4.12.1 获取帧 Kinect_RGB_to_OpenCV_Mat................................................................. 30 4.13 数学 Math........................................................................................................................ 30
Kinect_3D_View................................................................................................................................ 26 Kinect_to_2D_Laser.......................................................................................................................... 27 Kinect_to_Rawlog..............................................................................................................................28 Kinect_to_Map.................................................................................................................................. 29
《MRPT 示例解析》
汪若博※著 keyearth@
目录
目 录............................................................................................................................................... 1 时间戳 TTimeStamp........................................................................................................................... 3 计时 CTicTac........................................................................................................................................ 4 记录 CTimeLogger...............................................................................................................................5 创建线程 createThread...................................................................................................................... 6 关键代码区 CCriticalSection.............................................................................................................. 7 关键代码区锁 CCriticalSectionLocker................................................................................................8 线程安全变量 CThreadSafeVariable.................................................................................................. 9 2D/3D 坐标变换 geometry3D.......................................................................................................... 10 概率坐标 PDF....................................................................................................................................11 串口读写 SerialPort_test..................................................................................................................12 惯导定位模块 Gyro4BOT................................................................................................................. 13 超声测距模块 Sonar4BOT................................................................................................................14 底盘电机控制器 Moto4BOT............................................................................................................ 15 网络 socket 通信 socket_test...........................................................................................................16 网络 HTTP 协议 http_test................................................................................................................ 18 智能指针 SmartPointer.................................................................................................................... 19 串行化流 SerializeStream.................................................................................................................20 3D 窗口 display3D............................................................................................................................21 图表 displayPlots...............................................................................................................................22 窗口事件 gui_windows_events........................................................................................................24
4.11.4 位姿图优化算法 Graph-slam...............................................................................30 4.12 视觉 OpenCV................................................................................................................... 30
4.11 建图定位 SLAM............................................................................................................... 30 4.11.1 迭代最近点算法 ICP-slam................................................................................... 30 4.11.2 粒子滤波算法 RBPF-slam.................................................................................... 30 4.11.3 卡尔曼滤波算法 EKF-slam...................................................................................30