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cluster.h
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slam::LoopClosing
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readParameters
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check_file_len
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rm_ax
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slam
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slam::Publisher
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slam_evaluation.py
/tmp/catkin_workspace/src/stereo_slam/scripts/
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apply_tf_to_matrix
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apply_tf_to_vector
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calc_dist
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calc_dist_xyz
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calc_time_vector
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quaternion_from_rpy
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rebase
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sigmoid
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to_transform
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toRSTtable
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trajectory_distances
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angles
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draw_edges
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onclick
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real_time_plot
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rm_ax
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(int id, int frame_id, tf::Transform camera_pose, vector< cv::KeyPoint > kp_l, vector< cv::KeyPoint > kp_r, cv::Mat orb_desc, cv::Mat sift_desc, vector< cv::Point3f > points)
tf::Transform
getCameraPose
classslam_1_1Cluster.html
a7b00131c893cb0624d1bcf84e6082c4b
() const
int
getFrameId
classslam_1_1Cluster.html
ae88842e385b84789f410731f1bacec9b
() const
int
getId
classslam_1_1Cluster.html
a6012880cb5e5553b78e074335b03b484
() const
vector< cv::KeyPoint >
getLeftKp
classslam_1_1Cluster.html
a43189628136da947ccde70379584797d
() const
cv::Mat
getOrb
classslam_1_1Cluster.html
ac7759b79c18c9ba4b2e6df97867fe9e5
() const
vector< cv::Point3f >
getPoints
classslam_1_1Cluster.html
ae05aac04ccb5e46cf9e718e29e879f0e
() const
vector< cv::KeyPoint >
getRightKp
classslam_1_1Cluster.html
ab343acc74df81dc2da7453bc691d0913
() const
cv::Mat
getSift
classslam_1_1Cluster.html
ae4be31cd176cfa1d4c2736a64074e8bb
() const
vector< cv::Point3f >
getWorldPoints
classslam_1_1Cluster.html
a940fc1aa47137ccff27001343ad297e3
()
tf::Transform
camera_pose_
classslam_1_1Cluster.html
a8dd272e6324e3ed156703c125d84356d
int
frame_id_
classslam_1_1Cluster.html
a5e3e502e5650704db96522b83d3eeed3
int
id_
classslam_1_1Cluster.html
ae854341a71c1e241241ada415942611b
vector< cv::KeyPoint >
kp_l_
classslam_1_1Cluster.html
aa30159d5168cf776b3afe8eb1b3bd45f
vector< cv::KeyPoint >
kp_r_
classslam_1_1Cluster.html
afcd99fc54d640b39a1c9b39e31d4d9c9
cv::Mat
orb_desc_
classslam_1_1Cluster.html
adb75659aaba0a342c421a2a7babb0668
vector< cv::Point3f >
points_
classslam_1_1Cluster.html
afd50c9411d63ead0ba958d0044e3bb88
cv::Mat
sift_desc_
classslam_1_1Cluster.html
aad0bbd90b3cfc8e85a040f07397ef844
slam::Frame
classslam_1_1Frame.html
cv::Mat
computeSift
classslam_1_1Frame.html
a9d78e7749bf526081e56381271f74a4e
()
Frame
classslam_1_1Frame.html
acff77e72cb34ab7f3dab938ec374550f
()
Frame
classslam_1_1Frame.html
ad418a7ae7f93497b1eeb84b3fa83915c
