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/**
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\mainpage
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\htmlinclude manifest.html
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\b RGBD-SLAM Implements a SLAM-Frontend based on structure from 
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motion using visual features to identify keypoints in the RGBD
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image of a kinect. It makes use of the HOG-MAN SLAM backend to
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compute a globally consistent trajectory from the individual
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transformations provided by the frontend.
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<!-- 
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Provide an overview of your package.
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-->
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\section codeapi Code API
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The main classes are the following:
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<ul>
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<li>Node - Holds the data for a graph node, e.g., the extracted features and their position in the image plane and the local 3D coordinate systems.
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It provides functionality to find the transformation to another node and for publishing the associated pointcloud.</li>
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<li>GraphManager - Decides for each Node, which edges are included in the graph. Stores all Nodes with valid edges and optimizes the camera pose graph globally with HOG-MAN as SLAM backend.
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Provides functionality to send (ROS-Msgs) or save (to PCD File) the globally consistent whole model.</li>
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</ul>
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The following classes are mainly for communication with ROS and the user:
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<ul>
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<li>OpenNIListener - Subscribes to the openni topics, constructs a node for each image-pointcloud pair and hands it to the graph manager. Online visualization results are sent out.</li>
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<li>UserInterface - Constructs a QT GUI for easy control of the program</li>
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<li>QtROS - Sets up a thread for ROS event processing, to seperate SLAM-computations from the GUI</li>
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<li>GLViewer - OpenGL based display of the 3d model</li>
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</ul>
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<!--
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Provide links to specific auto-generated API documentation within your
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package that is of particular interest to a reader. Doxygen will
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document pretty much every part of your code, so do your best here to
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point the reader to the actual API.
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If your codebase is fairly large or has different sets of APIs, you
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should use the doxygen 'group' tag to keep these APIs together. For
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example, the roscpp documentation has 'libros' group.
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-->
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*/
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