Quadrotor

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\b RGBD-SLAM Implements a SLAM-Frontend based on structure from 

motion using visual features to identify keypoints in the RGBD

image of a kinect. It makes use of the HOG-MAN SLAM backend to

compute a globally consistent trajectory from the individual

transformations provided by the frontend.

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\section codeapi Code API

The main classes are the following:

<ul>

<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.

It provides functionality to find the transformation to another node and for publishing the associated pointcloud.</li>

<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.

Provides functionality to send (ROS-Msgs) or save (to PCD File) the globally consistent whole model.</li>

</ul>

The following classes are mainly for communication with ROS and the user:

<ul>

<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>

<li>UserInterface - Constructs a QT GUI for easy control of the program</li>

<li>QtROS - Sets up a thread for ROS event processing, to seperate SLAM-computations from the GUI</li>

<li>GLViewer - OpenGL based display of the 3d model</li>

</ul>

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