Computes a globally optimal trajectory from transformations between Node-pairs. More...

#include <graph_manager.h>

Public Slots
void	clearPointCloud (pointcloud_type const *pc)
void	clearPointClouds ()
void	deleteLastFrame ()
	Throw the last node out, reoptimize.
void	filterNodesByPosition (float x, float y, float z)
void	occupancyFilterClouds ()
	Remove points in free space for all nodes (requires octomapping to be done)
double	optimizeGraph (double iter=-1, bool nonthreaded=false)
void	printEdgeErrors (QString)
unsigned int	pruneEdgesWithErrorAbove (float)
void	reducePointCloud (pointcloud_type const *pc)
void	reset ()
	Start over with new graph.
void	sanityCheck (float)
void	saveAllClouds (QString filename, bool threaded=true)
	Call saveAllCloudsToFile, as background thread if threaded=true and possible.
void	saveAllFeatures (QString filename, bool threaded=true)
	Call saveAllFeaturesToFile, as background thread if threaded=true and possible.
void	saveBagfile (QString filename)
	iterate over all Nodes, writing their transform and pointcloud to a bagfile
void	saveBagfileAsync (QString filename)
void	saveG2OGraph (QString filename)
	Save graph in g2o format.
void	saveIndividualClouds (QString file_basename, bool threaded=true)
	Call saveIndividualCloudsToFile, as background thread if threaded=true and possible.
void	saveOctomap (QString filename, bool threaded=true)
	Save the cloud as octomap by using the (internal) octomap server to render the point clouds into the voxel map.
void	saveTrajectory (QString filebasename, bool with_ground_truth=false)
	Save trajectory of computed motion and ground truth (if available)
void	sendAllClouds (bool threaded_if_available=true)
	iterate over all Nodes, sending their transform and pointcloud
void	toggleMapping (bool)
Signals
void	deleteLastNode ()
void	iamBusy (int id, const char *message, int max)
void	newTransformationMatrix (QString)
	Connect to this signal to get the transformation matrix from the last frame as QString.
void	progress (int id, const char *message, int val)
void	renderableOctomap (Renderable *r)
void	resetGLViewer ()
void	sendFinished ()
void	setFeatures (const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > *)
void	setGraph (const g2o::OptimizableGraph *)
void	setGraphEdges (const QList< QPair< int, int > > *edge_list)
void	setGUIInfo (QString message)
void	setGUIInfo2 (QString message)
void	setGUIStatus (QString message)
void	setPointCloud (pointcloud_type *pc, QMatrix4x4 transformation)
void	updateTransforms (QList< QMatrix4x4 > *transformations)
Public Member Functions
bool	addNode (Node *newNode)
void	addOdometry (ros::Time timestamp, tf::TransformListener *listener)
void	deleteFeatureInformation ()
void	drawFeatureFlow (cv::Mat &canvas, cv::Scalar line_color=cv::Scalar(255, 0, 0, 0), cv::Scalar circle_color=cv::Scalar(0, 0, 255, 0))
	Draw the features's motions onto the canvas.
void	drawFeatureFlow (cv::Mat &canvas_flow, cv::Mat &canvas_features, cv::Scalar line_color=cv::Scalar(255, 0, 0, 0), cv::Scalar circle_color=cv::Scalar(0, 0, 255, 0))
void	firstNode (Node *new_node)
	Adds the first node.
	GraphManager ()
bool	isBusy ()
	Used by OpenNIListener. Indicates whether long running computations are running.
bool	nodeComparisons (Node *newNode, QMatrix4x4 &curr_motion_estimate, bool &edge_to_keyframe)
	Output:contains the best-yet of the pairwise motion estimates for the current node.
void	setEmpiricalCovariances ()
void	setOptimizerVerbose (bool verbose)
void	writeOctomap (QString filename) const
	Only write (not create, not clear) existing octomap.
	~GraphManager ()
Public Attributes
g2o::HyperGraph::EdgeSet	cam_cam_edges_
	"Regular" edges from camera to camera as found form feature correspondeces
g2o::HyperGraph::VertexSet	camera_vertices
	Pose vertices (in camera coordinate system)
g2o::HyperGraph::EdgeSet	current_match_edges_
g2o::HyperGraph::EdgeSet	odometry_edges_
	Edges added by addOdometryEdgeToG2O(...)
Protected Types
typedef std::pair< int, Node * >	GraphNodeType
	Map from node id to node. Assumption is, that ids start at 0 and are consecutive.
Protected Member Functions
bool	addEdgeToG2O (const LoadedEdge3D &edge, Node n1, Node n2, bool good_edge, bool set_estimate, QMatrix4x4 &motion_estimate)
	Adds an visual-feature-correspondence edge to the optimizer.
