#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"
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 >()) |
| 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] |
| 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.
| pcl::PointCloud<DepthPoint>::Ptr depthPointsStacked | ( | new pcl::PointCloud< DepthPoint > | () | ) |
| 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.
| void transformAssociateToBA | ( | ) |
Definition at line 59 of file bundleAdjust.cpp.
Variable Documentation
| pcl::PointCloud<DepthPoint>::Ptr depthPoints[keyframeNum] |
Definition at line 26 of file bundleAdjust.cpp.
| double depthPointsTime |
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.