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)
void diffRotation (double cx, double cy, double cz, double lx, double ly, double lz, double &ox, double &oy, double &oz)
int main (int argc, char **argv)
void transformAssociateToBA ()

Variables

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

Function Documentation

void depthPointsHandler ( const sensor_msgs::PointCloud2ConstPtr &  depthPoints2)

Definition at line 150 of file bundleAdjust.cpp.

void diffRotation ( double  cx,
double  cy,
double  cz,
double  lx,
double  ly,
double  lz,
double &  ox,
double &  oy,
double &  oz 
)

Definition at line 38 of file bundleAdjust.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 185 of file bundleAdjust.cpp.

Definition at line 59 of file bundleAdjust.cpp.


Variable Documentation

Definition at line 26 of file bundleAdjust.cpp.

pcl::PointCloud<DepthPoint>::Ptr depthPointsStacked(new pcl::PointCloud< DepthPoint >())

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.

double pitchRec

Definition at line 32 of file bundleAdjust.cpp.

double rollRec

Definition at line 32 of file bundleAdjust.cpp.

double transformAftBA[6] = {0}

Definition at line 36 of file bundleAdjust.cpp.

double transformBefBA[6] = {0}

Definition at line 35 of file bundleAdjust.cpp.

double txRec

Definition at line 33 of file bundleAdjust.cpp.

double tyRec

Definition at line 33 of file bundleAdjust.cpp.

double tzRec

Definition at line 33 of file bundleAdjust.cpp.

double yawRec

Definition at line 32 of file bundleAdjust.cpp.



demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Oct 5 2014 23:22:43