void	addKeyframe (int id)
	Add a keyframe to the list (and log keyframes)
bool	addOdometryEdgeToG2O (const LoadedEdge3D &edge, Node n1, Node n2, QMatrix4x4 &motion_estimate)
	Adds an odometry edge to the optimizer.
void	broadcastLatestTransform (const ros::TimerEvent &event) const
	Broadcast cached transform.
void	broadcastTransform (const tf::StampedTransform &computed_motion)
	Broadcast given transform.
tf::StampedTransform	computeFixedToBaseTransform (Node *node, bool invert)
	Compute the tranformation between (sensor) Base and Fixed (Map) frame.
void	createOptimizer (std::string backend, g2o::SparseOptimizer *optimizer=NULL)
	Instanciate the optimizer with the desired backend.
void	deleteCameraFrame (int id)
double	geodesicDiscount (g2o::HyperDijkstra &hypdij, const MatchingResult &mr)
QList< QMatrix4x4 > *	getAllPosesAsMatrixList () const
	Return pointer to a list of the optimizers graph poses on the heap(!)
QList< QPair< int, int > > *	getGraphEdges ()
	Return pointer to a list of the optimizers graph edges on the heap(!)
QList< int >	getPotentialEdgeTargetsWithDijkstra (const Node *new_node, int sequential_targets, int geodesic_targets, int sampled_targets=5, int predecessor_id=-1, bool include_predecessor=false)
int	last_added_cam_vertex_id ()
void	localizationUpdate (Node *new_node, QMatrix4x4 motion_estimate)
	use matching results to update location
int	nodeId2VertexId (int node_id)
double	optimizeGraphImpl (double max_iter)
	Applies g2o for optimization returns chi2.
void	pointCloud2MeshFile (QString filename, pointcloud_type full_cloud)
void	renderToOctomap (Node *node)
void	resetGraph ()
	Start over.
void	saveAllCloudsToFile (QString filename)
	iterate over all Nodes, transform them to the fixed frame, aggregate and save
void	saveAllFeaturesToFile (QString filename)
	Transform all feature positions to global coordinates and save them together with the belonging descriptors.
void	saveIndividualCloudsToFile (QString filename)
	iterate over all Nodes, save each in one pcd-file
void	saveOctomapImpl (QString filename)
void	savePlyFile (QString filename, pointcloud_normal_type &full_cloud)
void	sendAllCloudsImpl ()
void	setEmpiricalCovariancesForEdgeSet (EdgeSet &edges)
	See setEmpiricalCovariances.
tf::StampedTransform	stampedTransformInWorldFrame (const Node *node, const tf::Transform &computed_motion) const
bool	updateCloudOrigin (Node *node)
void	visualizeFeatureFlow3D (unsigned int marker_id=0, bool draw_outlier=true)
	Send markers to visualize the last matched features in rviz (if somebody subscribed)
void	visualizeGraphEdges () const
	Send markers to visualize the graph edges (cam transforms) in rviz (if somebody subscribed)
void	visualizeGraphIds () const
	Send markers to visualize the graph ids in rviz (if somebody subscribed)
void	visualizeGraphNodes () const
	Send markers to visualize the graph nodes (cam positions) in rviz (if somebody subscribed)
Protected Attributes
ros::Publisher	batch_cloud_pub_
bool	batch_processing_runs_
tf::TransformBroadcaster	br_
	Used to broadcast the pose estimate.
g2o::SparseOptimizer::Vertex *	calibration_vertex_
ColorOctomapServer	co_server_
tf::Transform	computed_motion_
	transformation of the last frame to the first frame (assuming the first one is fixed)
MatchingResult	curr_best_result_
	will contain the motion to the best matching node
std::string	current_backend_
QList< QPair< int, int > >	current_edges_
int	earliest_loop_closure_node_
std::map< int, Node * >	graph_
tf::Transform	init_base_pose_
QList< int >	keyframe_ids_
unsigned int	last_odom_time_
tf::StampedTransform	latest_transform_cache_
bool	localization_only_
unsigned int	loop_closures_edges
unsigned int	marker_id_
ros::Publisher	marker_pub_
unsigned int	next_seq_id
unsigned int	next_vertex_id
ros::Publisher	online_cloud_pub_
QMutex	optimization_mutex_
	This mutex restricts the optimization computation itself.
g2o::SparseOptimizer *	optimizer_
QMutex	optimizer_mutex_
	This mutex restricts access to the optimizer's data structures.
bool	process_node_runs_
ros::Publisher	ransac_marker_pub_
bool	reset_request_
g2o::RobustKernelHuber	robust_kernel_
unsigned int	sequential_edges
ros::Timer	timer_
	Used to start the broadcasting of the pose estimate regularly.
ros::Publisher	whole_cloud_pub_

