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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 2022-05-27
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

\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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 answers.ros.org

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 2022-05-27
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

\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

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 answers.ros.org

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