(cv::Mat l_img, cv::Mat r_img, image_geometry::StereoCameraModel camera_model, double timestamp)
vector< cv::Point3f >
getCameraPoints
classslam_1_1Frame.html
a4831e68e7d2f34b78e4ba9d90d26e96c
() const
tf::Transform
getCameraPose
classslam_1_1Frame.html
a96df4777c813e92c1700b86afa077a83
() const
vector< Eigen::Vector4f >
getClusterCentroids
classslam_1_1Frame.html
a2750b81a26827d80cd37e729059dfab0
() const
vector< vector< int > >
getClusters
classslam_1_1Frame.html
aee0e6e402d87f39ee3c2be96ed8c1283
() const
int
getId
classslam_1_1Frame.html
a0dccfd865bab6404854104ad2a1cc1b2
() const
int
getInliersNumWithPreviousFrame
classslam_1_1Frame.html
a0fd0252cfc23a318e6a04f7adcaa3b1b
() const
cv::Mat
getLeftDesc
classslam_1_1Frame.html
a6c5e116203b80b99a0c7a0cc741cc747
() const
cv::Mat
getLeftImg
classslam_1_1Frame.html
ab2531524a4b2cfca62f03c3771e0ac71
() const
vector< cv::KeyPoint >
getLeftKp
classslam_1_1Frame.html
a39599f35c11f693b5993752dfaff3cdd
() const
PointCloudRGB::Ptr
getPointCloud
classslam_1_1Frame.html
a3d70e145f0fb184fb1d618dfedb0d4da
() const
cv::Mat
getRightImg
classslam_1_1Frame.html
a7e42ad6b8bfe7a60bf57e1d6f9813e62
() const
vector< cv::KeyPoint >
getRightKp
classslam_1_1Frame.html
abd059a1f220df13af423502e61f2f51f
() const
double
getTimestamp
classslam_1_1Frame.html
a101975e6181ff065513d2d809ce96163
() const
void
regionClustering
classslam_1_1Frame.html
a867585d84762e34d50a22f70eb0169bf
()
void
setCameraPoints
classslam_1_1Frame.html
aec9445f38553f6e5a1b64448da94103f
(const vector< cv::Point3f > &points_3d)
void
setCameraPose
classslam_1_1Frame.html
a70b096c612ac4fa2d2749b219a8fab25
(const tf::Transform &camera_pose)
void
setId
classslam_1_1Frame.html
a44aae479809fe167680d1b0123d37880
(const int &id)
void
setInliersNumWithPreviousFrame
classslam_1_1Frame.html
a763b5a50c1d0a89b60c9c7b489c13a4f
(const int &num_inliers)
void
setLeftDesc
classslam_1_1Frame.html
a972fd66de9f33793e2d933baa66d387b
(const cv::Mat &l_desc)
void
setLeftKp
classslam_1_1Frame.html
a7c50aefadb1066c1372cf0157fc85b57
(const vector< cv::KeyPoint > &l_kp)
void
setPointCloud
classslam_1_1Frame.html
a4e9240d9a1c2aca853a7387c1419e04c
(const PointCloudRGB::Ptr pointcloud)
vector< int >
regionQuery
classslam_1_1Frame.html
a5cafe1ad2fcf30aa522d986d68992b20
(vector< cv::KeyPoint > *keypoints, cv::KeyPoint *keypoint, float eps)
vector< cv::Point3f >
camera_points_
classslam_1_1Frame.html
a0aff1a028a7984b459cbb400455fd9b2
tf::Transform
camera_pose_
classslam_1_1Frame.html
a565e354b9617f7cb81085058edc0b122
vector< Eigen::Vector4f >
cluster_centroids_
classslam_1_1Frame.html
a2fffe836e070483cb0d0a4f4b3c502e1
vector< vector< int > >
clusters_
classslam_1_1Frame.html
aefb3c9a4e7d8983391a3283c98560880
int
id_
classslam_1_1Frame.html
a58d9b80237b6ed74a60ee94f80ded67a
ros::Publisher
kp_pub_
classslam_1_1Frame.html
aae9ddf54dd60d7c97afa6128642168cd
cv::Mat
l_desc_
classslam_1_1Frame.html
afee2c47677abc9d027645683cda368a7
cv::Mat
l_img_
classslam_1_1Frame.html
aaf8e13956444de517143c167ecea0209
vector< cv::KeyPoint >
l_kp_
classslam_1_1Frame.html
a941cf14d2babfff79e413c44942b5382
int
num_inliers_with_prev_frame_
classslam_1_1Frame.html
a0b79f7627b631bbbb1e0fec39bc2390a
PointCloudRGB::Ptr
pointcloud_
classslam_1_1Frame.html
a8e8d531d48b2dc3d74bedd5f998267dc
cv::Mat
r_desc_
classslam_1_1Frame.html
ab7e04bf31e847cff1b8625c96523117e
cv::Mat
r_img_
classslam_1_1Frame.html
adb1593c006d1d960ce265110199029a1
vector< cv::KeyPoint >
r_kp_
classslam_1_1Frame.html
a3f6c9c4e74fae77dc20c70f8dab20747
double
stamp_
classslam_1_1Frame.html
ade6149389f8c8c886cd4d6e265806746
slam::Graph
classslam_1_1Graph.html
void
addEdge
classslam_1_1Graph.html