Detailed Description

Computes a globally optimal trajectory from transformations between Node-pairs.

Definition at line 89 of file graph_manager.h.

Member Typedef Documentation

typedef std::pair<int, Node*> GraphManager::GraphNodeType [protected]

Map from node id to node. Assumption is, that ids start at 0 and are consecutive.

Definition at line 336 of file graph_manager.h.

Constructor & Destructor Documentation

GraphManager::GraphManager ( )

Definition at line 63 of file graph_manager.cpp.

GraphManager::~GraphManager ( )

Definition at line 84 of file graph_manager2.cpp.

Member Function Documentation

bool GraphManager::addEdgeToG2O	(	const LoadedEdge3D &	edge,
		Node *	n1,
		Node *	n2,
		bool	good_edge,
		bool	set_estimate,
		QMatrix4x4 &	motion_estimate
	)		`[protected]`

Adds an visual-feature-correspondence edge to the optimizer.

Definition at line 811 of file graph_manager.cpp.

void GraphManager::addKeyframe ( int id ) [protected]

Add a keyframe to the list (and log keyframes)

Definition at line 784 of file graph_manager.cpp.

bool GraphManager::addNode ( Node * newNode )

Add new node to the graph. Node will be included, if a valid transformation to one of the former nodes can be found. If appropriate, the graph is optimized graphmanager owns newNode after this call. Do no delete the object

Output:contains the best-yet of the pairwise motion estimates for the current node

Definition at line 681 of file graph_manager.cpp.

void GraphManager::addOdometry	(	ros::Time	timestamp,
		tf::TransformListener *	listener
	)

Check if all nodes include the odometry. If not, add a new edge.

Definition at line 62 of file graph_mgr_odom.cpp.

bool GraphManager::addOdometryEdgeToG2O	(	const LoadedEdge3D &	edge,
		Node *	n1,
		Node *	n2,
		QMatrix4x4 &	motion_estimate
	)		`[protected]`

Adds an odometry edge to the optimizer.

Definition at line 133 of file graph_mgr_odom.cpp.

void GraphManager::broadcastLatestTransform ( const ros::TimerEvent & event ) const [protected]

Broadcast cached transform.

Definition at line 953 of file graph_mgr_io.cpp.

void GraphManager::broadcastTransform ( const tf::StampedTransform & computed_motion ) [protected]

Broadcast given transform.

Definition at line 965 of file graph_mgr_io.cpp.

void GraphManager::clearPointCloud ( pointcloud_type const * pc ) [slot]

Definition at line 48 of file graph_manager2.cpp.

void GraphManager::clearPointClouds ( ) [slot]

Definition at line 41 of file graph_manager2.cpp.

tf::StampedTransform GraphManager::computeFixedToBaseTransform	(	Node *	node,
		bool	invert
	)		`[protected]`

Compute the tranformation between (sensor) Base and Fixed (Map) frame.

Definition at line 55 of file graph_mgr_io.cpp.

void GraphManager::createOptimizer	(	std::string	backend,
		g2o::SparseOptimizer *	optimizer = `NULL`
	)		`[protected]`

Instanciate the optimizer with the desired backend.

Definition at line 107 of file graph_manager.cpp.

void GraphManager::deleteCameraFrame ( int id ) [protected]

Definition at line 1077 of file graph_manager.cpp.

void GraphManager::deleteFeatureInformation ( )

Warning: This is a dangerous way to save memory. Some methods will behave undefined after this. Notable exception: optimizeGraph()

Definition at line 103 of file graph_manager2.cpp.

void GraphManager::deleteLastFrame ( ) [slot]

Throw the last node out, reoptimize.

