laser_data.h File Reference

#include <sys/time.h>
#include <stdio.h>
#include "restrict.h"
#include "laser_data_inline.h"

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Classes
struct	correspondence
struct	laser_data
struct	point2d
Typedefs
typedef struct laser_data *	LDP
Functions
void	ld_alloc (LDP, int nrays)
LDP	ld_alloc_new (int nrays)
void	ld_compute_cartesian (LDP)
void	ld_compute_orientation (LDP ld, int size_neighbourhood, double sigma)
void	ld_compute_world_coords (LDP, const double *pose)
unsigned int	ld_corr_hash (LDP)
void	ld_create_jump_tables (LDP)
void	ld_dealloc (LDP)
void	ld_free (LDP)
LDP	ld_from_carmen_string (const char *line)
int	ld_num_valid_correspondences (LDP)
int	ld_read_all (FILE *file, LDP **array, int *num)
int	ld_read_next_laser_carmen (FILE *, LDP *ld)
LDP	ld_read_smart (FILE *)
LDP	ld_read_smart_string (const char *)
int	ld_read_some_scans (FILE *file, LDP **array, int *num, int interval)
void	ld_simple_clustering (LDP ld, double threshold)
int	ld_valid_fields (LDP)
void	ld_write_as_carmen (LDP ld, FILE *stream)
void	ld_write_format (LDP ld, FILE *stream, const char *out_format)
void	possible_interval (const double *p_i_w, LDP laser_sens, double max_angular_correction_deg, double max_linear_correction, int *from, int *to, int *start_cell)

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Typedef Documentation

typedef struct laser_data* LDP

Definition at line 74 of file laser_data.h.

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Function Documentation

void ld_alloc	(	LDP	,
		int	nrays
	)

This allocs the fields in the given structure. Use ld_alloc_new(), not this.

LDP ld_alloc_new

(

int

nrays

)

This returns a new structure, with all fields initialized

void ld_compute_cartesian

(

LDP

)

Fills the x,y fields in "points" by transforming (theta, reading) to cartesian

void ld_compute_orientation	(	LDP	ld,
		int	size_neighbourhood,
		double	sigma
	)

A cool orientation estimation algorithm. Needs cluster.

void ld_compute_world_coords	(	LDP	,
		const double *	pose
	)

Computes the "points_w" coordinates by roto-translating "points"

unsigned int ld_corr_hash

(

LDP

)

Computes an hash of the correspondences

void ld_create_jump_tables

(

LDP

)

Fills the fields: *up_bigger, *up_smaller, *down_bigger, *down_smaller.

void ld_dealloc

(

LDP

)

This does NOT free the pointer. Don't use -- use ld_alloc_new()/ld_free() instead.

void ld_free

(

LDP

)

This DOES free() the pointer

LDP ld_from_carmen_string

(

const char *

line

)

Read laser data from a Carmen-formatted line

int ld_num_valid_correspondences

(

LDP

)

Returns the number of valid correspondences.

int ld_read_all	(	FILE *	file,
		LDP **	array,
		int *	num
	)

Reads all the scans it can find.

int ld_read_next_laser_carmen	(	FILE *	,
		LDP *	ld
	)

Read next FLASER line in file (initializes ld). Returns 0 on failure. If the file is EOF, it returns 1 and sets ld to 0. You probably want to use the ld_read_smart() function.

LDP ld_read_smart

(

FILE *

)

Tries to read a laser scan from file. If error or EOF, it returns 0. Whitespace is skipped. If first valid char is '{', it tries to read it as JSON. If next char is 'F' (first character of "FLASER"), it tries to read in Carmen format. Else, 0 is returned.

LDP ld_read_smart_string

(

const char *

)

Tries to read a laser scan from a string.

int ld_read_some_scans	(	FILE *	file,
		LDP **	array,
		int *	num,
		int	interval
	)

Read a scan every interval (1=all)

void ld_simple_clustering	(	LDP	ld,
		double	threshold
	)

A simple clustering algorithm. Sets the `cluster' field in the structure.

int ld_valid_fields

(

LDP

)

Do an extensive sanity check about the data contained in the structure.

void ld_write_as_carmen	(	LDP	ld,
		FILE *	stream
	)

Write a scan in carmen format

void ld_write_format	(	LDP	ld,
		FILE *	stream,
		const char *	out_format
	)

Write a scan according to out_format = {"carmen", "json"}

void possible_interval	(	const double *	p_i_w,
		LDP	laser_sens,
		double	max_angular_correction_deg,
		double	max_linear_correction,
		int *	from,
		int *	to,
		int *	start_cell
	)