rgbdslam_v2
rgbdslam (v2) is a SLAM solution for RGB-D cameras. It provides the current pose of the camera and allows to
create a registered point cloud or an octomap.
It features a GUI interface for easy usage, but can also be controlled by ROS service calls, e.g., when running on a robot.
For installation and usage instructions see the README file of the github repository.
RGBD-SLAM Implements a SLAM-Frontend based on structure from motion using visual features to identify keypoints in the RGBD image of a kinect. It makes use of the g2o SLAM backend to compute a globally consistent trajectory from the individual transformations provided by the frontend.
codeapi
The main classes are the following:
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Node - Holds the data for a graph node, e.g., the extracted features and their position in the image plane and the local 3D coordinate systems. It provides functionality to find the transformation to another node and for publishing the associated pointcloud.
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GraphManager - Decides for each Node, which edges are included in the graph. Stores all Nodes with valid edges and optimizes the camera pose graph globally (or locally) with g2o as SLAM backend. Provides functionality to send (ROS-Msgs) or save (to PCD File) the globally consistent whole model.
The following classes are mainly for communication with ROS and the user:
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OpenNIListener - Subscribes to the openni topics, constructs a node for each image-pointcloud pair and hands it to the graph manager. Online visualization results are sent out.
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Graphical_UI - Constructs a QT GUI for easy control of the program
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RosUi - a UI for controlling the program via ROS service calls
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QtROS - Sets up a thread for ROS event processing, to seperate SLAM-computations from the GUI
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GLViewer - OpenGL based display of the 3d model