okvis::Subscriber Class Reference

This class handles all the buffering of incoming data. More...

#include <Subscriber.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~Subscriber ()
	Subscriber (ros::NodeHandle &nh, okvis::VioInterface *vioInterfacePtr, const okvis::VioParametersReader &param_reader)
	Constructor. This will either subscribe to the relevant ROS topics or start up the sensor and register the callbacks directly there. More...
void	setNodeHandle (ros::NodeHandle &nh)
	Set the node handle. This sets up the callbacks. This is called in the constructor. More...

Protected Member Functions
ROS callbacks
void	imageCallback (const sensor_msgs::ImageConstPtr &msg, unsigned int cameraIndex)
	The image callback. More...
void	depthImageCallback (const sensor_msgs::ImageConstPtr &, unsigned int)
	The depth image callback. More...
void	imuCallback (const sensor_msgs::ImuConstPtr &msg)
	The IMU callback. More...
Direct (no ROS) callbacks and other sensor related methods.
void	initialiseDriverCallbacks ()
	Initialise callbacks. Called in constructor. More...
void	startSensors (const std::vector< unsigned int > &camRate, const unsigned int imuRate)
	Start up sensor. More...
void	directImuCallback (boost::shared_ptr< visensor::ViImuMsg > imu_ptr, visensor::ViErrorCode error)
	The IMU callback. More...
void	directFrameCallback (visensor::ViFrame::Ptr frame_ptr, visensor::ViErrorCode error)
	The image callback. More...
void	directFrameCornerCallback (visensor::ViFrame::Ptr frame_ptr, visensor::ViCorner::Ptr corners_ptr)
	The callback for images including detected corners. More...
void	configCallback (okvis_ros::CameraConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

Protected Attributes
std::shared_ptr < visensor::ViSensorDriver >	sensor_
	The sensor API. More...
dynamic_reconfigure::Server < okvis_ros::CameraConfig >	cameraConfigReconfigureService_
	dynamic reconfigure service. More...
okvis::VioInterface *	vioInterface_
	The VioInterface. (E.g. ThreadedKFVio) More...
okvis::VioParameters	vioParameters_
	The parameters and settings. More...
Node and subscriber related
ros::NodeHandle *	nh_
	The node handle. More...
image_transport::ImageTransport *	imgTransport_
	The image transporter. More...
std::vector < image_transport::Subscriber >	imageSubscribers_
	The image message subscriber. More...
ros::Subscriber	subImu_
	The IMU message subscriber. More...

Detailed Description

This class handles all the buffering of incoming data.

Constructor & Destructor Documentation

okvis::Subscriber::~Subscriber

(

)

okvis::Subscriber::Subscriber	(	ros::NodeHandle &	nh,
		okvis::VioInterface *	vioInterfacePtr,
		const okvis::VioParametersReader &	param_reader
	)

Constructor. This will either subscribe to the relevant ROS topics or start up the sensor and register the callbacks directly there.

Parameters

nh	The ROS node handle.
vioInterfacePtr	Pointer to the VioInterface.
param_reader	Parameter reader.

Member Function Documentation

void okvis::Subscriber::configCallback ( okvis_ros::CameraConfig &  config, uint32_t  level  )

protected

Dynamic reconfigure callback.

void okvis::Subscriber::depthImageCallback ( const sensor_msgs::ImageConstPtr &  , unsigned  int  )

inlineprotected

The depth image callback.

Warning

Not implemented.

void okvis::Subscriber::directFrameCallback ( visensor::ViFrame::Ptr  frame_ptr, visensor::ViErrorCode  error  )

protected

The image callback.

void okvis::Subscriber::directFrameCornerCallback ( visensor::ViFrame::Ptr  frame_ptr, visensor::ViCorner::Ptr  corners_ptr  )

protected

The callback for images including detected corners.

Warning

Not implemented.

void okvis::Subscriber::directImuCallback ( boost::shared_ptr< visensor::ViImuMsg >  imu_ptr, visensor::ViErrorCode  error  )

protected

The IMU callback.

void okvis::Subscriber::imageCallback ( const sensor_msgs::ImageConstPtr &  msg, unsigned int  cameraIndex  )

protected

The image callback.

void okvis::Subscriber::imuCallback ( const sensor_msgs::ImuConstPtr &  msg )

protected

The IMU callback.

void okvis::Subscriber::initialiseDriverCallbacks ( )

protected

Initialise callbacks. Called in constructor.

void okvis::Subscriber::setNodeHandle

(

ros::NodeHandle &

nh

)

Set the node handle. This sets up the callbacks. This is called in the constructor.

void okvis::Subscriber::startSensors ( const std::vector< unsigned int > &  camRate, const unsigned int  imuRate  )

protected

Start up sensor.

Warning

Call initialiseDriverCallbacks() first to initialise sensor API.

Member Data Documentation

dynamic_reconfigure::Server<okvis_ros::CameraConfig> okvis::Subscriber::cameraConfigReconfigureService_

protected

dynamic reconfigure service.

std::vector<image_transport::Subscriber> okvis::Subscriber::imageSubscribers_

protected

The image message subscriber.

image_transport::ImageTransport* okvis::Subscriber::imgTransport_

protected

The image transporter.

ros::NodeHandle* okvis::Subscriber::nh_

protected

The node handle.

std::shared_ptr<visensor::ViSensorDriver> okvis::Subscriber::sensor_

protected

The sensor API.

ros::Subscriber okvis::Subscriber::subImu_

protected

The IMU message subscriber.

okvis::VioInterface* okvis::Subscriber::vioInterface_

protected

The VioInterface. (E.g. ThreadedKFVio)

okvis::VioParameters okvis::Subscriber::vioParameters_

protected

The parameters and settings.

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

• include/okvis/Subscriber.hpp
• src/Subscriber.cpp