedTime [private]

Definition at line 171 of file monoslam.hpp.

ofstream slamNode::error_file [private]

Definition at line 147 of file monoslam.hpp.

char slamNode::error_filename[256] [private]

Definition at line 148 of file monoslam.hpp.

bool slamNode::evaluationCompleted [private]

Definition at line 129 of file monoslam.hpp.

ofstream slamNode::evaluationStream [private]

Definition at line 137 of file monoslam.hpp.

Mat slamNode::eye4 [private]

Definition at line 143 of file monoslam.hpp.

dynamic_reconfigure::Server<thermalvis::monoslamConfig>::CallbackType slamNode::f [private]

Definition at line 214 of file monoslam.hpp.

bool slamNode::f1 [private]

Definition at line 127 of file monoslam.hpp.

Mat slamNode::F_arr[MAX_FRAMES] [private]

Definition at line 179 of file monoslam.hpp.

vector<featureTrack> slamNode::featureTrackVector [private]

Definition at line 175 of file monoslam.hpp.

bool slamNode::firstIteration [private]

Definition at line 160 of file monoslam.hpp.

vector<unsigned int> slamNode::framesReceived [private]

Definition at line 196 of file monoslam.hpp.

Mat slamNode::H_arr[MAX_FRAMES] [private]

Definition at line 179 of file monoslam.hpp.

ros::Subscriber slamNode::info_sub [private]

Definition at line 151 of file monoslam.hpp.

bool slamNode::infoProcessed [private]

Definition at line 168 of file monoslam.hpp.

bool slamNode::isTracking [private]

Definition at line 125 of file monoslam.hpp.

keyframeStore slamNode::keyframe_store [private]

Definition at line 178 of file monoslam.hpp.

boost::mutex slamNode::keyframes_mutex [private]

Definition at line 210 of file monoslam.hpp.

Mat slamNode::keyframeTestFlags [private]

Definition at line 183 of file monoslam.hpp.

Mat slamNode::keyframeTestScores [private]

Definition at line 183 of file monoslam.hpp.

unsigned int slamNode::lastBasePose [private]

Definition at line 198 of file monoslam.hpp.

int slamNode::latestFrame [private]

Definition at line 166 of file monoslam.hpp.

boost::mutex slamNode::main_mutex [private]

Definition at line 211 of file monoslam.hpp.

double slamNode::minimumKeyframeScore [private]

Definition at line 194 of file monoslam.hpp.

unsigned int slamNode::nextFrame [private]

Definition at line 139 of file monoslam.hpp.

char slamNode::nodeName[256] [private]

Definition at line 185 of file monoslam.hpp.

ros::Publisher slamNode::path_pub [private]

Definition at line 154 of file monoslam.hpp.

ros::Publisher slamNode::points_pub [private]

Definition at line 156 of file monoslam.hpp.

ros::Publisher slamNode::pose_pub [private]

Definition at line 187 of file monoslam.hpp.

char slamNode::pose_pub_name[256] [private]

Definition at line 188 of file monoslam.hpp.

timeAnalyzer slamNode::poseEstimationTime [private]

Definition at line 204 of file monoslam.hpp.

unsigned int slamNode::putativelyEstimatedFrames [private]

Definition at line 141 of file monoslam.hpp.

bool slamNode::repetitionNoted [private]

Definition at line 145 of file monoslam.hpp.

double** slamNode::scorecardParams [private]

Definition at line 133 of file monoslam.hpp.

dynamic_reconfigure::Server<thermalvis::monoslamConfig> slamNode::server [private]

Definition at line 213 of file monoslam.hpp.

unsigned int slamNode::startingTracksCount [private]

Definition at line 200 of file monoslam.hpp.

bool slamNode::structureFormed [private]

Definition at line 164 of file monoslam.hpp.

bool slamNode::structureValid [private]

Definition at line 164 of file monoslam.hpp.

SysSBA slamNode::sys [private]

Definition at line 153 of file monoslam.hpp.

ros::Timer slamNode::timer [private]

Definition at line 158 of file monoslam.hpp.

timeAnalyzer slamNode::trackHandlingTime [private]

Definition at line 202 of file monoslam.hpp.

boost::mutex slamNode::tracks_mutex [private]

Definition at line 209 of file monoslam.hpp.

ros::Subscriber slamNode::tracks_sub [private]

Definition at line 150 of file monoslam.hpp.

timeAnalyzer slamNode::triangulationTime [private]

Definition at line 203 of file monoslam.hpp.

---

The documentation for this class was generated from the following files:

• monoslam.hpp
• monoslam.cpp