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vision_common package from astrobee repo

astrobee arm dock light_flow perch states dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs description ctl ekf fam gnc_autocode sim_wrapper eps_driver epson_imu fam_cmd_i2c ff_serial flashlight flycapture gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry graph_localizer graph_optimizer ground_truth_localizer handrail_detect imu_augmentor imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking optimization_common point_cloud_common sparse_mapping 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 calibration ekf_bag ekf_video gds_helper gnc_visualizer graph_bag imu_bias_tester interactive_marker_teleop localization_rviz_plugins performance_tester

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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 2022-01-13
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 vision_common package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/vision_common/readme.md

\page visioncommon Vision Common

Package Overview

Distortion Models

Field of view (fov), radial (rad), and radial tangential (radtan) distortion models are provided along with an identity distortion model. These are use for example as template parameters for image projection functions in the camera utilities files. The models are templated on the value type (i.e. double, jet) to allow their usage with Ceres-based optimization packages.

Feature Detection And Matching

Brisk, surf, and lucas kanade optical flow feature detector and matchers are provided and inherit the base FeatureDetectorAndMatcher class so they can be used polymorphically by other classes and functions.

Utilities

The utilities files provide helper functions for the distortion models and templated implementations based on the distortion type of image space projections, ransac pnp, and a reprojection pose estimate function that utilities ransac pnp to find an initial pose estimate for a set of 3d and corresponding image points before performing nonliner optimization to refine this pose estimate.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 localization_common
1 optimization_common
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
depth_odometry github-nasa-astrobee
calibration github-nasa-astrobee

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged vision_common at answers.ros.org

vision_common package from astrobee repo

astrobee arm dock light_flow perch states dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs description ctl ekf fam gnc_autocode sim_wrapper eps_driver epson_imu fam_cmd_i2c ff_serial flashlight flycapture gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry graph_localizer graph_optimizer ground_truth_localizer handrail_detect imu_augmentor imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking optimization_common point_cloud_common sparse_mapping 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 calibration ekf_bag ekf_video gds_helper gnc_visualizer graph_bag imu_bias_tester interactive_marker_teleop localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki
RosEco

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 2022-01-13
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 vision_common package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/vision_common/readme.md

\page visioncommon Vision Common

Package Overview

Distortion Models

Field of view (fov), radial (rad), and radial tangential (radtan) distortion models are provided along with an identity distortion model. These are use for example as template parameters for image projection functions in the camera utilities files. The models are templated on the value type (i.e. double, jet) to allow their usage with Ceres-based optimization packages.

Feature Detection And Matching

Brisk, surf, and lucas kanade optical flow feature detector and matchers are provided and inherit the base FeatureDetectorAndMatcher class so they can be used polymorphically by other classes and functions.

Utilities

The utilities files provide helper functions for the distortion models and templated implementations based on the distortion type of image space projections, ransac pnp, and a reprojection pose estimate function that utilities ransac pnp to find an initial pose estimate for a set of 3d and corresponding image points before performing nonliner optimization to refine this pose estimate.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 localization_common
1 optimization_common
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
depth_odometry github-nasa-astrobee
calibration github-nasa-astrobee

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged vision_common at answers.ros.org

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