This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion. More...
#include <ndt_fuser.h>
Public Member Functions | |
| double | getDoubleTime () |
| void | initialize (Eigen::Affine3d initPos, pcl::PointCloud< PointT > &cloud) |
| NDTFuser (double map_resolution, double map_size_x_, double map_size_y_, double map_size_z_, double sensor_range_=3, bool visualize_=false, bool be2D_=false) | |
| void | setSensorPose (Eigen::Affine3d spose) |
| Eigen::Affine3d | update (Eigen::Affine3d Tmotion, pcl::PointCloud< PointT > &cloud) |
| bool | wasInit () |
| ~NDTFuser () | |
Public Attributes | |
| bool | be2D |
| bool | checkConsistency |
| lslgeneric::NDTMap< PointT > * | map |
| da map | |
| double | max_rotation_norm |
| double | max_translation_norm |
| perform a check for consistency against initial estimate | |
| double | sensor_range |
| Eigen::Affine3d | Tlast_fuse |
| current pose | |
| Eigen::Affine3d | Tnow |
| NDTViz< PointT > * | viewer |
Private Attributes | |
| bool | isInit |
| double | map_size |
| double | map_size_x |
| double | map_size_y |
| double | map_size_z |
| lslgeneric::NDTMatcherD2D < PointT, PointT > | matcher |
| lslgeneric::NDTMatcherD2D_2D < PointT, PointT > | matcher2D |
| double | resolution |
| resolution of the map | |
| double | rotation_fuse_delta |
| Eigen::Affine3d | sensor_pose |
| double | translation_fuse_delta |
| bool | visualize |
This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion.
Definition at line 20 of file ndt_fuser.h.
| lslgeneric::NDTFuser< PointT >::NDTFuser | ( | double | map_resolution, |
| double | map_size_x_, | ||
| double | map_size_y_, | ||
| double | map_size_z_, | ||
| double | sensor_range_ = 3, |
||
| bool | visualize_ = false, |
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| bool | be2D_ = false |
||
| ) | [inline] |
Definition at line 30 of file ndt_fuser.h.
| lslgeneric::NDTFuser< PointT >::~NDTFuser | ( | ) | [inline] |
Definition at line 50 of file ndt_fuser.h.
| double lslgeneric::NDTFuser< PointT >::getDoubleTime | ( | ) | [inline] |
Definition at line 56 of file ndt_fuser.h.
| void lslgeneric::NDTFuser< PointT >::initialize | ( | Eigen::Affine3d | initPos, |
| pcl::PointCloud< PointT > & | cloud | ||
| ) | [inline] |
Set the initial position and set the first scan to the map
Set the cloud to sensor frame with respect to base
Definition at line 74 of file ndt_fuser.h.
| void lslgeneric::NDTFuser< PointT >::setSensorPose | ( | Eigen::Affine3d | spose | ) | [inline] |
Definition at line 62 of file ndt_fuser.h.
| Eigen::Affine3d lslgeneric::NDTFuser< PointT >::update | ( | Eigen::Affine3d | Tmotion, |
| pcl::PointCloud< PointT > & | cloud | ||
| ) | [inline] |
Set the cloud to sensor frame with respect to base
Create local map
Definition at line 96 of file ndt_fuser.h.
| bool lslgeneric::NDTFuser< PointT >::wasInit | ( | ) | [inline] |
Definition at line 66 of file ndt_fuser.h.
| bool lslgeneric::NDTFuser< PointT >::be2D |
Definition at line 27 of file ndt_fuser.h.
| bool lslgeneric::NDTFuser< PointT >::checkConsistency |
Definition at line 24 of file ndt_fuser.h.
bool lslgeneric::NDTFuser< PointT >::isInit [private] |
Definition at line 199 of file ndt_fuser.h.
| lslgeneric::NDTMap<PointT>* lslgeneric::NDTFuser< PointT >::map |
da map
Definition at line 23 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::map_size [private] |
Definition at line 202 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::map_size_x [private] |
Definition at line 205 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::map_size_y [private] |
Definition at line 206 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::map_size_z [private] |
Definition at line 207 of file ndt_fuser.h.
lslgeneric::NDTMatcherD2D<PointT,PointT> lslgeneric::NDTFuser< PointT >::matcher [private] |
Definition at line 211 of file ndt_fuser.h.
lslgeneric::NDTMatcherD2D_2D<PointT,PointT> lslgeneric::NDTFuser< PointT >::matcher2D [private] |
Definition at line 212 of file ndt_fuser.h.
| double lslgeneric::NDTFuser< PointT >::max_rotation_norm |
Definition at line 25 of file ndt_fuser.h.
| double lslgeneric::NDTFuser< PointT >::max_translation_norm |
perform a check for consistency against initial estimate
Definition at line 25 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::resolution [private] |
resolution of the map
Definition at line 201 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::rotation_fuse_delta [private] |
Definition at line 204 of file ndt_fuser.h.
Eigen::Affine3d lslgeneric::NDTFuser< PointT >::sensor_pose [private] |
Definition at line 210 of file ndt_fuser.h.
| double lslgeneric::NDTFuser< PointT >::sensor_range |
Definition at line 26 of file ndt_fuser.h.
| Eigen::Affine3d lslgeneric::NDTFuser< PointT >::Tlast_fuse |
current pose
Definition at line 22 of file ndt_fuser.h.
| Eigen::Affine3d lslgeneric::NDTFuser< PointT >::Tnow |
Definition at line 22 of file ndt_fuser.h.
double lslgeneric::NDTFuser< PointT >::translation_fuse_delta [private] |
Definition at line 204 of file ndt_fuser.h.
| NDTViz<PointT>* lslgeneric::NDTFuser< PointT >::viewer |
Definition at line 28 of file ndt_fuser.h.
bool lslgeneric::NDTFuser< PointT >::visualize [private] |
Definition at line 208 of file ndt_fuser.h.