visodo Documentation

visodo

Visual odometry.

• Author(s): Kurt Konolige
• Review Status: unreviewed
• Review Notes:
• Homepage: None
• Dependency Tree

Visual Odometry is a package for stereo or monocular visual odometry at video rates. Visual odometry provides a 6DOF estimate of motion based on images streaming from a camera or stored in files.

Code API

Provide links to specific auto-generated API documentation within your package that is of particular interest to a reader. Doxygen will document pretty much every part of your code, so do your best here to point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you should use the doxygen 'group' tag to keep these APIs together. For example, the roscpp documentation has 'libros' and 'botherder' groups so that those can be viewed separately. The rospy documentation similarly has a 'client-api' group that pulls together APIs for a Client API page.

ROS API

Every ROS name in your code must be documented. Names are very important in ROS because they are the API to nodes and services. They are also capable of being remapped on the command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY APPEAR IN THE CODE. It is also important that you write your code so that the names can be easily remapped.

List of nodes:

• node_name1
• node_name2

---

node_name

node_name does (provide a basic description of your node)

Usage

$ node_type1 [standard ROS args]

Example

$ node_type1

ROS topics

Subscribes to:

• "in": [std_msgs/FooType] description of in

Publishes to:

• "out": [std_msgs/FooType] description of out

ROS parameters

Reads the following parameters from the parameter server

• "~param_name" : [type] description of param_name
• "~my_param" : [string] description of my_param

Sets the following parameters on the parameter server

• "~param_name" : [type] description of param_name

ROS services

• "foo_service": [std_srvs/FooType] description of foo_service

Command-line tools

This section is a catch-all for any additional tools that your package provides or uses that may be of use to the reader. For example:

• tools/scripts (e.g. rospack, roscd)
• roslaunch .launch files
• xmlparam files

script_name

Description of what this script/file does.

Usage

$ ./script_name [args]

Example

$ ./script_name foo bar