Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes
viso2_ros::StereoOdometer Class Reference
Inheritance diagram for viso2_ros::StereoOdometer:
Inheritance graph
[legend]

List of all members.

Public Types

typedef pcl::PointCloud
< pcl::PointXYZRGB > 
PointCloud

Public Member Functions

 StereoOdometer (const std::string &transport)

Protected Member Functions

void computeAndPublishPointCloud (const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const std::vector< Matcher::p_match > &matches, const std::vector< int32_t > &inlier_indices)
double computeFeatureFlow (const std::vector< Matcher::p_match > &matches)
void drawMatches (const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const sensor_msgs::ImageConstPtr &r_image_msg, const std::vector< Matcher::p_match > &matches, const std::vector< int32_t > &inlier_indices)
void drawMatchesPreAndCurrent (const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const sensor_msgs::ImageConstPtr &r_image_msg, const std::vector< Matcher::p_match > &matches, const std::vector< int32_t > &inlier_indices)
void imageCallback (const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::ImageConstPtr &r_image_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)
void initOdometer (const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)

Protected Attributes

cv::Mat pre

Private Attributes

bool change_reference_frame_
bool got_lost_
ros::Publisher info_pub_
ros::Publisher point_cloud_pub_
int ref_frame_change_method_
int ref_frame_inlier_threshold_
double ref_frame_motion_threshold_
Matrix reference_motion_
int show_matches
boost::shared_ptr
< VisualOdometryStereo
visual_odometer_
VisualOdometryStereo::parameters visual_odometer_params_

Detailed Description

Definition at line 49 of file stereo_odometer.cpp.


Member Typedef Documentation

Definition at line 73 of file stereo_odometer.cpp.


Constructor & Destructor Documentation

viso2_ros::StereoOdometer::StereoOdometer ( const std::string &  transport) [inline]

Definition at line 75 of file stereo_odometer.cpp.


Member Function Documentation

void viso2_ros::StereoOdometer::computeAndPublishPointCloud ( const sensor_msgs::CameraInfoConstPtr &  l_info_msg,
const sensor_msgs::ImageConstPtr &  l_image_msg,
const sensor_msgs::CameraInfoConstPtr &  r_info_msg,
const std::vector< Matcher::p_match > &  matches,
const std::vector< int32_t > &  inlier_indices 
) [inline, protected]

Definition at line 422 of file stereo_odometer.cpp.

double viso2_ros::StereoOdometer::computeFeatureFlow ( const std::vector< Matcher::p_match > &  matches) [inline, protected]

Definition at line 279 of file stereo_odometer.cpp.

void viso2_ros::StereoOdometer::drawMatches ( const sensor_msgs::CameraInfoConstPtr &  l_info_msg,
const sensor_msgs::ImageConstPtr &  l_image_msg,
const sensor_msgs::CameraInfoConstPtr &  r_info_msg,
const sensor_msgs::ImageConstPtr &  r_image_msg,
const std::vector< Matcher::p_match > &  matches,
const std::vector< int32_t > &  inlier_indices 
) [inline, protected]

Definition at line 293 of file stereo_odometer.cpp.

void viso2_ros::StereoOdometer::drawMatchesPreAndCurrent ( const sensor_msgs::CameraInfoConstPtr &  l_info_msg,
const sensor_msgs::ImageConstPtr &  l_image_msg,
const sensor_msgs::CameraInfoConstPtr &  r_info_msg,
const sensor_msgs::ImageConstPtr &  r_image_msg,
const std::vector< Matcher::p_match > &  matches,
const std::vector< int32_t > &  inlier_indices 
) [inline, protected]

Definition at line 348 of file stereo_odometer.cpp.

void viso2_ros::StereoOdometer::imageCallback ( const sensor_msgs::ImageConstPtr &  l_image_msg,
const sensor_msgs::ImageConstPtr &  r_image_msg,
const sensor_msgs::CameraInfoConstPtr &  l_info_msg,
const sensor_msgs::CameraInfoConstPtr &  r_info_msg 
) [inline, protected, virtual]

Implement this method in sub-classes

Implements viso2_ros::StereoProcessor.

Definition at line 118 of file stereo_odometer.cpp.

void viso2_ros::StereoOdometer::initOdometer ( const sensor_msgs::CameraInfoConstPtr &  l_info_msg,
const sensor_msgs::CameraInfoConstPtr &  r_info_msg 
) [inline, protected]

Definition at line 96 of file stereo_odometer.cpp.


Member Data Documentation

Definition at line 66 of file stereo_odometer.cpp.

Definition at line 60 of file stereo_odometer.cpp.

Definition at line 58 of file stereo_odometer.cpp.

Definition at line 57 of file stereo_odometer.cpp.

cv::Mat viso2_ros::StereoOdometer::pre [protected]

Definition at line 347 of file stereo_odometer.cpp.

Definition at line 63 of file stereo_odometer.cpp.

Definition at line 68 of file stereo_odometer.cpp.

Definition at line 67 of file stereo_odometer.cpp.

Definition at line 69 of file stereo_odometer.cpp.

Definition at line 65 of file stereo_odometer.cpp.

Definition at line 54 of file stereo_odometer.cpp.

Definition at line 55 of file stereo_odometer.cpp.


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


dlut_viso2_ros
Author(s): Zhuang Yan , Yan Fei, Wu Nai Liang
autogenerated on Thu Jun 6 2019 20:03:36