The class that interfaces visual odometry with ROS.
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List of all members.
Public Member Functions |
| | VORosInterface (ros::NodeHandle &_nhandle, ros::NodeHandle &_nhandle_priv, shared_ptr< VOType > _vo) |
Protected Types |
typedef VisualOdometryTT
< NodeBuilderTT, PoseGraphT > | VOType |
| | Object type satisfiying VisualOdometry interface.
|
Protected Member Functions |
| void | chatterCallback (const sensor_msgs::ImageConstPtr &it_image) |
| | Callback for panorama image messages (1600x800). Invokes the VO processPose which all the work.
|
| void | confirmResolutionOrExit (const cv::Mat &image) |
| | call ros::shutdown() iff resolution of input images is not acceptable.
|
| int | seqFromTimestamp (ros::Time t) |
| | Produces integer identifier for given timestamp.
|
Protected Attributes |
| image_transport::ImageTransport | it |
| tf::TransformListener | listener |
| | Not used.
|
| ros::NodeHandle & | nhandle |
| ros::NodeHandle & | nhandle_priv |
| ros::Publisher | odometry_pub |
| image_transport::Subscriber | sub |
| shared_ptr< VOType > | vo |
Detailed Description
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
class vslam::VORosInterface< VisualOdometryTT, NodeBuilderTT, PoseGraphT >
The class that interfaces visual odometry with ROS.
- Template Parameters:
-
| VisualOdometryTT | Class template where the class filfills VisualOdometry inteface. |
| NodeBuilderTT | Type satisfying OneDetectorNodeBuilder interface. |
| PoseGraphT | boost::adjacency_list type. |
Definition at line 88 of file pe.cpp.
Member Typedef Documentation
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
typedef VisualOdometryTT<NodeBuilderTT, PoseGraphT> vslam::VORosInterface< VisualOdometryTT, NodeBuilderTT, PoseGraphT >::VOType [protected] |
Constructor & Destructor Documentation
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
- Parameters:
-
| _vo | instantiated class of type which fullfills VisualOdometry interface. |
the following code may be usefel in the future:
ros::Time now = ros::Time::now();
listener.waitForTransform("/base_footprint", "/omnicam", now, ros::Duration(3.0));
Definition at line 106 of file pe.cpp.
Member Function Documentation
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
call ros::shutdown() iff resolution of input images is not acceptable.
Definition at line 136 of file pe.cpp.
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
Produces integer identifier for given timestamp.
Definition at line 127 of file pe.cpp.
Member Data Documentation
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
image_transport::ImageTransport vslam::VORosInterface< VisualOdometryTT, NodeBuilderTT, PoseGraphT >::it [protected] |
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
Not used.
Definition at line 99 of file pe.cpp.
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
template<template< template< class > class, class > class VisualOdometryTT, template< class > class NodeBuilderTT, class PoseGraphT>
The documentation for this class was generated from the following file:
