slam.cpp File Reference

An example presenting the process of setting up the SLAM pipeline. More...

#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <string>
#include <GL/glew.h>
#include <CLUtils.hpp>
#include <glut_viewer.hpp>
#include <freenect_rgbd.hpp>
#include <ocl_processing.hpp>

Include dependency graph for slam.cpp:

Functions
octomap::OcTree	map (res)
void	printInfo ()
	Displays the available controls. More...
int	main (int argc, char **argv)

Variables
Freenect::Freenect	freenect
Kinect *	kinect = &freenect.createDevice<Kinect> (0)
double	res = 0.1
const ICP::ICPStepConfigT	CR = ICP::ICPStepConfigT::POWER_METHOD
const ICP::ICPStepConfigW	CW = ICP::ICPStepConfigW::WEIGHTED
OCLSLAM< CR, CW > *	slam

Detailed Description

An example presenting the process of setting up the SLAM pipeline.

It accepts RGB-D data from Kinect, performs registration on the GPU, visualizes the resulting point clouds on the screen, and creates an Octomap map that can be saved on disk.

Author

Nick Lamprianidis

Version

0.1.0

Date

2015

Copyright

The MIT License (MIT)

Copyright (c) 2015 Nick Lamprianidis

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

octomap::OcTree map

(

res

)

Map.

void printInfo

(

)

Displays the available controls.

Variable Documentation

const ICP::ICPStepConfigT CR = ICP::ICPStepConfigT::POWER_METHOD

const ICP::ICPStepConfigW CW = ICP::ICPStepConfigW::WEIGHTED

Freenect::Freenect freenect

Kinect* kinect = &freenect.createDevice<Kinect> (0)

double res = 0.1

Map resolution in meters.

OCLSLAM<CR, CW>* slam