rtabmap_viz::GuiWrapper Class Reference

#include <GuiWrapper.h>

Inheritance diagram for rtabmap_viz::GuiWrapper:

Public Member Functions
	GuiWrapper (int &argc, char **argv)
virtual	~GuiWrapper ()
Public Member Functions inherited from UEventsHandler
void	registerToEventsManager ()
void	unregisterFromEventsManager ()
Public Member Functions inherited from UEventsSender
	UEventsSender ()
virtual	~UEventsSender ()
Public Member Functions inherited from rtabmap_sync::CommonDataSubscriber
	CommonDataSubscriber (bool gui)
int	getSyncQueueSize () const
int	getTopicQueueSize () const
bool	isApproxSync () const
bool	isDataSubscribed () const
bool	isSubscribedToDepth () const
bool	isSubscribedToOdom () const
bool	isSubscribedToOdomInfo () const
bool	isSubscribedToRGB () const
bool	isSubscribedToRGBD () const
bool	isSubscribedToScan2d () const
bool	isSubscribedToScan3d () const
bool	isSubscribedToSensorData () const
bool	isSubscribedToStereo () const
const std::string &	name () const
int	rgbdCameras () const
virtual	~CommonDataSubscriber ()

Protected Member Functions
virtual bool	handleEvent (UEvent *anEvent)
Protected Member Functions inherited from UEventsHandler
	UEventsHandler ()
virtual	~UEventsHandler ()
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const
Protected Member Functions inherited from rtabmap_sync::CommonDataSubscriber
void	commonSingleCameraCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::CameraInfo &depthCameraInfoMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_msgs::GlobalDescriptor >(), const std::vector< rtabmap_msgs::KeyPoint > &localKeyPoints=std::vector< rtabmap_msgs::KeyPoint >(), const std::vector< rtabmap_msgs::Point3f > &localPoints3d=std::vector< rtabmap_msgs::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())
void	setupCallbacks (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name, std::vector< diagnostic_updater::DiagnosticTask * > otherTasks=std::vector< diagnostic_updater::DiagnosticTask * >())
void	tick (const ros::Time &stamp, double targetFrequency=0)

Private Types
typedef message_filters::sync_policies::ExactTime< rtabmap_msgs::Goal, nav_msgs::Path >	MyGoalPathSyncPolicy
typedef message_filters::sync_policies::ExactTime< rtabmap_msgs::Info, rtabmap_msgs::MapData >	MyInfoMapSyncPolicy

Private Member Functions
virtual void	commonLaserScanCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const rtabmap_msgs::GlobalDescriptor &globalDescriptor=rtabmap_msgs::GlobalDescriptor())
virtual void	commonMultiCameraCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const std::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_msgs::GlobalDescriptor >(), const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &localKeyPoints=std::vector< std::vector< rtabmap_msgs::KeyPoint > >(), const std::vector< std::vector< rtabmap_msgs::Point3f > > &localPoints3d=std::vector< std::vector< rtabmap_msgs::Point3f > >(), const std::vector< cv::Mat > &localDescriptors=std::vector< cv::Mat >())
virtual void	commonOdomCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg)
virtual void	commonSensorDataCallback (const rtabmap_msgs::SensorDataConstPtr &sensorDataMsg, const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg)
virtual void	commonStereoCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfo &leftCamInfoMsg, const sensor_msgs::CameraInfo &rightCamInfoMsg, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_msgs::GlobalDescriptor >(), const std::vector< rtabmap_msgs::KeyPoint > &localKeyPoints=std::vector< rtabmap_msgs::KeyPoint >(), const std::vector< rtabmap_msgs::Point3f > &localPoints3d=std::vector< rtabmap_msgs::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())
void	defaultCallback (const nav_msgs::OdometryConstPtr &odomMsg)
void	goalPathCallback (const rtabmap_msgs::GoalConstPtr &goalMsg, const nav_msgs::PathConstPtr &pathMsg)
void	goalReachedCallback (const std_msgs::BoolConstPtr &value)
void	infoCallback (const rtabmap_msgs::InfoConstPtr &infoMsg)
void	infoMapCallback (const rtabmap_msgs::InfoConstPtr &infoMsg, const rtabmap_msgs::MapDataConstPtr &mapMsg)
void	processRequestedMap (const rtabmap_msgs::MapData &map)

Private Attributes
std::string	cameraNodeName_
std::string	frameId_
message_filters::Synchronizer< MyGoalPathSyncPolicy > *	goalPathSync_
ros::Subscriber	goalReachedTopic_
message_filters::Subscriber< rtabmap_msgs::Goal >	goalTopic_
message_filters::Synchronizer< MyInfoMapSyncPolicy > *	infoMapSync_
ros::Subscriber	infoOnlyTopic_
message_filters::Subscriber< rtabmap_msgs::Info >	infoTopic_
double	lastOdomInfoUpdateTime_
rtabmap::MainWindow *	mainWindow_
message_filters::Subscriber< rtabmap_msgs::MapData >	mapDataTopic_
double	maxOdomUpdateRate_
std::string	odomFrameId_
bool	odomSensorSync_
message_filters::Subscriber< nav_msgs::Path >	pathTopic_
rtabmap::PreferencesDialog *	prefDialog_
ros::Publisher	republishNodeDataPub_
std::string	rtabmapNodeName_
tf::TransformListener	tfListener_
bool	waitForTransform_
double	waitForTransformDuration_

