#include <tracking.h>

Classes
struct	Params
Public Types
enum	trackingState { NOT_INITIALIZED = 0, INITIALIZING = 1, WORKING = 2, LOST = 3 }
Public Member Functions
Frame	getCurrentFrame () const
	Get current frame.
Params	getParams () const
	Get class params.
void	run ()
	Starts tracking.
void	setParams (const Params &params)
	Set class params.
	Tracking (Publisher f_pub, Graph graph)
	Class constructor.
Protected Member Functions
bool	addFrameToMap (double range)
	Add a frame to the graph if enough inliers.
PointCloudRGB::Ptr	filterCloud (PointCloudRGB::Ptr in_cloud)
	Filters a pointcloud.
bool	getOdom2CameraTf (nav_msgs::Odometry odom_msg, sensor_msgs::Image img_msg, tf::StampedTransform &transform)
	Get the transform between odometry frame and camera frame.
void	msgsCallback (const nav_msgs::Odometry::ConstPtr &odom_msg, const sensor_msgs::Range::ConstPtr &range_msg, const sensor_msgs::ImageConstPtr &l_img_msg, const sensor_msgs::ImageConstPtr &r_img_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
	Messages callback. This function is called when synchronized odometry and image message are received.
bool	needNewKeyFrame (double range)
	Decide if new keyframe is needed.
void	publishOverlap (PointCloudXYZ::Ptr cloud, tf::Transform movement, float overlap)
	Publishes the overlapping debug image.
bool	refinePose (Frame c_frame, Frame p_frame, tf::Transform &out, int &num_inliers)
	Refine the keyframe to keyframe position using SolvePnP.
Private Types
typedef message_filters::Synchronizer < SyncPolicy >	Sync
typedef message_filters::sync_policies::ApproximateTime < nav_msgs::Odometry, sensor_msgs::Range, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	SyncPolicy
	> Number of seconds that filter will be applied
Private Attributes
Frame	c_frame_
	> Listen for tf between robot and camera.
cv::Mat	camera_matrix_
	> Previous frame
image_geometry::StereoCameraModel	camera_model_
	> Publish transform
Publisher *	f_pub_
	> Camera matrix
int	frame_id_
Graph *	graph_
	> Stereo camera model
bool	jump_detected_
	> Stores the time at which the jump starts
ros::WallTime	jump_time_
	> Stores the previous corrected odometry pose
int	kf_id_
	> Processed frames counter
tf::Transform	last_fixed_frame_pose_
	> Graph
Eigen::Vector4f	last_max_pt_
Eigen::Vector4f	last_min_pt_
	> Stores the last fixed frame pose
tf::StampedTransform	odom2camera_
	> Tracking state
vector< tf::Transform >	odom_pose_history_
	> Processed keyframes counter
ros::Publisher	overlapping_pub_
	> Corrected pose publisher
Frame	p_frame_
	> Current frame
Params	params_
ros::Publisher	pc_pub_
	> Frame publisher
ros::Publisher	pose_pub_
	> Pointcloud publisher
tf::Transform	prev_robot_pose_
	> Stores the odometry poses, relative to camera frame
double	secs_to_filter_
	> Indicates when a big correction is detected
trackingState	state_
	> Stores parameters.
tf::TransformBroadcaster	tf_broadcaster_
	> Consecutive image overlapping publisher
tf::TransformListener	tf_listener_
	> Transformation between robot odometry frame and camera frame.

Detailed Description

Definition at line 54 of file tracking.h.

Member Typedef Documentation

typedef message_filters::Synchronizer<SyncPolicy> slam::Tracking::Sync [private]

Definition at line 228 of file tracking.h.

typedef message_filters::sync_policies::ApproximateTime<nav_msgs::Odometry, sensor_msgs::Range, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> slam::Tracking::SyncPolicy [private]

> Number of seconds that filter will be applied

Definition at line 227 of file tracking.h.

Member Enumeration Documentation

enum slam::Tracking::trackingState

Enumerator:

NOT_INITIALIZED
INITIALIZING
WORKING
LOST

Definition at line 79 of file tracking.h.

Constructor & Destructor Documentation

slam::Tracking::Tracking	(	Publisher *	f_pub,
		Graph *	graph
	)

Class constructor.

Parameters:

Frame	publisher object pointer
Graph	object pointer

Definition at line 11 of file tracking.cpp.

Member Function Documentation

bool slam::Tracking::addFrameToMap ( double range ) [protected]

Add a frame to the graph if enough inliers.

Returns:: True if new keyframe will be inserted into the map

Definition at line 307 of file tracking.cpp.

PointCloudRGB::Ptr slam::Tracking::filterCloud ( PointCloudRGB::Ptr in_cloud ) [protected]

Filters a pointcloud.

Returns:: filtered cloud

Parameters:

input cloud

Definition at line 429 of file tracking.cpp.

Frame slam::Tracking::getCurrentFrame ( ) const [inline]

Get current frame.

Definition at line 103 of file tracking.h.

bool slam::Tracking::getOdom2CameraTf	(	nav_msgs::Odometry	odom_msg,
		sensor_msgs::Image	img_msg,
		tf::StampedTransform &	transform
	)		`[protected]`

Get the transform between odometry frame and camera frame.

Returns:: true if valid transform, false otherwise

Parameters:

Odometry	msg
Image	msg
Output	transform

Definition at line 230 of file tracking.cpp.

Params slam::Tracking::getParams ( ) const [inline]

Get class params.

Definition at line 99 of file tracking.h.

void slam::Tracking::msgsCallback	(	const nav_msgs::Odometry::ConstPtr &	odom_msg,
		const sensor_msgs::Range::ConstPtr &	range_msg,
		const sensor_msgs::ImageConstPtr &	l_img_msg,
		const sensor_msgs::ImageConstPtr &	r_img_msg,
		const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg,
		const sensor_msgs::PointCloud2ConstPtr &	cloud_msg
	)		`[protected]`

Messages callback. This function is called when synchronized odometry and image message are received.

Parameters:

odom_msg	ros odometry message of type nav_msgs::Odometry
l_img	left stereo image message of type sensor_msgs::Image
r_img	right stereo image message of type sensor_msgs::Image
l_info	left stereo info message of type sensor_msgs::CameraInfo
r_info	right stereo info message of type sensor_msgs::CameraInfo
pointcloud