#include <stereo_handler.h>

Inheritance diagram for cslam::StereoHandler:

Public Member Functions
	StereoHandler (std::shared_ptr< rclcpp::Node > &node)
	Initialization of parameters and ROS 2 objects. More...

	~StereoHandler ()

void	stereo_callback (const sensor_msgs::msg::Image::ConstSharedPtr image_rect_left, const sensor_msgs::msg::Image::ConstSharedPtr image_rect_right, const sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info_left, const sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info_right, const nav_msgs::msg::Odometry::ConstSharedPtr odom)
	Callback receiving sync data from camera. More...

virtual void	local_descriptors_msg_to_sensor_data (const std::shared_ptr< cslam_common_interfaces::msg::LocalImageDescriptors > msg, rtabmap::SensorData &sensor_data)
	converts descriptors to sensore data More...

virtual void	send_visualization (const std::pair< std::shared_ptr< rtabmap::SensorData >, std::shared_ptr< const nav_msgs::msg::Odometry >> &keypoints_data)
	Send keypoints for visualizations. More...

Public Member Functions inherited from cslam::RGBDHandler
	RGBDHandler (std::shared_ptr< rclcpp::Node > &node)
	Initialization of parameters and ROS 2 objects. More...

	~RGBDHandler ()

virtual void	process_new_sensor_data ()
	Processes Latest received image. More...

void	local_descriptors_request (cslam_common_interfaces::msg::LocalDescriptorsRequest::ConstSharedPtr request)
	Service callback to publish local descriptors. More...

void	receive_local_keyframe_match (cslam_common_interfaces::msg::LocalKeyframeMatch::ConstSharedPtr msg)
	Receives a local match and tries to compute a local loop closure. More...

void	receive_local_image_descriptors (const std::shared_ptr< cslam_common_interfaces::msg::LocalImageDescriptors > msg)
	Message callback to receive descriptors and compute. More...

void	compute_local_descriptors (std::shared_ptr< rtabmap::SensorData > &frame_data)
	Computes local 3D descriptors from frame data and store them. More...

void	sensor_data_to_rgbd_msg (const std::shared_ptr< rtabmap::SensorData > sensor_data, rtabmap_msgs::msg::RGBDImage &msg_data)
	converts sensor data to descriptor msg More...

bool	generate_new_keyframe (std::shared_ptr< rtabmap::SensorData > &keyframe)
	Generate a new keyframe according to the policy. More...

void	send_keyframe (const std::pair< std::shared_ptr< rtabmap::SensorData >, std::shared_ptr< const nav_msgs::msg::Odometry >> &keypoints_data)
	Function to send the image to the python node. More...

void	send_keyframe (const std::pair< std::shared_ptr< rtabmap::SensorData >, std::shared_ptr< const nav_msgs::msg::Odometry >> &keypoints_data, const sensor_msgs::msg::NavSatFix &gps_data)
	Function to send the image to the python node. More...

void	send_visualization_keypoints (const std::pair< std::shared_ptr< rtabmap::SensorData >, std::shared_ptr< const nav_msgs::msg::Odometry >> &keypoints_data)
	Send keypoints for visualizations. More...

void	send_visualization_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data)
	Send colored pointcloud for visualizations. More...

void	rgbd_callback (const sensor_msgs::msg::Image::ConstSharedPtr image_rect_rgb, const sensor_msgs::msg::Image::ConstSharedPtr image_rect_depth, const sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info_rgb, const nav_msgs::msg::Odometry::ConstSharedPtr odom)
	Callback receiving sync data from camera. More...

void	clear_sensor_data (std::shared_ptr< rtabmap::SensorData > &sensor_data)
	Clear images and large data fields in sensor data. More...

void	gps_callback (const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg)
	GPS data callback. More...

sensor_msgs::msg::PointCloud2	visualization_pointcloud_voxel_subsampling (const sensor_msgs::msg::PointCloud2 &input_cloud)
	Subsample pointcloud to reduce size for visualization. More...

Public Member Functions inherited from cslam::ISensorHandler
virtual	~ISensorHandler ()
	Virtual destructor. More...

Additional Inherited Members
Protected Attributes inherited from cslam::RGBDHandler
std::deque< std::pair< std::shared_ptr< rtabmap::SensorData >, nav_msgs::msg::Odometry::ConstSharedPtr > >	received_data_queue_

std::shared_ptr< rtabmap::SensorData >	previous_keyframe_

std::map< int, std::shared_ptr< rtabmap::SensorData > >	local_descriptors_map_

std::shared_ptr< rclcpp::Node >	node_

unsigned int	min_inliers_

unsigned int	max_nb_robots_

unsigned int	robot_id_

unsigned int	max_queue_size_

unsigned int	nb_local_keyframes_

message_filters::Subscriber< nav_msgs::msg::Odometry >	sub_odometry_

rclcpp::Subscription< cslam_common_interfaces::msg::LocalDescriptorsRequest >::SharedPtr	send_local_descriptors_subscriber_

