feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,65 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef MEASURE_H_
+#define MEASURE_H_
+
+#include <opencv2/opencv.hpp>
+
+class Measure
+{
+public:
+	Measure(
+			const cv::Point3f & pt1,
+			const cv::Point3f & pt2,
+			const cv::Vec3f & n1,
+			const cv::Vec3f & n2) :
+				pt1_(pt1),
+				pt2_(pt2),
+				n1_(n1),
+				n2_(n2)
+	{
+		length_ = cv::norm(pt2_ - pt1_);
+	}
+	virtual ~Measure() {}
+
+	float length() const {return length_;}
+	const cv::Point3f & pt1() const {return pt1_;}
+	const cv::Point3f & pt2() const {return pt2_;}
+	const cv::Vec3f & n1() const {return n1_;}
+	const cv::Vec3f & n2() const {return n2_;}
+
+private:
+	cv::Point3f pt1_;
+	cv::Point3f pt2_;
+	cv::Vec3f n1_;
+	cv::Vec3f n2_;
+	float length_;
+};
+
+
+#endif /* MEASURE_H_ */