Additional Inherited Members
Protected Attributes inherited from rtabmap_sync::CommonDataSubscriber
std::string	subscribedTopicsMsg_
int	syncQueueSize_
int	topicQueueSize_

Detailed Description

Definition at line 57 of file GuiWrapper.h.

Member Typedef Documentation

MyGoalPathSyncPolicy

typedef message_filters::sync_policies::ExactTime< rtabmap_msgs::Goal, nav_msgs::Path> rtabmap_viz::GuiWrapper::MyGoalPathSyncPolicy

private

Definition at line 155 of file GuiWrapper.h.

MyInfoMapSyncPolicy

typedef message_filters::sync_policies::ExactTime< rtabmap_msgs::Info, rtabmap_msgs::MapData> rtabmap_viz::GuiWrapper::MyInfoMapSyncPolicy

private

Definition at line 150 of file GuiWrapper.h.

Constructor & Destructor Documentation

GuiWrapper()

rtabmap_viz::GuiWrapper::GuiWrapper	(	int &	argc,
		char **	argv
	)

Definition at line 67 of file GuiWrapper.cpp.

~GuiWrapper()

rtabmap_viz::GuiWrapper::~GuiWrapper ( )

virtual

Definition at line 190 of file GuiWrapper.cpp.

Member Function Documentation

commonLaserScanCallback()

void rtabmap_viz::GuiWrapper::commonLaserScanCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_msgs::UserDataConstPtr &  userDataMsg, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &  odomInfoMsg, const rtabmap_msgs::GlobalDescriptor &  globalDescriptor = rtabmap_msgs::GlobalDescriptor()  )

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 871 of file GuiWrapper.cpp.

commonMultiCameraCallback()

void rtabmap_viz::GuiWrapper::commonMultiCameraCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_msgs::UserDataConstPtr &  userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &  imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &  depthMsgs, const std::vector< sensor_msgs::CameraInfo > &  cameraInfoMsgs, const std::vector< sensor_msgs::CameraInfo > &  depthCameraInfoMsgs, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &  odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &  globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(), const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &  localKeyPoints = std::vector<std::vector<rtabmap_msgs::KeyPoint> >(), const std::vector< std::vector< rtabmap_msgs::Point3f > > &  localPoints3d = std::vector<std::vector<rtabmap_msgs::Point3f> >(), const std::vector< cv::Mat > &  localDescriptors = std::vector<cv::Mat>()  )

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 488 of file GuiWrapper.cpp.

commonOdomCallback()

void rtabmap_viz::GuiWrapper::commonOdomCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_msgs::UserDataConstPtr &  userDataMsg, const rtabmap_msgs::OdomInfoConstPtr &  odomInfoMsg  )

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 1018 of file GuiWrapper.cpp.

commonSensorDataCallback()

void rtabmap_viz::GuiWrapper::commonSensorDataCallback ( const rtabmap_msgs::SensorDataConstPtr &  sensorDataMsg, const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_msgs::OdomInfoConstPtr &  odomInfoMsg  )

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 1090 of file GuiWrapper.cpp.

commonStereoCallback()

void rtabmap_viz::GuiWrapper::commonStereoCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_msgs::UserDataConstPtr &  userDataMsg, const cv_bridge::CvImageConstPtr &  leftImageMsg, const cv_bridge::CvImageConstPtr &  rightImageMsg, const sensor_msgs::CameraInfo &  leftCamInfoMsg, const sensor_msgs::CameraInfo &  rightCamInfoMsg, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &  odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &  globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(), const std::vector< rtabmap_msgs::KeyPoint > &  localKeyPoints = std::vector<rtabmap_msgs::KeyPoint>(), const std::vector< rtabmap_msgs::Point3f > &  localPoints3d = std::vector<rtabmap_msgs::Point3f>(), const cv::Mat &  localDescriptors = cv::Mat()  )

privatevirtual

Definition at line 691 of file GuiWrapper.cpp.

defaultCallback()

void rtabmap_viz::GuiWrapper::defaultCallback ( const nav_msgs::OdometryConstPtr &  odomMsg )

private

goalPathCallback()

void rtabmap_viz::GuiWrapper::goalPathCallback ( const rtabmap_msgs::GoalConstPtr &  goalMsg, const nav_msgs::PathConstPtr &  pathMsg  )

private

Definition at line 261 of file GuiWrapper.cpp.

goalReachedCallback()

void rtabmap_viz::GuiWrapper::goalReachedCallback ( const std_msgs::BoolConstPtr &  value )

private

Definition at line 275 of file GuiWrapper.cpp.

handleEvent()

bool rtabmap_viz::GuiWrapper::handleEvent ( UEvent *  anEvent )

protectedvirtual

Implements UEventsHandler.