a2375bc50a571c963a947828233afb4e2
(int i, int j, tf::Transform edge, int sigma)
void
addFrameToQueue
classslam_1_1Graph.html
a405bede3dea741e17c9b2b130c6eb893
(Frame frame)
void
findClosestVertices
classslam_1_1Graph.html
a47e7d42e6646574c0ccb1019ed8cb9bf
(int vertex_id, int window_center, int window, int best_n, vector< int > &neighbors)
cv::Mat
getCameraMatrix
classslam_1_1Graph.html
a545784ef09fb8a6b4d28f23516d1cae8
() const
image_geometry::PinholeCameraModel
getCameraModel
classslam_1_1Graph.html
a750d8706484115ab277c5b1dc7327d17
() const
int
getFrameNum
classslam_1_1Graph.html
a4997496ab41b6323dc46b623acff11fc
() const
bool
getFramePose
classslam_1_1Graph.html
a38fca6596344acc77098c8affb82f253
(int frame_id, tf::Transform &frame_pose)
void
getFrameVertices
classslam_1_1Graph.html
a68952662bbfe827b737f01d5e1aa3566
(int frame_id, vector< int > &vertices)
int
getLastVertexFrameId
classslam_1_1Graph.html
a7dd6ed314761dd5a81860da09e74184f
()
tf::Transform
getVertexCameraPose
classslam_1_1Graph.html
ad31e669806148ceaf77376049c151ae6
(int id, bool lock=true)
int
getVertexFrameId
classslam_1_1Graph.html
a23eecc2eb967b6b9bbd4f86aa4e0f02d
(int id)
tf::Transform
getVertexPose
classslam_1_1Graph.html
a0ecce025c4fb2ebc01e51e96a446f5e3
(int vertex_id, bool lock=true)
tf::Transform
getVertexPoseRelativeToCamera
classslam_1_1Graph.html
a42f814444dd3ed2749cdf59b05033756
(int id)
Graph
classslam_1_1Graph.html
ab6e74262f267f3952f6ee70476d3f03e
(LoopClosing *loop_closing)
void
init
classslam_1_1Graph.html
a69617d65295659b7e4a2590ce5125479
()
void
run
classslam_1_1Graph.html
add5027e4242b4e1f680dc2c331c39e06
()
void
saveGraph
classslam_1_1Graph.html
a30d1f9b33045df194f379551e351f720
()
void
setCamera2Odom
classslam_1_1Graph.html
a033eee4f8ea1fc7badc3babfc020b3b5
(const tf::Transform &camera2odom)
void
setCameraMatrix
classslam_1_1Graph.html
a58b06b7cca3baf4b8583488cb07f6a66
(const cv::Mat &camera_matrix)
void
setCameraModel
classslam_1_1Graph.html
a7ca55c35ed9068ca34f1df641d441c70
(const image_geometry::PinholeCameraModel &camera_model)
void
update
classslam_1_1Graph.html
ac427bae62459244570ac89217b20f338
()
int
addVertex
classslam_1_1Graph.html
a20adea95a3b579613519679f2a5c87d3
(tf::Transform pose)
bool
checkNewFrameInQueue
classslam_1_1Graph.html
a5a1b94b3e1e68e9721b22d3d087e25b2
()
tf::Transform
correctClusterPose
classslam_1_1Graph.html
a4a8cb63519a6ca93854452fa7ece6613
(tf::Transform initial_pose)
vector< vector< int > >
createComb
classslam_1_1Graph.html
add8ee40d3033c239e6906c93a4df92bd
(vector< int > cluster_ids)
void
processNewFrame
classslam_1_1Graph.html
a1a4e2b514de923d7dc565f4693807304
()
void
publishCameraPose
classslam_1_1Graph.html
aee1a8eff2f5338e272d81e279339da9a
(tf::Transform camera_pose)
void
publishGraph
classslam_1_1Graph.html
a88b07a4a9f22c7f071c4226c577f0941
()
void
saveFrame
classslam_1_1Graph.html
a875301b76816f01cb774cc910a0ab234
(Frame frame, bool draw_clusters=false)
tf::Transform
camera2odom_
classslam_1_1Graph.html
aee691a7904c504e329f6be03675521e6
cv::Mat
camera_matrix_
classslam_1_1Graph.html
a6f5b30915cbbf18224112f62b3c64a23
image_geometry::PinholeCameraModel
camera_model_
classslam_1_1Graph.html
ac827ae691a9d75c4b19044eb0fb208f5
vector< pair< int, int > >
cluster_frame_relation_
classslam_1_1Graph.html
a725484da5dc944a885597e4eb3522b66
int
frame_id_
classslam_1_1Graph.html
ab2327f3c755897b62d8d9a3cd4f6c7b6
list< Frame >
frame_queue_
classslam_1_1Graph.html
aa51fc7b5bb3a1c60ed35626a4bb56af0
vector< double >
frame_stamps_
classslam_1_1Graph.html
a6304886de708b234faac9e5c30a34e99
g2o::SparseOptimizer
graph_optimizer_
classslam_1_1Graph.html