Definition at line 61 of file graph_manager2.cpp.

void GraphManager::deleteLastNode ( ) [signal]

void GraphManager::drawFeatureFlow	(	cv::Mat &	canvas,
		cv::Scalar	line_color = `cv::Scalar(255,0,0,0)`,
		cv::Scalar	circle_color = `cv::Scalar(0,0,255,0)`
	)

Draw the features's motions onto the canvas.

Definition at line 1055 of file graph_mgr_io.cpp.

void GraphManager::drawFeatureFlow	(	cv::Mat &	canvas_flow,
		cv::Mat &	canvas_features,
		cv::Scalar	line_color = `cv::Scalar(255,0,0,0)`,
		cv::Scalar	circle_color = `cv::Scalar(0,0,255,0)`
	)

Definition at line 1110 of file graph_mgr_io.cpp.

void GraphManager::filterNodesByPosition	(	float	x,
		float	y,
		float	z
	)		`[slot]`

Definition at line 1362 of file graph_manager.cpp.

void GraphManager::firstNode ( Node * new_node )

Adds the first node.

Output:contains the best-yet of the pairwise motion estimates for the current node

Definition at line 360 of file graph_manager.cpp.

double GraphManager::geodesicDiscount	(	g2o::HyperDijkstra &	hypdij,
		const MatchingResult &	mr
	)		`[protected]`

Definition at line 1336 of file graph_manager.cpp.

QList< QMatrix4x4 > * GraphManager::getAllPosesAsMatrixList ( ) const [protected]

Return pointer to a list of the optimizers graph poses on the heap(!)

Definition at line 1288 of file graph_manager.cpp.

QList< QPair< int, int > > * GraphManager::getGraphEdges ( ) [protected]

Return pointer to a list of the optimizers graph edges on the heap(!)

Definition at line 1248 of file graph_manager.cpp.

QList< int > GraphManager::getPotentialEdgeTargetsWithDijkstra	(	const Node *	new_node,
		int	sequential_targets,
		int	geodesic_targets,
		int	sampled_targets = `5`,
		int	predecessor_id = `-1`,
		bool	include_predecessor = `false`
	)		`[protected]`

Suggest nodes for comparison. Suggests <sequential_targets> direct predecessors in the time sequence <geodesic_targets> nodes from the graph-neighborhood and <sample_targets> randomly chosen from the keyframes Using the graph neighborhood, has the advantage that once a loop closure is found by sampling, the edge will be used to find more closures, where the first one was found

Definition at line 204 of file graph_manager.cpp.

void GraphManager::iamBusy	(	int	id,
		const char *	message,
		int	max
	)		`[signal]`

bool GraphManager::isBusy ( )

Used by OpenNIListener. Indicates whether long running computations are running.

Definition at line 37 of file graph_manager2.cpp.

int GraphManager::last_added_cam_vertex_id ( ) [inline, protected]

Definition at line 296 of file graph_manager.h.

void GraphManager::localizationUpdate	(	Node *	new_node,
		QMatrix4x4	motion_estimate
	)		`[protected]`

use matching results to update location

Definition at line 660 of file graph_manager.cpp.

void GraphManager::newTransformationMatrix ( QString ) [signal]

Connect to this signal to get the transformation matrix from the last frame as QString.

bool GraphManager::nodeComparisons	(	Node *	newNode,
		QMatrix4x4 &	curr_motion_estimate,
		bool &	edge_to_keyframe
	)

Output:contains the best-yet of the pairwise motion estimates for the current node.

Try to compute transformations to previous nodes getPotentialEdgeTargetsWithDijkstra is used to select previous nodes to match against, then the comparison of nodes is called, possibly in parallel.

Definition at line 421 of file graph_manager.cpp.

Here is the caller graph for this function:

int GraphManager::nodeId2VertexId ( int node_id ) [inline, protected]

Definition at line 300 of file graph_manager.h.

void GraphManager::occupancyFilterClouds ( ) [slot]

Remove points in free space for all nodes (requires octomapping to be done)

Definition at line 1372 of file graph_manager.cpp.

double GraphManager::optimizeGraph	(	double	iter = `-1`,
		bool	nonthreaded = `false`
	)		`[slot]`

Calls optimizeGraphImpl either in fore- or background depending on parameter concurrent_optimization Returns chi2

Definition at line 900 of file graph_manager.cpp.

double GraphManager::optimizeGraphImpl ( double max_iter ) [protected]

Applies g2o for optimization returns chi2.