Definition at line 302 of file GuiWrapper.cpp.

infoCallback()

void rtabmap_viz::GuiWrapper::infoCallback ( const rtabmap_msgs::InfoConstPtr &  infoMsg )

private

Definition at line 229 of file GuiWrapper.cpp.

infoMapCallback()

void rtabmap_viz::GuiWrapper::infoMapCallback ( const rtabmap_msgs::InfoConstPtr &  infoMsg, const rtabmap_msgs::MapDataConstPtr &  mapMsg  )

private

Definition at line 198 of file GuiWrapper.cpp.

processRequestedMap()

void rtabmap_viz::GuiWrapper::processRequestedMap ( const rtabmap_msgs::MapData &  map )

private

Definition at line 281 of file GuiWrapper.cpp.

Member Data Documentation

cameraNodeName_

std::string rtabmap_viz::GuiWrapper::cameraNodeName_

private

Definition at line 125 of file GuiWrapper.h.

frameId_

std::string rtabmap_viz::GuiWrapper::frameId_

private

Definition at line 130 of file GuiWrapper.h.

goalPathSync_

message_filters::Synchronizer<MyGoalPathSyncPolicy>* rtabmap_viz::GuiWrapper::goalPathSync_

private

Definition at line 156 of file GuiWrapper.h.

goalReachedTopic_

ros::Subscriber rtabmap_viz::GuiWrapper::goalReachedTopic_

private

Definition at line 146 of file GuiWrapper.h.

goalTopic_

message_filters::Subscriber<rtabmap_msgs::Goal> rtabmap_viz::GuiWrapper::goalTopic_

private

Definition at line 144 of file GuiWrapper.h.

infoMapSync_

message_filters::Synchronizer<MyInfoMapSyncPolicy>* rtabmap_viz::GuiWrapper::infoMapSync_

private

Definition at line 151 of file GuiWrapper.h.

infoOnlyTopic_

ros::Subscriber rtabmap_viz::GuiWrapper::infoOnlyTopic_

private

Definition at line 142 of file GuiWrapper.h.

infoTopic_

message_filters::Subscriber<rtabmap_msgs::Info> rtabmap_viz::GuiWrapper::infoTopic_

private

Definition at line 140 of file GuiWrapper.h.

lastOdomInfoUpdateTime_

double rtabmap_viz::GuiWrapper::lastOdomInfoUpdateTime_

private

Definition at line 126 of file GuiWrapper.h.

mainWindow_

rtabmap::MainWindow* rtabmap_viz::GuiWrapper::mainWindow_

private

Definition at line 124 of file GuiWrapper.h.

mapDataTopic_

message_filters::Subscriber<rtabmap_msgs::MapData> rtabmap_viz::GuiWrapper::mapDataTopic_

private

Definition at line 141 of file GuiWrapper.h.

maxOdomUpdateRate_

double rtabmap_viz::GuiWrapper::maxOdomUpdateRate_

private

Definition at line 135 of file GuiWrapper.h.

odomFrameId_

std::string rtabmap_viz::GuiWrapper::odomFrameId_

private

Definition at line 131 of file GuiWrapper.h.

odomSensorSync_

bool rtabmap_viz::GuiWrapper::odomSensorSync_

private

Definition at line 134 of file GuiWrapper.h.

pathTopic_

message_filters::Subscriber<nav_msgs::Path> rtabmap_viz::GuiWrapper::pathTopic_

private

Definition at line 145 of file GuiWrapper.h.

prefDialog_

rtabmap::PreferencesDialog* rtabmap_viz::GuiWrapper::prefDialog_

private

Definition at line 123 of file GuiWrapper.h.

republishNodeDataPub_

ros::Publisher rtabmap_viz::GuiWrapper::republishNodeDataPub_

private

Definition at line 138 of file GuiWrapper.h.

rtabmapNodeName_

std::string rtabmap_viz::GuiWrapper::rtabmapNodeName_

private

Definition at line 127 of file GuiWrapper.h.

tfListener_

tf::TransformListener rtabmap_viz::GuiWrapper::tfListener_

private

Definition at line 136 of file GuiWrapper.h.

waitForTransform_

bool rtabmap_viz::GuiWrapper::waitForTransform_

private

Definition at line 132 of file GuiWrapper.h.

waitForTransformDuration_

double rtabmap_viz::GuiWrapper::waitForTransformDuration_

private

Definition at line 133 of file GuiWrapper.h.

---

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

• GuiWrapper.h
• GuiWrapper.cpp