a715b4bf9d847306ea647f49c601c5e64
ros::Publisher
graph_pub_
classslam_1_1Graph.html
ab6443ceea3e804939943ba58bf0a24ae
vector< tf::Transform >
initial_cluster_pose_history_
classslam_1_1Graph.html
ac2f2605b2371856118356c245f603521
vector< tf::Transform >
local_cluster_poses_
classslam_1_1Graph.html
aa5c0377b345f16809fb2c1bc24370198
LoopClosing *
loop_closing_
classslam_1_1Graph.html
aab7af9416ca6d259de28e1750e20bdf3
mutex
mutex_frame_queue_
classslam_1_1Graph.html
abf9702bdd74e0c84ef57fd8f4d093e12
mutex
mutex_graph_
classslam_1_1Graph.html
aa660d3f552b425841b7e38e653a349cc
ros::Publisher
pose_pub_
classslam_1_1Graph.html
a86e788880268f7977dd9d465ffc8ff77
slam::LoopClosing
classslam_1_1LoopClosing.html
void
addClusterToQueue
classslam_1_1LoopClosing.html
aebc0f970971645a0fc609d14adc198db
(Cluster cluster)
void
finalize
classslam_1_1LoopClosing.html
a7a5a85ea433464dbd04f8167b3dc10d4
()
LoopClosing
classslam_1_1LoopClosing.html
a2dcc7d0ed0fd1236b6a2582c23182618
()
void
run
classslam_1_1LoopClosing.html
a978853b26d839f8dc6a0afaa31b3806a
()
void
setGraph
classslam_1_1LoopClosing.html
aebfdd632100a61daa33dbde48f88a53d
(Graph *graph)
bool
checkNewClusterInQueue
classslam_1_1LoopClosing.html
aadbbb105bf0c8033169e0cb29c92eb54
()
bool
closeLoopWithCluster
classslam_1_1LoopClosing.html
a0b805590417ce1542f7ecbd014cdee9c
(Cluster candidate)
void
drawLoopClosure
classslam_1_1LoopClosing.html
a8993b4efb534c1c9da00eb5d81556964
(vector< int > cand_kfs, vector< int > cand_matchings, vector< int > inliers, vector< int > definitive_inliers_per_pair, vector< vector< int > > definitive_cluster_pairs, vector< cv::Point2f > matched_query_kp_l, vector< cv::Point2f > matched_cand_kp_l)
void
getCandidates
classslam_1_1LoopClosing.html
a35b76dc3162ea47dc7b7ead6907b31ae
(int cluster_id, vector< pair< int, float > > &candidates)
void
processNewCluster
classslam_1_1LoopClosing.html
a325f3d9c2cf0375c8b292e45a456b595
()
Cluster
readCluster
classslam_1_1LoopClosing.html
a4669f1bc30650977f14e42daa9eadf48
(int id)
void
searchByHash
classslam_1_1LoopClosing.html
adc4ddff2245bd1f12942590da4ecba67
()
void
searchByProximity
classslam_1_1LoopClosing.html
aeb5619fa53c473f8699642a2b408230b
()
Cluster
c_cluster_
classslam_1_1LoopClosing.html
a5626da541a2122b46164ed8cf6fe8d66
image_geometry::PinholeCameraModel
camera_model_
classslam_1_1LoopClosing.html
aff9720e9b3dd66e75f0aef2a5966eb56
vector< pair< int, int > >
cluster_lc_found_
classslam_1_1LoopClosing.html
ae5fea6dbd3fc7b02b614fa83044c2751
list< Cluster >
cluster_queue_
classslam_1_1LoopClosing.html
a3e24b9ddd96f00efd37dbbdba5bbc6f8
string
execution_dir_
classslam_1_1LoopClosing.html
a2a49556615e37cdf96dec6bcc85bb98b
Graph *
graph_
classslam_1_1LoopClosing.html
a22dcf2c55921f65bb4fde607bcf257c1
haloc::Hash
hash_
classslam_1_1LoopClosing.html
a30439a18e0c3b8494a6809ba8909bbc7
vector< pair< int, vector< float > > >
hash_table_
classslam_1_1LoopClosing.html
aacddd4b716952bef019d70e7afd5bb86
string
loop_closures_dir_
classslam_1_1LoopClosing.html
ae256991d3e47a8f8d2ad7ed317e04156
mutex
mutex_cluster_queue_
classslam_1_1LoopClosing.html
ac8eaa35ed48af90e2f6c360afc70fd63
int
num_loop_closures_
classslam_1_1LoopClosing.html
a283214d31bbd11e2886914f01dd40c9b
ros::Publisher
pub_lc_matchings_
classslam_1_1LoopClosing.html
ac0d0e1ec8fe222b9731dec67873313af
ros::Publisher
pub_num_keyframes_
classslam_1_1LoopClosing.html
acc80dd0b59486abcf16822849e52f1c6
ros::Publisher
pub_num_lc_
classslam_1_1LoopClosing.html
a460ac85535d4e510470091ddc045efef
ros::Publisher
pub_queue_
classslam_1_1LoopClosing.html
ab071deb5999dd89942a418850270ea6f
slam::Publisher
classslam_1_1Publisher.html
void
publishClustering
classslam_1_1Publisher.html
a88557452ed82dd37e86f21e2a1481018
(const Frame frame)
Publisher
classslam_1_1Publisher.html
a0129044efeca21ce1ebf871430576c3c
()
void
drawKeypointsClustering
classslam_1_1Publisher.html
abe5b89d03bf43113e8c43e5a40717a3e
(const Frame frame)
ros::Publisher
pub_clustering_
classslam_1_1Publisher.html
ac8937f1c7e1a9396a5b78c2162055511
slam::Tracking
classslam_1_1Tracking.html
slam::Tracking::Params
trackingState
classslam_1_1Tracking.html
a52e6febc8f2f71583e9281953b8778f4
NOT_INITIALIZED
classslam_1_1Tracking.html
a52e6febc8f2f71583e9281953b8778f4a519a38a3c12e797613f159eb40163bbc
INITIALIZING
classslam_1_1Tracking.html
a52e6febc8f2f71583e9281953b8778f4a8c18651f34ed8138e991367eb00086b4
WORKING
classslam_1_1Tracking.html
a52e6febc8f2f71583e9281953b8778f4ab67fd2d63869536e563af88508e0892e
LOST
classslam_1_1Tracking.html
a52e6febc8f2f71583e9281953b8778f4abf465269854baa08271f712acbd834c1
Frame
getCurrentFrame
classslam_1_1Tracking.html
a04d7b4f6946eede9dae9f10b9b82eaad
() const
Params
getParams
classslam_1_1Tracking.html
a5c22a315d4a382d37c225038dd90aae1
() const
void
run
classslam_1_1Tracking.html
a4c54a2e8794bb33b80f1a506a28aacf1
()
void
setParams
classslam_1_1Tracking.html
ab5a77d8eb50aedf81f891ed163a417fe
(const Params ¶ms)
Tracking
classslam_1_1Tracking.html
a86b74a759ba9126451bcc71a553ec160
(Publisher *f_pub, Graph *graph)
bool
addFrameToMap
classslam_1_1Tracking.html
a7420b1feb740c7857aa0d870b53d0ac8
(double range)
PointCloudRGB::Ptr
filterCloud
classslam_1_1Tracking.html
a06428a083c529553cf4374a71757fa83
(PointCloudRGB::Ptr in_cloud)
bool
getOdom2CameraTf
classslam_1_1Tracking.html
a73c3f2cbe662221ef029484d58727496
(nav_msgs::Odometry odom_msg, sensor_msgs::Image img_msg, tf::StampedTransform &transform)
void
msgsCallback
classslam_1_1Tracking.html
a3a10cc3ad1aae6810558bfe645b4ee7e
(const nav_msgs::Odometry::ConstPtr &odom_msg, const sensor_msgs::Range::ConstPtr &range_msg, const sensor_msgs::ImageConstPtr &l_img_msg, const sensor_msgs::ImageConstPtr &r_img_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
bool
needNewKeyFrame
classslam_1_1Tracking.html
a89d0c29a3eb57d174c6acfc13346874c
(double range)
void
publishOverlap
classslam_1_1Tracking.html
a1ba97c9e6ae83ca9689bd758164cfda5
(PointCloudXYZ::Ptr cloud, tf::Transform movement, float overlap)
bool
refinePose
classslam_1_1Tracking.html
aaa511d3709113f00e92e5a1a7fd4d1f3
(Frame c_frame, Frame p_frame, tf::Transform &out, int &num_inliers)
message_filters::Synchronizer< SyncPolicy >
Sync
classslam_1_1Tracking.html
a8dd33af28825762aabf37aedd639dbce
message_filters::sync_policies::ApproximateTime< nav_msgs::Odometry, sensor_msgs::Range, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >
SyncPolicy
classslam_1_1Tracking.html
ab4f5be56afec8b4ff2038eb88a2bbbf0
Frame
c_frame_
classslam_1_1Tracking.html
a541195db1c4ffadf1bc33570ce715c0a
cv::Mat
camera_matrix_
classslam_1_1Tracking.html
a504d6dd1c8b002d765bc9d22acfc6977
image_geometry::StereoCameraModel
camera_model_
classslam_1_1Tracking.html
a0b5b03deeb16df3d98d3755e8416f7b2
Publisher *
f_pub_
classslam_1_1Tracking.html
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int
frame_id_
classslam_1_1Tracking.html
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Graph *
graph_
classslam_1_1Tracking.html
a33a7d73b8bccfb42e05502ffec07a3e6
bool
jump_detected_
classslam_1_1Tracking.html
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ros::WallTime
jump_time_
classslam_1_1Tracking.html
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int
kf_id_
classslam_1_1Tracking.html
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tf::Transform
last_fixed_frame_pose_
classslam_1_1Tracking.html
aa39d968805bda554349b450a01330721
Eigen::Vector4f
last_max_pt_
classslam_1_1Tracking.html
accfaf37f94fdf55086e699463026afc0
Eigen::Vector4f
last_min_pt_
classslam_1_1Tracking.html
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tf::StampedTransform
odom2camera_
classslam_1_1Tracking.html
a6763bb37383061c2249b7a22b24b5db6
vector< tf::Transform >
odom_pose_history_
classslam_1_1Tracking.html
a0826c54ed21e9248720fb031be016cc1
ros::Publisher
overlapping_pub_
classslam_1_1Tracking.html
aa3a028010347eb799f3f2a0db078c98e
Frame
p_frame_
classslam_1_1Tracking.html
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Params
params_
classslam_1_1Tracking.html
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ros::Publisher
pc_pub_
classslam_1_1Tracking.html
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ros::Publisher
pose_pub_
classslam_1_1Tracking.html
a7524da30b28fdaa7ce58a7fa208d133a
tf::Transform
prev_robot_pose_
classslam_1_1Tracking.html
acc8bb14c23c30194820f1676d93ca606
double
secs_to_filter_
classslam_1_1Tracking.html
af6a526c3ab5de74f1b940d2cf0042e95
trackingState
state_
classslam_1_1Tracking.html
a31799557ce5c2fbc2989885733880ef4
tf::TransformBroadcaster
tf_broadcaster_
classslam_1_1Tracking.html
ac3c22bc24b66dded5c9756f8ced201f2
tf::TransformListener
tf_listener_
classslam_1_1Tracking.html
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slam::Tracking::Params
structslam_1_1Tracking_1_1Params.html
Params
structslam_1_1Tracking_1_1Params.html
a330846db891dbcc1ad5e490351e2f70e
()
string
camera_topic
structslam_1_1Tracking_1_1Params.html
aac6d1300889f32d20ec35b7094917a17
double
max_range
structslam_1_1Tracking_1_1Params.html
a352ff0b4aa86488c90dccf080daf7ca4
double
min_range
structslam_1_1Tracking_1_1Params.html
a3e080d2317ea6f10de9f50e8154da021
string
odom_topic
structslam_1_1Tracking_1_1Params.html
ad43fc92dde6ebf6e92d3dd5a76a90e34
string
range_topic
structslam_1_1Tracking_1_1Params.html
a21329c2de428b90b9db0e591f0e46abb
bool
refine
structslam_1_1Tracking_1_1Params.html
ab820a3e78ff9deb22b5024b713f156d2
slam_evaluation
namespaceslam__evaluation.html
slam_evaluation::Error
def
apply_tf_to_matrix
namespaceslam__evaluation.html
af3670644322466e78de644d53ba23e74
def
apply_tf_to_vector
namespaceslam__evaluation.html
a883c1e47790ddcbe2aeef79a900955e5
def
calc_dist
namespaceslam__evaluation.html
a045b3f688a8cdca911d621193740ef9a
def
calc_dist_xyz
namespaceslam__evaluation.html
a06c14ea33a50bbeef62650d8bc26fe68
def
calc_errors
namespaceslam__evaluation.html
a7e6e49f7414b4770db0de8ade14aa783
def
calc_time_vector
namespaceslam__evaluation.html
a53411067ad5e31af2a701998cb83ab91
def
quaternion_from_rpy
namespaceslam__evaluation.html
a4eff336c2372bd519e711b7dbe15fd00
def
rebase
namespaceslam__evaluation.html
a86206bfaa332efa93e5219108ae3d4cf
def
sigmoid
namespaceslam__evaluation.html
a705a3069359b4486d37b67242be46f69
def
to_transform
namespaceslam__evaluation.html
acacef560ea9af053d5dc24831a256966
def
toRSTtable
namespaceslam__evaluation.html
aa6dbdfe3870d5c66f36e80d9839fd5f6
def
trajectory_distances
namespaceslam__evaluation.html
ae2dd0e446dfc14ac61764798176333b9
list
angles
namespaceslam__evaluation.html
aeffc169989734e7ab4b937d03fd470f4
tuple
args
namespaceslam__evaluation.html
a7be379743d029d002997dde4207f8a35
tuple
ax0
namespaceslam__evaluation.html
a355c3258d3a0499ce9c1ff8df393a4aa
tuple
ax1
namespaceslam__evaluation.html
ac697d91516f3fff374d662f15955cebc
tuple
ax2
namespaceslam__evaluation.html
aba5f8320731e6126d98f5072b973d0cc
tuple
ax3
