Public Member Functions | Private Attributes
videoslamNode Class Reference

Manages the ODOMETRY procedure. More...

#include <videoslam.hpp>

List of all members.

Public Member Functions

bool checkConnectivity (unsigned int seq)
bool determinePose ()
bool findNearestPoses (int &index1, int &index2, const ros::Time &targetTime)
void handle_info (const sensor_msgs::CameraInfoConstPtr &info_msg)
void handle_pose (const geometry_msgs::PoseStamped &pose_msg)
void handle_tracks (const thermalvis::feature_tracksConstPtr &msg)
void integrateNewTrackMessage (const thermalvis::feature_tracksConstPtr &msg)
void main_loop (const ros::TimerEvent &event)
void prepareForTermination ()
void publishPoints (ros::Time stamp, unsigned int seq)
void publishPose ()
void serverCallback (thermalvis::videoslamConfig &config, uint32_t level)
void triangulatePoints ()
void trimFeatureTrackVector ()
bool updateKeyframePoses (const geometry_msgs::PoseStamped &pose_msg, bool fromICP=true)
bool updateLocalPoseEstimates ()
 videoslamNode (ros::NodeHandle &nh, videoslamData startupData)

Private Attributes

cv::Mat ACM [MAX_FRAMES]
double baAverage
int baSuccesses
int bicolor
cv::Mat blank
double bundleRotShift
double bundleTransShift
ros::Publisher camera_pub
pcl::PointCloud< pcl::PointXYZ >
::Ptr 		cloud_ptr_
ros::Publisher confidence_pub
videoslamData configData
geometry_msgs::PoseStamped currentPose
int currentPoseIndex
int decimation
double distanceTravelled
double dsAverage
cv::Mat extrinsicCalib_P
cv::Mat extrinsicCalib_R
cv::Mat extrinsicCalib_T
cv::Mat eye4
dynamic_reconfigure::Server
< thermalvis::videoslamConfig >
::CallbackType 		f
cv::Mat F_arr [MAX_FRAMES]
vector< featureTrack > featureTrackVector
std_msgs::Header frameHeaderHistoryBuffer [MAX_HISTORY]
unsigned int frameHeaderHistoryCounter
unsigned int frameProcessedCounter
int framesArrived
int framesProcessed
vector< unsigned int > framesReceived
cv::Mat H_arr [MAX_FRAMES]
bool hasTerminatedFeed
ros::Subscriber info_sub
bool infoProcessed
keyframeStore keyframe_store
geometry_msgs::PoseStamped keyframePoses [MAX_POSES_TO_STORE]
bool keyframeTypes [MAX_POSES_TO_STORE]
int lastTestedFrame
bool latestReceivedPoseProcessed
double latestTracksTime
std::streambuf * lBufferOld
std::ofstream lStream
boost::mutex main_mutex
char nodeName [256]
ros::Publisher path_pub
double pnpError
double pnpInlierProp
geometry_msgs::PoseStamped pnpPose
int pnpSuccesses
sensor_msgs::PointCloud2 pointCloud_message
ros::Publisher points_pub
double pointShift
ros::Publisher pose_pub
char pose_pub_name [256]
ros::Subscriber pose_sub
geometry_msgs::PoseStamped poseHistoryBuffer [MAX_HISTORY]
unsigned int poseHistoryCounter
double predictiveError
geometry_msgs::PoseStamped savedPose
dynamic_reconfigure::Server
< thermalvis::videoslamConfig > 		server
unsigned int storedPosesCount
SysSBA sys
ros::Timer timer
ros::Subscriber tracks_sub
int usedTriangulations

Detailed Description

Manages the ODOMETRY procedure.

Definition at line 98 of file videoslam.hpp.

Constructor & Destructor Documentation

videoslamNode::videoslamNode ( ros::NodeHandle &  nh,
videoslamData  startupData 
)

Definition at line 1267 of file videoslam.cpp.

