localization_measurements Namespace Reference

Classes
struct	DepthCorrespondences
class	DepthImage
struct	DepthImageMeasurement
struct	DepthOdometryMeasurement
struct	FeaturePointsMeasurement
class	GeneralPlane
struct	HandrailPointsMeasurement
class	HessianNormalPlane
struct	ImageMeasurement
struct	ImuMeasurement
struct	MatchedProjection
struct	MatchedProjectionsMeasurement
struct	Measurement
struct	Odometry
class	Plane
struct	PointCloudMeasurement
class	PointNormalPlane
struct	PoseMeasurement
struct	PoseWithCovarianceMeasurement
struct	RelativePoseWithCovarianceMeasurement
struct	StandstillMeasurement
struct	TimestampedHandrailPose
struct	TimestampedPose

Typedefs
using	ImagePoint = gtsam::Point2
using	MapPoint = gtsam::Point3
using	MatchedProjections = std::vector< MatchedProjection >
using	PoseCovariance = Eigen::Matrix< double, 6, 6 >

Enumerations
enum	FanSpeedMode { FanSpeedMode::kOff, FanSpeedMode::kQuiet, FanSpeedMode::kNominal, FanSpeedMode::kAggressive }

Functions
MatchedProjectionsMeasurement	MakeMatchedProjectionsMeasurement (const ff_msgs::VisualLandmarks &visual_landmarks)
HandrailPointsMeasurement	MakeHandrailPointsMeasurement (const ff_msgs::DepthLandmarks &depth_landmarks, const TimestampedHandrailPose &world_T_handrail)
Plane	MakeHandrailPlane (const gtsam::Pose3 &world_T_handrail, const double distance_to_wall)
std::pair< gtsam::Point3, gtsam::Point3 >	MakeHandrailEndpoints (const gtsam::Pose3 &world_T_handrail, const double length)
MatchedProjectionsMeasurement	FrameChangeMatchedProjectionsMeasurement (const MatchedProjectionsMeasurement &matched_projections_measurement, const gtsam::Pose3 &new_frame_T_measurement_origin)
FeaturePointsMeasurement	MakeFeaturePointsMeasurement (const ff_msgs::Feature2dArray &optical_flow_tracks)
FanSpeedMode	ConvertFanSpeedMode (const uint8_t speed)
boost::optional< ImageMeasurement >	MakeImageMeasurement (const sensor_msgs::ImageConstPtr &image_msg, const std::string &encoding)
PointCloudMeasurement	MakePointCloudMeasurement (const sensor_msgs::PointCloud2ConstPtr &point_cloud_msg)
boost::optional< DepthImageMeasurement >	MakeDepthImageMeasurement (const sensor_msgs::PointCloud2ConstPtr &depth_cloud_msg, const sensor_msgs::ImageConstPtr &image_msg, const Eigen::Affine3d image_A_depth_cam=Eigen::Affine3d::Identity())
template<typename PointType >
sensor_msgs::PointCloud2	MakePointCloudMsg (const pcl::PointCloud< PointType > &cloud, const localization_common::Time timestamp, const std::string frame)
localization_common::PoseWithCovariance	MakePoseWithCovariance (const geometry_msgs::PoseWithCovariance &msg)
Odometry	MakeOdometry (const ff_msgs::Odometry &msg)
DepthCorrespondences	MakeDepthCorrespondences (const std::vector< ff_msgs::DepthCorrespondence > &msgs)
DepthOdometryMeasurement	MakeDepthOdometryMeasurement (const ff_msgs::DepthOdometry &depth_odometry_msg)
DepthCorrespondences	MakeDepthCorrespondences (const ff_msgs::DepthOdometry &msg)

Typedef Documentation

ImagePoint

using localization_measurements::ImagePoint = typedef gtsam::Point2

MapPoint

using localization_measurements::MapPoint = typedef gtsam::Point3

MatchedProjections

using localization_measurements::MatchedProjections = typedef std::vector<MatchedProjection>