Definition at line 938 of file graph_manager.cpp.

void GraphManager::pointCloud2MeshFile	(	QString	filename,
		pointcloud_type	full_cloud
	)		`[protected]`

Definition at line 583 of file graph_mgr_io.cpp.

void GraphManager::printEdgeErrors ( QString filename ) [slot]

Definition at line 1321 of file graph_manager.cpp.

void GraphManager::progress	(	int	id,
		const char *	message,
		int	val
	)		`[signal]`

unsigned int GraphManager::pruneEdgesWithErrorAbove ( float thresh ) [slot]

Actually only discounts the edges drastically Returns the number of edges that have been discounted Thresh corresponds to a squared error

Actually only discount them drastically. Thresh corresponds to a squared error

Definition at line 1106 of file graph_manager.cpp.

void GraphManager::reducePointCloud ( pointcloud_type const * pc ) [slot]

Definition at line 1310 of file graph_manager.cpp.

void GraphManager::renderableOctomap ( Renderable * r ) [signal]

void GraphManager::renderToOctomap ( Node * node ) [protected]

Definition at line 317 of file graph_mgr_io.cpp.

void GraphManager::reset ( ) [slot]

Start over with new graph.

Definition at line 80 of file graph_manager2.cpp.

void GraphManager::resetGLViewer ( ) [signal]

void GraphManager::resetGraph ( ) [protected]

Start over.

Definition at line 326 of file graph_manager.cpp.

void GraphManager::sanityCheck ( float thresh ) [slot]

Definition at line 1347 of file graph_manager.cpp.

void GraphManager::saveAllClouds	(	QString	filename,
		bool	threaded = `true`
	)		`[slot]`

Call saveAllCloudsToFile, as background thread if threaded=true and possible.

Definition at line 192 of file graph_mgr_io.cpp.

void GraphManager::saveAllCloudsToFile ( QString filename ) [protected]

iterate over all Nodes, transform them to the fixed frame, aggregate and save

will hold all other clouds

FIXME: Should transform to <fixed_frame_name>

Definition at line 501 of file graph_mgr_io.cpp.

void GraphManager::saveAllFeatures	(	QString	filename,
		bool	threaded = `true`
	)		`[slot]`

Call saveAllFeaturesToFile, as background thread if threaded=true and possible.

Definition at line 434 of file graph_mgr_io.cpp.

void GraphManager::saveAllFeaturesToFile ( QString filename ) [protected]

Transform all feature positions to global coordinates and save them together with the belonging descriptors.

Definition at line 444 of file graph_mgr_io.cpp.

void GraphManager::saveBagfile ( QString filename ) [slot]

iterate over all Nodes, writing their transform and pointcloud to a bagfile

Definition at line 101 of file graph_mgr_io.cpp.

void GraphManager::saveBagfileAsync ( QString filename ) [slot]

iterate over all Nodes, writing their transform and pointcloud to a bagfile. If parameter concurrent_io is set, do it in a background thread

Definition at line 92 of file graph_mgr_io.cpp.

void GraphManager::saveG2OGraph ( QString filename ) [slot]

Save graph in g2o format.

Definition at line 932 of file graph_mgr_io.cpp.

void GraphManager::saveIndividualClouds	(	QString	file_basename,
		bool	threaded = `true`
	)		`[slot]`

Call saveIndividualCloudsToFile, as background thread if threaded=true and possible.

Definition at line 202 of file graph_mgr_io.cpp.

void GraphManager::saveIndividualCloudsToFile ( QString filename ) [protected]

iterate over all Nodes, save each in one pcd-file

Definition at line 329 of file graph_mgr_io.cpp.

void GraphManager::saveOctomap	(	QString	filename,
		bool	threaded = `true`
	)		`[slot]`

Save the cloud as octomap by using the (internal) octomap server to render the point clouds into the voxel map.

