35 lines
860 B
C++
35 lines
860 B
C++
/*
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* COPYRIGHT AND PERMISSION NOTICE
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* Penn Software MSCKF_VIO
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* Copyright (C) 2017 The Trustees of the University of Pennsylvania
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* All rights reserved.
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*/
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#ifndef MSCKF_VIO_UTILS_H
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#define MSCKF_VIO_UTILS_H
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#include <ros/ros.h>
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#include <string>
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#include <opencv2/core/core.hpp>
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#include <Eigen/Geometry>
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namespace msckf_vio {
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/*
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* @brief utilities for msckf_vio
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*/
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namespace utils {
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Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
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const std::string &field);
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cv::Mat getTransformCV(const ros::NodeHandle &nh,
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const std::string &field);
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cv::Mat getVec16Transform(const ros::NodeHandle &nh,
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const std::string &field);
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cv::Mat getKalibrStyleTransform(const ros::NodeHandle &nh,
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const std::string &field);
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}
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}
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#endif
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