资源简介
编写一个类,并在ROS下实现了两张图片的ORB特征提取与匹配,具体用法可以参考我的博文:
https://blog.csdn.net/qinqinxiansheng/article/details/106975663
代码片段和文件信息
#!/usr/bin/python2
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012 Willow Garage Inc.
# 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 Willow Garage Inc. 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 OWNER 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.
‘‘‘This file generates shell code for the setup.SHELL scripts to set environment variables‘‘‘
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = ‘.catkin‘
system = platform.system()
IS_DARWIN = (system == ‘Darwin‘)
IS_WINDOWS = (system == ‘Windows‘)
PATH_TO_ADD_SUFFIX = [‘bin‘]
if IS_WINDOWS:
# while catkin recommends putting dll‘s into bin 3rd party packages often put dll‘s into lib
# since Windows finds dll‘s via the PATH variable prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([[‘lib‘ os.path.join(‘lib‘ ‘x86_64-linux-gnu‘)]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
‘CMAKE_PREFIX_PATH‘: ‘‘
‘LD_LIBRARY_PATH‘ if not IS_DARWIN else ‘DYLD_LIBRARY_PATH‘: [‘lib‘ os.path.join(‘lib‘ ‘x86_64-linux-gnu‘)]
‘PATH‘: PATH_TO_ADD_SUFFIX
‘PKG_CONFIG_PATH‘: [os.path.join(‘lib‘ ‘pkgconfig‘) os.path.join(‘lib‘ ‘x86_64-linux-gnu‘ ‘pkgconfig‘)]
‘PYTHONPATH‘: ‘lib/python2.7/dist-packages‘
}
def rollback_env_variables(environ env_var_subfolders):
‘‘‘
Generate shell code to reset environment variables
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
‘‘‘
lin
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