Definition at line 236 of file graph_mgr_io.cpp.

void GraphManager::saveOctomapImpl ( QString filename ) [protected]

Definition at line 252 of file graph_mgr_io.cpp.

void GraphManager::savePlyFile	(	QString	filename,
		pointcloud_normal_type &	full_cloud
	)		`[protected]`

Definition at line 1161 of file graph_mgr_io.cpp.

void GraphManager::saveTrajectory	(	QString	filebasename,
		bool	with_ground_truth = `false`
	)		`[slot]`

Save trajectory of computed motion and ground truth (if available)

Definition at line 614 of file graph_mgr_io.cpp.

void GraphManager::sendAllClouds ( bool threaded = true ) [slot]

iterate over all Nodes, sending their transform and pointcloud

This file contains the methods of GraphManager concerned with transfering data via ROS, to the screen (visualization) or to disk. They are declared in graph_manager.h

Definition at line 45 of file graph_mgr_io.cpp.

void GraphManager::sendAllCloudsImpl ( ) [protected]

Definition at line 152 of file graph_mgr_io.cpp.

void GraphManager::sendFinished ( ) [signal]

void GraphManager::setEmpiricalCovariances ( )

Compute information matrix from empirical variances. If graph_filename is given, compute variances from

Definition at line 138 of file graph_manager2.cpp.

void GraphManager::setEmpiricalCovariancesForEdgeSet ( EdgeSet & edges ) [protected]

See setEmpiricalCovariances.

Definition at line 111 of file graph_manager2.cpp.

void GraphManager::setFeatures ( const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > * ) [signal]

void GraphManager::setGraph ( const g2o::OptimizableGraph * ) [signal]

void GraphManager::setGraphEdges ( const QList< QPair< int, int > > * edge_list ) [signal]

void GraphManager::setGUIInfo ( QString message ) [signal]

void GraphManager::setGUIInfo2 ( QString message ) [signal]

void GraphManager::setGUIStatus ( QString message ) [signal]

void GraphManager::setOptimizerVerbose ( bool verbose )

Definition at line 104 of file graph_manager.cpp.

void GraphManager::setPointCloud	(	pointcloud_type *	pc,
		QMatrix4x4	transformation
	)		`[signal]`

tf::StampedTransform GraphManager::stampedTransformInWorldFrame	(	const Node *	node,
		const tf::Transform &	computed_motion
	)		const `[protected]`

Compute the transform between the fixed frame (usually the initial position of the cam) and the node from the motion (given in sensor frame)

Definition at line 938 of file graph_mgr_io.cpp.

void GraphManager::toggleMapping ( bool mappingOn ) [slot]

This file contains methods of the GraphManager class without extra dependencies (except for the class header).

Definition at line 25 of file graph_manager2.cpp.

bool GraphManager::updateCloudOrigin ( Node * node ) [protected]

Write current position estimate to the node's point cloud's origin Make sure to acquire the optimizer_mutex_ before calling

Write current pose estimate to pcl cloud header Returns false if node has no valid estimate or is empty

Definition at line 215 of file graph_mgr_io.cpp.

void GraphManager::updateTransforms ( QList< QMatrix4x4 > * transformations ) [signal]

void GraphManager::visualizeFeatureFlow3D	(	unsigned int	marker_id = `0`,
		bool	draw_outlier = `true`
	)		`[protected]`

Send markers to visualize the last matched features in rviz (if somebody subscribed)

Definition at line 686 of file graph_mgr_io.cpp.

void GraphManager::visualizeGraphEdges ( ) const [protected]

Send markers to visualize the graph edges (cam transforms) in rviz (if somebody subscribed)

Definition at line 777 of file graph_mgr_io.cpp.

void GraphManager::visualizeGraphIds ( ) const [protected]

Send markers to visualize the graph ids in rviz (if somebody subscribed)

void GraphManager::visualizeGraphNodes ( ) const [protected]

Send markers to visualize the graph nodes (cam positions) in rviz (if somebody subscribed)

Definition at line 833 of file graph_mgr_io.cpp.

void GraphManager::writeOctomap ( QString filename ) const

Only write (not create, not clear) existing octomap.

Definition at line 311 of file graph_mgr_io.cpp.

Member Data Documentation

ros::Publisher GraphManager::batch_cloud_pub_ [protected]

Definition at line 324 of file graph_manager.h.

bool GraphManager::batch_processing_runs_ [protected]

Definition at line 341 of file graph_manager.h.

tf::TransformBroadcaster GraphManager::br_ [mutable, protected]

Used to broadcast the pose estimate.