PoseCovariance

typedef Eigen::Matrix< double, 6, 6 > localization_measurements::PoseCovariance

Enumeration Type Documentation

FanSpeedMode

enum localization_measurements::FanSpeedMode

strong

Enumerator
kOff
kQuiet
kNominal
kAggressive

Function Documentation

ConvertFanSpeedMode()

FanSpeedMode localization_measurements::ConvertFanSpeedMode

(

const uint8_t

speed

)

FrameChangeMatchedProjectionsMeasurement()

MatchedProjectionsMeasurement localization_measurements::FrameChangeMatchedProjectionsMeasurement	(	const MatchedProjectionsMeasurement &	matched_projections_measurement,
		const gtsam::Pose3 &	new_frame_T_measurement_origin
	)

MakeDepthCorrespondences() [1/2]

DepthCorrespondences localization_measurements::MakeDepthCorrespondences

(

const ff_msgs::DepthOdometry &

msg

)

MakeDepthCorrespondences() [2/2]

DepthCorrespondences localization_measurements::MakeDepthCorrespondences

(

const std::vector< ff_msgs::DepthCorrespondence > &

msgs

)

MakeDepthImageMeasurement()

boost::optional< DepthImageMeasurement > localization_measurements::MakeDepthImageMeasurement	(	const sensor_msgs::PointCloud2ConstPtr &	depth_cloud_msg,
		const sensor_msgs::ImageConstPtr &	image_msg,
		const Eigen::Affine3d	image_A_depth_cam = Eigen::Affine3d::Identity()
	)

MakeDepthOdometryMeasurement()

DepthOdometryMeasurement localization_measurements::MakeDepthOdometryMeasurement

(

const ff_msgs::DepthOdometry &

depth_odometry_msg

)

MakeFeaturePointsMeasurement()

FeaturePointsMeasurement localization_measurements::MakeFeaturePointsMeasurement

(

const ff_msgs::Feature2dArray &

optical_flow_tracks

)

MakeHandrailEndpoints()

std::pair< gtsam::Point3, gtsam::Point3 > localization_measurements::MakeHandrailEndpoints	(	const gtsam::Pose3 &	world_T_handrail,
		const double	length
	)

MakeHandrailPlane()

Plane localization_measurements::MakeHandrailPlane	(	const gtsam::Pose3 &	world_T_handrail,
		const double	distance_to_wall
	)

MakeHandrailPointsMeasurement()

HandrailPointsMeasurement localization_measurements::MakeHandrailPointsMeasurement	(	const ff_msgs::DepthLandmarks &	depth_landmarks,
		const TimestampedHandrailPose &	world_T_handrail
	)

MakeImageMeasurement()

boost::optional< ImageMeasurement > localization_measurements::MakeImageMeasurement	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const std::string &	encoding
	)

MakeMatchedProjectionsMeasurement()

MatchedProjectionsMeasurement localization_measurements::MakeMatchedProjectionsMeasurement

(

const ff_msgs::VisualLandmarks &

visual_landmarks

)

MakeOdometry()

Odometry localization_measurements::MakeOdometry

(

const ff_msgs::Odometry &

msg

)

MakePointCloudMeasurement()

PointCloudMeasurement localization_measurements::MakePointCloudMeasurement

(

const sensor_msgs::PointCloud2ConstPtr &

point_cloud_msg

)

MakePointCloudMsg()

template<typename PointType >

sensor_msgs::PointCloud2 localization_measurements::MakePointCloudMsg	(	const pcl::PointCloud< PointType > &	cloud,
		const localization_common::Time	timestamp,
		const std::string	frame
	)

MakePoseWithCovariance()

lc::PoseWithCovariance localization_measurements::MakePoseWithCovariance

(

const geometry_msgs::PoseWithCovariance &

msg

)