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refactor

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This commit is contained in:
Christian Forster
2014-04-30 22:25:54 +02:00
parent 15c45f58e6
commit 465f04d1e3
1 changed files with 9 additions and 15 deletions
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svo_ros/src/vo_node.cpp
+9 -15
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@@ -37,9 +37,6 @@
namespace svo { namespace svo {
using namespace std;
using namespace vk;
/// SVO Interface /// SVO Interface
class VoNode class VoNode
{ {
@@ -50,7 +47,7 @@ public:
bool publish_dense_input_; bool publish_dense_input_;
vk::UserInputThread* user_input_thread_; vk::UserInputThread* user_input_thread_;
ros::Subscriber sub_remote_key_; ros::Subscriber sub_remote_key_;
string remote_input_; std::string remote_input_;
vk::AbstractCamera* cam_; vk::AbstractCamera* cam_;
bool quit_; bool quit_;
VoNode(); VoNode();
@@ -60,8 +57,7 @@ public:
void remoteKeyCb(const std_msgs::StringConstPtr& key_input); void remoteKeyCb(const std_msgs::StringConstPtr& key_input);
}; };
VoNode:: VoNode::VoNode() :
VoNode() :
vo_(NULL), vo_(NULL),
publish_markers_(vk::getParam<bool>("svo/publish_markers", true)), publish_markers_(vk::getParam<bool>("svo/publish_markers", true)),
publish_dense_input_(vk::getParam<bool>("svo/publish_dense_input", false)), publish_dense_input_(vk::getParam<bool>("svo/publish_dense_input", false)),
@@ -88,16 +84,14 @@ VoNode() :
vo_->start(); vo_->start();
} }
VoNode:: VoNode::~VoNode()
~VoNode()
{ {
delete vo_; delete vo_;
delete user_input_thread_; delete user_input_thread_;
delete cam_; delete cam_;
} }
void VoNode:: void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
imgCb(const sensor_msgs::ImageConstPtr& msg)
{ {
cv::Mat img; cv::Mat img;
try { try {
@@ -116,7 +110,7 @@ imgCb(const sensor_msgs::ImageConstPtr& msg)
visualizer_.exportToDense(vo_->lastFrame()); visualizer_.exportToDense(vo_->lastFrame());
if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED) if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
usleep(100000); // avoid busy loop when paused usleep(100000);
} }
void VoNode::processUserActions() void VoNode::processUserActions()
@@ -132,15 +126,15 @@ void VoNode::processUserActions()
{ {
case 'q': case 'q':
quit_ = true; quit_ = true;
printf("Svo User Input: QUIT\n"); printf("SVO user input: QUIT\n");
break; break;
case 'r': case 'r':
vo_->reset(); vo_->reset();
printf("Svo User Input: RESET\n"); printf("SVO user input: RESET\n");
break; break;
case 's': case 's':
vo_->start(); vo_->start();
printf("Svo User Input: START\n"); printf("SVO user input: START\n");
break; break;
default: ; default: ;
} }
@@ -175,6 +169,6 @@ int main(int argc, char **argv)
// TODO check when last image was processed. when too long ago. publish warning that no msgs are received! // TODO check when last image was processed. when too long ago. publish warning that no msgs are received!
} }
printf("Svo terminated.\n"); printf("SVO terminated.\n");
return 0; return 0;
} }