Definition at line 330 of file graph_manager.h.

g2o::SparseOptimizer::Vertex* GraphManager::calibration_vertex_ [protected]

Definition at line 384 of file graph_manager.h.

g2o::HyperGraph::EdgeSet GraphManager::cam_cam_edges_

"Regular" edges from camera to camera as found form feature correspondeces

Definition at line 180 of file graph_manager.h.

g2o::HyperGraph::VertexSet GraphManager::camera_vertices

Pose vertices (in camera coordinate system)

Definition at line 178 of file graph_manager.h.

ColorOctomapServer GraphManager::co_server_ [protected]

Definition at line 357 of file graph_manager.h.

tf::Transform GraphManager::computed_motion_ [protected]

transformation of the last frame to the first frame (assuming the first one is fixed)

Definition at line 331 of file graph_manager.h.

MatchingResult GraphManager::curr_best_result_ [protected]

will contain the motion to the best matching node

Definition at line 229 of file graph_manager.h.

std::string GraphManager::current_backend_ [protected]

Definition at line 355 of file graph_manager.h.

QList<QPair<int, int> > GraphManager::current_edges_ [protected]

Definition at line 310 of file graph_manager.h.

g2o::HyperGraph::EdgeSet GraphManager::current_match_edges_

Definition at line 186 of file graph_manager.h.

int GraphManager::earliest_loop_closure_node_ [protected]

Definition at line 356 of file graph_manager.h.

std::map<int, Node* > GraphManager::graph_ [protected]

Definition at line 338 of file graph_manager.h.

tf::Transform GraphManager::init_base_pose_ [protected]

Definition at line 332 of file graph_manager.h.

QList<int> GraphManager::keyframe_ids_ [protected]

Definition at line 349 of file graph_manager.h.

unsigned int GraphManager::last_odom_time_ [protected]

Definition at line 389 of file graph_manager.h.

tf::StampedTransform GraphManager::latest_transform_cache_ [protected]

Definition at line 333 of file graph_manager.h.

bool GraphManager::localization_only_ [protected]

Definition at line 343 of file graph_manager.h.

unsigned int GraphManager::loop_closures_edges [protected]

Definition at line 352 of file graph_manager.h.

unsigned int GraphManager::marker_id_ [protected]

Definition at line 340 of file graph_manager.h.

ros::Publisher GraphManager::marker_pub_ [protected]

Definition at line 321 of file graph_manager.h.

unsigned int GraphManager::next_seq_id [protected]

Definition at line 353 of file graph_manager.h.

unsigned int GraphManager::next_vertex_id [protected]

Definition at line 354 of file graph_manager.h.

g2o::HyperGraph::EdgeSet GraphManager::odometry_edges_

Edges added by addOdometryEdgeToG2O(...)

Contains those motions that represent absence of information. Only there to prevent the graph from becoming unconnected.

Definition at line 185 of file graph_manager.h.

ros::Publisher GraphManager::online_cloud_pub_ [protected]

Definition at line 325 of file graph_manager.h.

QMutex GraphManager::optimization_mutex_ [protected]

This mutex restricts the optimization computation itself.

Definition at line 347 of file graph_manager.h.

g2o::SparseOptimizer* GraphManager::optimizer_ [protected]

Definition at line 319 of file graph_manager.h.

QMutex GraphManager::optimizer_mutex_ [protected]

This mutex restricts access to the optimizer's data structures.

Definition at line 345 of file graph_manager.h.

bool GraphManager::process_node_runs_ [protected]

Definition at line 342 of file graph_manager.h.

ros::Publisher GraphManager::ransac_marker_pub_ [protected]

Definition at line 322 of file graph_manager.h.

bool GraphManager::reset_request_ [protected]

Definition at line 339 of file graph_manager.h.

g2o::RobustKernelHuber GraphManager::robust_kernel_ [protected]

Definition at line 382 of file graph_manager.h.

unsigned int GraphManager::sequential_edges [protected]

Definition at line 352 of file graph_manager.h.

ros::Timer GraphManager::timer_ [protected]

Used to start the broadcasting of the pose estimate regularly.

Definition at line 328 of file graph_manager.h.

ros::Publisher GraphManager::whole_cloud_pub_ [protected]

Definition at line 323 of file graph_manager.h.

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

Public Slots

Signals

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation