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depth_odometry package from astrobee repo

astrobee arm dock light_flow perch states comms_bridge dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry factor_adders graph_factors graph_localizer graph_optimizer graph_vio ground_truth_localizer handrail_detect imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking node_adders nodes optimization_common optimizers parameter_reader point_cloud_common ros_graph_localizer ros_graph_vio ros_pose_extrapolator sliding_window_graph_optimizer sparse_mapping tutorial_examples vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The depth odometry package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/depth_odometry/readme.md

\page depthodometry Depth Odometry

Package Overview

DepthOdometryNodelet

The DepthOdometryNodlet subscribes to ROS messages for online use and publishes DepthOdometry messages.

DepthOdometryWrapper

The DepthOdometryWrapper joins input point clouds and intensity images with the same timestamp and passes the resulting depth image measurement to the chosen DepthOdometry class.

DepthOdometry

Base class for performing depth odometry using input depth image measurements. Child classes include ImageFeaturesWithKnownCorrespondencesAlignerDepthOdometry and PointToPlaneICPDepthOdometry.

ImageFeaturesWithKnownCorrespondencesAlignerDepthOdometry

Tracks image features between successive depth image measurements using only the intensity images of the measurements and performs alignement with the correspondending 3d points. Supports brisk, surf, and lucas kanade optical flow tracking and optimization-based point to point, point to plane, and symmetric point to plane 3d point aligment. See the point_cloud_common package for more details on aligment options and the vision_common package for more details on image feature tracking options.

PointToPlaneICPDepthOdometry

Utilizes a chosen variant of point to plane ICP (nonsymmetric cost, symmetric cost, coarse to fine, etc.) to align successive depth image measurements. See the point_cloud_common package for more details on the point to plane ICP options.

Inputs

  • /hw/depth\_haz/extended/amplitude\_int
  • /hw/depth\_haz/points

Outputs

  • /loc/depth/odometry
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/depth_odometry.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: depth_odometry]
      • manager [default: ]
      • terminal [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged depth_odometry at Robotics Stack Exchange

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depth_odometry package from astrobee repo

astrobee arm dock light_flow perch states comms_bridge dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry factor_adders graph_factors graph_localizer graph_optimizer graph_vio ground_truth_localizer handrail_detect imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking node_adders nodes optimization_common optimizers parameter_reader point_cloud_common ros_graph_localizer ros_graph_vio ros_pose_extrapolator sliding_window_graph_optimizer sparse_mapping tutorial_examples vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The depth odometry package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/depth_odometry/readme.md

\page depthodometry Depth Odometry

Package Overview

DepthOdometryNodelet

The DepthOdometryNodlet subscribes to ROS messages for online use and publishes DepthOdometry messages.

DepthOdometryWrapper

The DepthOdometryWrapper joins input point clouds and intensity images with the same timestamp and passes the resulting depth image measurement to the chosen DepthOdometry class.

DepthOdometry

Base class for performing depth odometry using input depth image measurements. Child classes include ImageFeaturesWithKnownCorrespondencesAlignerDepthOdometry and PointToPlaneICPDepthOdometry.

ImageFeaturesWithKnownCorrespondencesAlignerDepthOdometry

Tracks image features between successive depth image measurements using only the intensity images of the measurements and performs alignement with the correspondending 3d points. Supports brisk, surf, and lucas kanade optical flow tracking and optimization-based point to point, point to plane, and symmetric point to plane 3d point aligment. See the point_cloud_common package for more details on aligment options and the vision_common package for more details on image feature tracking options.

PointToPlaneICPDepthOdometry

Utilizes a chosen variant of point to plane ICP (nonsymmetric cost, symmetric cost, coarse to fine, etc.) to align successive depth image measurements. See the point_cloud_common package for more details on the point to plane ICP options.

Inputs

  • /hw/depth\_haz/extended/amplitude\_int
  • /hw/depth\_haz/points

Outputs

  • /loc/depth/odometry
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/depth_odometry.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: depth_odometry]
      • manager [default: ]
      • terminal [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged depth_odometry at Robotics Stack Exchange