Member Function Documentation

bool videoslamNode::checkConnectivity ( unsigned int  seq)

Definition at line 99 of file videoslam.cpp.

bool videoslamNode::determinePose ( )

Definition at line 637 of file videoslam.cpp.

bool videoslamNode::findNearestPoses ( int &  index1,
int &  index2,
const ros::Time &  targetTime 
)

Definition at line 427 of file videoslam.cpp.

void videoslamNode::handle_info ( const sensor_msgs::CameraInfoConstPtr &  info_msg)

Definition at line 1175 of file videoslam.cpp.

void videoslamNode::handle_pose ( const geometry_msgs::PoseStamped &  pose_msg)

Definition at line 888 of file videoslam.cpp.

void videoslamNode::handle_tracks ( const thermalvis::feature_tracksConstPtr &  msg)

Definition at line 1017 of file videoslam.cpp.

void videoslamNode::integrateNewTrackMessage ( const thermalvis::feature_tracksConstPtr &  msg)

Definition at line 936 of file videoslam.cpp.

void videoslamNode::main_loop ( const ros::TimerEvent &  event)

Definition at line 1162 of file videoslam.cpp.

void videoslamNode::prepareForTermination ( )
void videoslamNode::publishPoints ( ros::Time  stamp,
unsigned int  seq 
)

Definition at line 813 of file videoslam.cpp.

void videoslamNode::publishPose ( )

Definition at line 1116 of file videoslam.cpp.

void videoslamNode::serverCallback ( thermalvis::videoslamConfig &  config,
uint32_t  level 
)

Definition at line 1240 of file videoslam.cpp.

void videoslamNode::triangulatePoints ( )

Definition at line 595 of file videoslam.cpp.

void videoslamNode::trimFeatureTrackVector ( )

Definition at line 302 of file videoslam.cpp.

bool videoslamNode::updateKeyframePoses ( const geometry_msgs::PoseStamped &  pose_msg,
bool  fromICP = true 
)

Definition at line 137 of file videoslam.cpp.

bool videoslamNode::updateLocalPoseEstimates ( )

Definition at line 526 of file videoslam.cpp.

Member Data Documentation

cv::Mat videoslamNode::ACM[MAX_FRAMES] [private]

Definition at line 156 of file videoslam.hpp.

double videoslamNode::baAverage [private]

Definition at line 120 of file videoslam.hpp.

int videoslamNode::baSuccesses [private]

Definition at line 119 of file videoslam.hpp.

int videoslamNode::bicolor [private]

Definition at line 103 of file videoslam.hpp.

cv::Mat videoslamNode::blank [private]

Definition at line 115 of file videoslam.hpp.

double videoslamNode::bundleRotShift [private]

Definition at line 158 of file videoslam.hpp.

double videoslamNode::bundleTransShift [private]

Definition at line 158 of file videoslam.hpp.

ros::Publisher videoslamNode::camera_pub [private]

Definition at line 131 of file videoslam.hpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr videoslamNode::cloud_ptr_ [private]

Definition at line 133 of file videoslam.hpp.

ros::Publisher videoslamNode::confidence_pub [private]

Definition at line 131 of file videoslam.hpp.

videoslamData videoslamNode::configData [private]

Definition at line 101 of file videoslam.hpp.

geometry_msgs::PoseStamped videoslamNode::currentPose [private]

Definition at line 172 of file videoslam.hpp.

int videoslamNode::currentPoseIndex [private]

Definition at line 174 of file videoslam.hpp.

int videoslamNode::decimation [private]

Definition at line 103 of file videoslam.hpp.

double videoslamNode::distanceTravelled [private]

Definition at line 117 of file videoslam.hpp.

double videoslamNode::dsAverage [private]

Definition at line 120 of file videoslam.hpp.

cv::Mat videoslamNode::extrinsicCalib_P [private]

Definition at line 108 of file videoslam.hpp.

cv::Mat videoslamNode::extrinsicCalib_R [private]

Definition at line 108 of file videoslam.hpp.

cv::Mat videoslamNode::extrinsicCalib_T [private]

Definition at line 108 of file videoslam.hpp.

cv::Mat videoslamNode::eye4 [private]

Definition at line 115 of file videoslam.hpp.

dynamic_reconfigure::Server<thermalvis::videoslamConfig>::CallbackType videoslamNode::f [private]

Definition at line 184 of file videoslam.hpp.

cv::Mat videoslamNode::F_arr[MAX_FRAMES] [private]

Definition at line 154 of file videoslam.hpp.

vector<featureTrack> videoslamNode::featureTrackVector [private]

Definition at line 151 of file videoslam.hpp.

std_msgs::Header videoslamNode::frameHeaderHistoryBuffer[MAX_HISTORY] [private]

Definition at line 136 of file videoslam.hpp.

unsigned int videoslamNode::frameHeaderHistoryCounter [private]

Definition at line 135 of file videoslam.hpp.

unsigned int videoslamNode::frameProcessedCounter [private]

Definition at line 111 of file videoslam.hpp.

int videoslamNode::framesArrived [private]

Definition at line 119 of file videoslam.hpp.

int videoslamNode::framesProcessed [private]

Definition at line 119 of file videoslam.hpp.