namespaceslam__evaluation.html
ad7dbbab9b8ca2e44feb01c994cdd5cc4
tuple
ax4
namespaceslam__evaluation.html
a73a92b99c6f5e8549b903559d6de4ba7
tuple
ax5
namespaceslam__evaluation.html
a3bde5e0e1ecb624039853f3429bea3dd
list
colors
namespaceslam__evaluation.html
a77b21f212d8c92401daf9770af99720e
tuple
edges
namespaceslam__evaluation.html
ab3412e2d291e76fb7639f424b1e3543d
tuple
f
namespaceslam__evaluation.html
ab4388eb14255e0f4f3e40b7bf033e0c5
tuple
fig0
namespaceslam__evaluation.html
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tuple
fig1
namespaceslam__evaluation.html
a29132876224618f3b712da387ae3ef04
tuple
fig2
namespaceslam__evaluation.html
abbb8d17b53030171d267607a6facb3ac
tuple
fig3
namespaceslam__evaluation.html
a8d041508363dac51026433ea3073cbbe
tuple
fig4
namespaceslam__evaluation.html
a0cd66e4e361e5d284cd2d5ee4edca1c3
tuple
fig5
namespaceslam__evaluation.html
a3ece1dbc842a50014c7e262cdd0c6ee4
tuple
first_gt_coincidence
namespaceslam__evaluation.html
a27d49d86ee880f6d911bbe5b4ebda837
tuple
first_vertice
namespaceslam__evaluation.html
a5c6ed1a292bf2f64642c450cd9226287
dictionary
font
namespaceslam__evaluation.html
a18da251ca5617c47959a3b322dbe8fcd
tuple
gt
namespaceslam__evaluation.html
aab70ed958b795e1be5730c0332c70059
tuple
gt_corrected
namespaceslam__evaluation.html
adb5e1a0eef9ed513b743e96a6308dd14
tuple
gt_dist
namespaceslam__evaluation.html
a5e6593a19340501a22058215b2d2aead
tuple
gt_moved
namespaceslam__evaluation.html
aefbdd9ac840b714a445030bd1b8f76c9
tuple
gt_rb_corrected
namespaceslam__evaluation.html
aaf41576e46133d78380fca3214bb78f6
tuple
gt_rb_moved
namespaceslam__evaluation.html
a4e86d3b1af15e2b95fbdb7d132c6f345
tuple
gt_rebased
namespaceslam__evaluation.html
a326102a52d6b75dad9113aa426628be0
list
header
namespaceslam__evaluation.html
a16fa7ce13f9c010c70e9edae55311c35
string
help
namespaceslam__evaluation.html
a1e7a4a878183a4e12b547eda0498abbc
tuple
lines
namespaceslam__evaluation.html
a8fa39667ba9b9728508e6a4428b5643f
float
linewidth
namespaceslam__evaluation.html
a477ab474a99ee6576ae2f62fb1bed500
tuple
odom
namespaceslam__evaluation.html
ac01265783fd7e63dd40940c02f3d47ca
tuple
odom_corrected
namespaceslam__evaluation.html
a48935f9106f3c997c15303e4c9dea57c
tuple
odom_dist
namespaceslam__evaluation.html
a4b94edfec9ac89574aa3330a1e16f6bc
tuple
odom_errors
namespaceslam__evaluation.html
a4df7f769bb8aab1a8c91905f1804565d
tuple
odom_mae
namespaceslam__evaluation.html
abd5ab2425c1a67025f6a6cc98e3ce409
tuple
odom_moved
namespaceslam__evaluation.html
a412ecc76964b0213a4605b4a04d8e6f3
tuple
odom_rb_corrected
namespaceslam__evaluation.html
a0bfa1cf0827de1a6d794ab32c2517a87
tuple
odom_rb_moved
namespaceslam__evaluation.html
a322510640f4113f948dd7f83fb5316ed
tuple
odom_rebased
namespaceslam__evaluation.html
a5d4c6459c26eb4948cc3593a8aa74d23
tuple
orb
namespaceslam__evaluation.html
a10a8ddcb657d11b8dcb31382718613cc
tuple
orb_corrected
namespaceslam__evaluation.html
ac57d4bdbf6e06bf55936a3fa41b591e8
tuple
orb_dist
namespaceslam__evaluation.html
a6777e7e627517c0882d5d48f89ffec7f
tuple
orb_errors
namespaceslam__evaluation.html
a9f4d7c48702dff1c3f710362c6c59b77
tuple
orb_mae
namespaceslam__evaluation.html
a9c55b2040a49b58030a865a88f5973a3
tuple
orb_moved
namespaceslam__evaluation.html
ab9efcad61859fb369a7c2112d0022004
tuple
orb_rb_corrected
namespaceslam__evaluation.html
ab98802395fe06a5b875d6c3f00b43b09
tuple
orb_rb_moved
namespaceslam__evaluation.html
a37dddcd102b588b03e776f7f3e40b322
tuple
orb_rebased
namespaceslam__evaluation.html
a57e38fac5ecd146b94893eb8196907a7
tuple
p
namespaceslam__evaluation.html
a2e0264920aebcf510453ac34cdbfc67b
tuple
Param
namespaceslam__evaluation.html
