Functions | Variables
bundleAdjust.cpp File Reference
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include "isam/isam.h"
#include "isam/slam_depthmono.h"
#include "isam/robust.h"
#include "cameraParameters.h"
#include "pointDefinition.h"
Include dependency graph for bundleAdjust.cpp:

Go to the source code of this file.

Functions

void depthPointsHandler (const sensor_msgs::PointCloud2ConstPtr &depthPoints2)
pcl::PointCloud< DepthPoint >::Ptr depthPointsStacked (new pcl::PointCloud< DepthPoint >())
int main (int argc, char **argv)
double robust_cost_function (double d)
void transformAssociateToBA ()

Variables

pcl::PointCloud< DepthPoint >::Ptr depthPoints [keyframeNum]
double depthPointsTime
const int keyframeNum = 5
bool newKeyframe = false
const double PI = 3.1415926
float pitchRec
float rollRec
float transformAftBA [6] = {0}
float transformBefBA [6] = {0}
float txRec
float tyRec
float tzRec
float yawRec

Function Documentation

void depthPointsHandler ( const sensor_msgs::PointCloud2ConstPtr &  depthPoints2)

Definition at line 81 of file bundleAdjust.cpp.

pcl::PointCloud<DepthPoint>::Ptr depthPointsStacked ( new pcl::PointCloud< DepthPoint >  ())
int main ( int  argc,
char **  argv 
)

Definition at line 116 of file bundleAdjust.cpp.

double robust_cost_function ( double  d)

Definition at line 38 of file bundleAdjust.cpp.

Definition at line 42 of file bundleAdjust.cpp.


Variable Documentation

Definition at line 26 of file bundleAdjust.cpp.

Definition at line 29 of file bundleAdjust.cpp.

const int keyframeNum = 5

Definition at line 25 of file bundleAdjust.cpp.

bool newKeyframe = false

Definition at line 30 of file bundleAdjust.cpp.

const double PI = 3.1415926

Definition at line 23 of file bundleAdjust.cpp.

float pitchRec

Definition at line 32 of file bundleAdjust.cpp.

float rollRec

Definition at line 32 of file bundleAdjust.cpp.

float transformAftBA[6] = {0}

Definition at line 36 of file bundleAdjust.cpp.

float transformBefBA[6] = {0}

Definition at line 35 of file bundleAdjust.cpp.

float txRec

Definition at line 33 of file bundleAdjust.cpp.

float tyRec

Definition at line 33 of file bundleAdjust.cpp.

float tzRec

Definition at line 33 of file bundleAdjust.cpp.

float yawRec

Definition at line 32 of file bundleAdjust.cpp.



demo_lidar
Author(s): Ji Zhang
autogenerated on Fri Jan 3 2014 11:17:40