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

Definition at line 178 of file videoslam.hpp.

cv::Mat videoslamNode::H_arr[MAX_FRAMES] [private]

Definition at line 154 of file videoslam.hpp.

bool videoslamNode::hasTerminatedFeed [private]

Definition at line 113 of file videoslam.hpp.

ros::Subscriber videoslamNode::info_sub [private]

Definition at line 123 of file videoslam.hpp.

bool videoslamNode::infoProcessed [private]

Definition at line 149 of file videoslam.hpp.

keyframeStore videoslamNode::keyframe_store [private]

Definition at line 153 of file videoslam.hpp.

geometry_msgs::PoseStamped videoslamNode::keyframePoses[MAX_POSES_TO_STORE] [private]

Definition at line 139 of file videoslam.hpp.

bool videoslamNode::keyframeTypes[MAX_POSES_TO_STORE] [private]

Definition at line 140 of file videoslam.hpp.

int videoslamNode::lastTestedFrame [private]

Definition at line 147 of file videoslam.hpp.

bool videoslamNode::latestReceivedPoseProcessed [private]

Definition at line 176 of file videoslam.hpp.

double videoslamNode::latestTracksTime [private]

Definition at line 145 of file videoslam.hpp.

std::streambuf* videoslamNode::lBufferOld [private]

Definition at line 106 of file videoslam.hpp.

std::ofstream videoslamNode::lStream [private]

Definition at line 105 of file videoslam.hpp.

boost::mutex videoslamNode::main_mutex [private]

Definition at line 181 of file videoslam.hpp.

char videoslamNode::nodeName[256] [private]

Definition at line 160 of file videoslam.hpp.

ros::Publisher videoslamNode::path_pub [private]

Definition at line 131 of file videoslam.hpp.

double videoslamNode::pnpError [private]

Definition at line 145 of file videoslam.hpp.

double videoslamNode::pnpInlierProp [private]

Definition at line 145 of file videoslam.hpp.

geometry_msgs::PoseStamped videoslamNode::pnpPose [private]

Definition at line 172 of file videoslam.hpp.

int videoslamNode::pnpSuccesses [private]

Definition at line 119 of file videoslam.hpp.

sensor_msgs::PointCloud2 videoslamNode::pointCloud_message [private]

Definition at line 169 of file videoslam.hpp.

ros::Publisher videoslamNode::points_pub [private]

Definition at line 131 of file videoslam.hpp.

double videoslamNode::pointShift [private]

Definition at line 145 of file videoslam.hpp.

ros::Publisher videoslamNode::pose_pub [private]

Definition at line 162 of file videoslam.hpp.

char videoslamNode::pose_pub_name[256] [private]

Definition at line 163 of file videoslam.hpp.

ros::Subscriber videoslamNode::pose_sub [private]

Definition at line 124 of file videoslam.hpp.

geometry_msgs::PoseStamped videoslamNode::poseHistoryBuffer[MAX_HISTORY] [private]

Definition at line 137 of file videoslam.hpp.

unsigned int videoslamNode::poseHistoryCounter [private]

Definition at line 135 of file videoslam.hpp.

double videoslamNode::predictiveError [private]

Definition at line 158 of file videoslam.hpp.

geometry_msgs::PoseStamped videoslamNode::savedPose [private]

Definition at line 172 of file videoslam.hpp.

dynamic_reconfigure::Server<thermalvis::videoslamConfig> videoslamNode::server [private]

Definition at line 183 of file videoslam.hpp.

unsigned int videoslamNode::storedPosesCount [private]

Definition at line 141 of file videoslam.hpp.

SysSBA videoslamNode::sys [private]

Definition at line 126 of file videoslam.hpp.

ros::Timer videoslamNode::timer [private]

Definition at line 143 of file videoslam.hpp.

ros::Subscriber videoslamNode::tracks_sub [private]

Definition at line 122 of file videoslam.hpp.

int videoslamNode::usedTriangulations [private]

Definition at line 147 of file videoslam.hpp.

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

thermalvis
Author(s): Stephen Vidas
autogenerated on Sun Jan 5 2014 11:38:45