Visual odometry based on the Visual-Inertial Sensor. More...

#include <ros/ros.h>
#include <opencv2/opencv.hpp>
#include <tf/tf.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <tf/transform_broadcaster.h>
#include <cv_bridge/cv_bridge.h>
#include <dynamic_reconfigure/server.h>
#include <viodom/stereodomConfig.h>
#include "imufilter.hpp"
#include "robustmatcher.hpp"

Include dependency graph for stereodom.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	Stereodom
	Estimates 6DOF pose from stereo image pairs and IMU data. More...
Functions
bool	score_comparator (const cv::KeyPoint &p1, const cv::KeyPoint &p2)
	Keypoint comparison auxiliar function to sort the sets of keypoints according to their score.

Detailed Description

Visual odometry based on the Visual-Inertial Sensor.

Author:: Fernando Caballero, fcaballero@us.es; Francisco J Perez-Grau, fjperez@catec.aero

Date:: October 2016

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file stereodom.hpp.

Function Documentation

bool score_comparator	(	const cv::KeyPoint &	p1,
		const cv::KeyPoint &	p2
	)

Keypoint comparison auxiliar function to sort the sets of keypoints according to their score.

Parameters:

p1	The first keypoint
p2	The second keypoint

Returns:: Boolean true if p1 > p2

Definition at line 69 of file stereodom.hpp.

Classes

Functions

Detailed Description

Function Documentation