rclcpp::Publisher< cslam_common_interfaces::msg::LocalImageDescriptors >::SharedPtr	local_descriptors_publisher_

rclcpp::Publisher< cslam_common_interfaces::msg::LocalImageDescriptors >::SharedPtr	visualization_local_descriptors_publisher_

rclcpp::Publisher< cslam_common_interfaces::msg::KeyframeRGB >::SharedPtr	keyframe_data_publisher_

rclcpp::Publisher< cslam_common_interfaces::msg::KeyframeOdom >::SharedPtr	keyframe_odom_publisher_

rclcpp::Publisher< cslam_common_interfaces::msg::VizPointCloud >::SharedPtr	keyframe_pointcloud_publisher_

rclcpp::Subscription< cslam_common_interfaces::msg::LocalKeyframeMatch >::SharedPtr	local_keyframe_match_subscriber_

rclcpp::Subscription< cslam_common_interfaces::msg::LocalImageDescriptors >::SharedPtr	local_descriptors_subscriber_

rtabmap::RegistrationVis	registration_

rclcpp::Publisher< cslam_common_interfaces::msg::InterRobotLoopClosure >::SharedPtr	inter_robot_loop_closure_publisher_

rclcpp::Publisher< cslam_common_interfaces::msg::IntraRobotLoopClosure >::SharedPtr	intra_robot_loop_closure_publisher_

rclcpp::Publisher< diagnostic_msgs::msg::KeyValue >::SharedPtr	log_publisher_

unsigned int	log_total_local_descriptors_cumulative_communication_

bool	enable_logs_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

std::string	base_frame_id_

float	keyframe_generation_ratio_threshold_

bool	generate_new_keyframes_based_on_inliers_ratio_

unsigned int	visualization_period_ms_

bool	enable_visualization_

float	visualization_voxel_size_

float	visualization_max_range_

bool	enable_gps_recording_

std::string	gps_topic_

rclcpp::Subscription< sensor_msgs::msg::NavSatFix >::SharedPtr	gps_subscriber_

sensor_msgs::msg::NavSatFix	latest_gps_fix_

std::deque< sensor_msgs::msg::NavSatFix >	received_gps_queue_

Detailed Description

Definition at line 9 of file stereo_handler.h.

Constructor & Destructor Documentation

◆ StereoHandler()

StereoHandler::StereoHandler ( std::shared_ptr< rclcpp::Node > & node )

Initialization of parameters and ROS 2 objects.

Parameters

node	ROS 2 node handle

Definition at line 7 of file stereo_handler.cpp.

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◆ ~StereoHandler()

cslam::StereoHandler::~StereoHandler ( )

inline

Definition at line 18 of file stereo_handler.h.

Member Function Documentation

◆ local_descriptors_msg_to_sensor_data()

void StereoHandler::local_descriptors_msg_to_sensor_data	(	const std::shared_ptr< cslam_common_interfaces::msg::LocalImageDescriptors >	msg,
		rtabmap::SensorData &	sensor_data
	)

virtual

converts descriptors to sensore data

Parameters

msg	local descriptors

Returns: rtabmap::SensorData&

Reimplemented from cslam::RGBDHandler.

Definition at line 251 of file stereo_handler.cpp.

◆ send_visualization()

void StereoHandler::send_visualization ( const std::pair< std::shared_ptr< rtabmap::SensorData >, std::shared_ptr< const nav_msgs::msg::Odometry >> & keypoints_data )

virtual

Send keypoints for visualizations.

Parameters

keypoints_data keyframe keypoints data

Reimplemented from cslam::RGBDHandler.

Definition at line 273 of file stereo_handler.cpp.

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◆ stereo_callback()

void StereoHandler::stereo_callback	(	const sensor_msgs::msg::Image::ConstSharedPtr	image_rect_left,
		const sensor_msgs::msg::Image::ConstSharedPtr	image_rect_right,
		const sensor_msgs::msg::CameraInfo::ConstSharedPtr	camera_info_left,
		const sensor_msgs::msg::CameraInfo::ConstSharedPtr	camera_info_right,
		const nav_msgs::msg::Odometry::ConstSharedPtr	odom
	)

Callback receiving sync data from camera.

Parameters

image_rect_left
image_rect_right
camera_info_left
camera_info_right
odom

Definition at line 48 of file stereo_handler.cpp.

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

/home/lajoiepy/Documents/phd/projects/C-SLAM/Swarm-SLAM/src/cslam/include/cslam/front_end/stereo_handler.h
/home/lajoiepy/Documents/phd/projects/C-SLAM/Swarm-SLAM/src/cslam/src/front_end/stereo_handler.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StereoHandler()

◆ ~StereoHandler()

Member Function Documentation

◆ local_descriptors_msg_to_sensor_data()

◆ send_visualization()

◆ stereo_callback()