a5704782c1408257969b7e20cad50471e
tuple
parser
namespaceslam__evaluation.html
a9bfedf7c416e3d6aa3e5089f70c7272d
tuple
q
namespaceslam__evaluation.html
a710551626ed6d7e4d1a5b5081d93bfea
list
rows
namespaceslam__evaluation.html
a01fbe6f477c81a6b9c83dacee6ac43fc
tuple
rranges
namespaceslam__evaluation.html
a36f2f819f3184d2950fced91acd8938f
list
size
namespaceslam__evaluation.html
abc08f3107856a290c2efc44fa0a2e6ac
tuple
tf_correction
namespaceslam__evaluation.html
abc1d631afe0f0a6f819724273d76f21b
tuple
tf_delta
namespaceslam__evaluation.html
aa327eeab29698aef5b33dac3591ae0b1
tuple
time
namespaceslam__evaluation.html
a221bd2c6903808f0091a5142b199ed4e
list
vect
namespaceslam__evaluation.html
aa9cbda5b31bc71835dd07e1b5f776a81
tuple
vertices
namespaceslam__evaluation.html
aeed253e16c4790d3f6c2e4f9ecb80d98
tuple
vertices_dist
namespaceslam__evaluation.html
ad9a9fc0262bbcd8f720205a09fdd9889
tuple
vertices_errors
namespaceslam__evaluation.html
a0637e95ccb0dc2b89fdd28885f57c853
tuple
vertices_mae
namespaceslam__evaluation.html
a97ee45cbc44b0b742b7eb5a7c67b467f
slam_evaluation::Error
classslam__evaluation_1_1Error.html
tools
namespacetools.html
tools::Tools
tools::Tools
classtools_1_1Tools.html
pcl::PointXYZRGB
Point
classtools_1_1Tools.html
aec9388aebfdce373c25be161d8ebad0e
pcl::PointCloud< Point >
PointCloud
classtools_1_1Tools.html
a9ef17f787b66614e9c34f04ee1a847a8
static tf::Transform
buildTransformation
classtools_1_1Tools.html
aeb8bde9beb5457740183d3514f240526
(cv::Mat rvec, cv::Mat tvec)
static string
convertTo5digits
classtools_1_1Tools.html
a51c3789a7cc2c59c6a2a104770d951ac
(int in)
static void
getCameraModel
classtools_1_1Tools.html
aeb0ecdbcd23067d9006d2780c88d7b78
(sensor_msgs::CameraInfo l_info_msg, sensor_msgs::CameraInfo r_info_msg, image_geometry::StereoCameraModel &stereo_camera_model, cv::Mat &camera_matrix)
static tf::Transform
getVertexPose
classtools_1_1Tools.html
a0ffebfa9ebe59ef1dc928f622966a51c
(g2o::VertexSE3 *v)
static bool
imgMsgToMat
classtools_1_1Tools.html
a762be9ae37e79ee89493cc4a607b2678
(sensor_msgs::Image l_img_msg, sensor_msgs::Image r_img_msg, cv::Mat &l_img, cv::Mat &r_img)
static tf::Transform
isometryToTf
classtools_1_1Tools.html
a1487fb714564c785ec72df3baa99bce4
(Eigen::Isometry3d in)
static tf::Transform
odomTotf
classtools_1_1Tools.html
a21c332a3e55b229f3c9d231d1e8179d2
(nav_msgs::Odometry odom_msg)
static double
poseDiff2D
classtools_1_1Tools.html
a55f107db5b8304e0201afaad8ab30bf2
(tf::Transform pose_1, tf::Transform pose_2)
static double
poseDiff3D
classtools_1_1Tools.html
a13c3518c6a90bcb7ac8f7b2e7d5a6b62
(tf::Transform pose_1, tf::Transform pose_2)
static void
ratioMatching
classtools_1_1Tools.html
a66083929f265df7c8735c89456ea51e0
(cv::Mat desc_1, cv::Mat desc_2, double ratio, vector< cv::DMatch > &matches)
static bool
sortByDistance
classtools_1_1Tools.html
a5e40f47bede9522ab5fdab754de345f9
(const pair< int, double > d1, const pair< int, double > d2)
static bool
sortByMatching
classtools_1_1Tools.html
a48a68fab044abe4266732a76cc68a0ee
(const pair< int, float > d1, const pair< int, float > d2)
static Eigen::Isometry3d
tfToIsometry
classtools_1_1Tools.html
a288bc796279b3a4e982f14af3a7881da
(tf::Transform in)
static cv::Point3f
transformPoint
classtools_1_1Tools.html
a8fae6fb471f38a9d044e3ef01c43aedb
(cv::Point3f point, tf::Transform base)
static tf::Transform
transformVector4f
classtools_1_1Tools.html
aac46bebb6d857b50a8097089189797b1
(Eigen::Vector4f in, tf::Transform transform)
static tf::Transform
vector4fToTransform
classtools_1_1Tools.html
a08a3fb30148dc475a9fd75de82a29210
(Eigen::Vector4f in)
index
index