Functions | Variables
laserMapping.cpp File Reference
#include <math.h>
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <opencv/cv.h>
#include <opencv2/highgui/highgui.hpp>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree_flann.h>
Include dependency graph for laserMapping.cpp:

Go to the source code of this file.

Functions

void laserCloudLastHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudLast2)
void laserOdometryHandler (const nav_msgs::Odometry::ConstPtr &laserOdometry)
int main (int argc, char **argv)
void pointAssociateToMap (pcl::PointXYZHSV *pi, pcl::PointXYZHSV *po)
void transformAssociateToMap ()
void transformUpdate ()

Variables

pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
coeffSel (new pcl::PointCloud< pcl::PointXYZHSV >())
const double deg2rad = PI / 180
pcl::KdTreeFLANN
< pcl::PointXYZHSV >::Ptr 
kdtreeCornerFromMap (new pcl::KdTreeFLANN< pcl::PointXYZHSV >())
pcl::KdTreeFLANN
< pcl::PointXYZHSV >::Ptr 
kdtreeSurfFromMap (new pcl::KdTreeFLANN< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudArray [laserCloudNum]
const int laserCloudCenDepth = 5
const int laserCloudCenHeight = 5
const int laserCloudCenWidth = 5
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudCorner (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudCorner2 (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudCornerFromMap (new pcl::PointCloud< pcl::PointXYZHSV >())
const int laserCloudDepth = 11
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudFromMap (new pcl::PointCloud< pcl::PointXYZHSV >())
const int laserCloudHeight = 11
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudLast (new pcl::PointCloud< pcl::PointXYZHSV >())
const int laserCloudNum = laserCloudWidth * laserCloudHeight * laserCloudDepth
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudOri (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudSurf (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudSurf2 (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudSurfFromMap (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZI >::Ptr 
laserCloudSurround (new pcl::PointCloud< pcl::PointXYZI >())
int laserCloudSurroundInd [27]
int laserCloudValidInd [27]
const int laserCloudWidth = 11
bool newLaserCloudLast = false
bool newLaserOdometry = false
const double PI = 3.1415926
const double rad2deg = 180 / PI
double timeLaserCloudLast
double timeLaserOdometry
float transformAftMapped [6] = {0}
float transformBefMapped [6] = {0}
float transformIncre [6] = {0}
float transformSum [6] = {0}
float transformTobeMapped [6] = {0}

Function Documentation

void laserCloudLastHandler ( const sensor_msgs::PointCloud2ConstPtr &  laserCloudLast2)

Definition at line 144 of file laserMapping.cpp.

void laserOdometryHandler ( const nav_msgs::Odometry::ConstPtr &  laserOdometry)

Definition at line 154 of file laserMapping.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 173 of file laserMapping.cpp.

Definition at line 122 of file laserMapping.cpp.

Definition at line 69 of file laserMapping.cpp.

void transformUpdate ( )

Definition at line 110 of file laserMapping.cpp.


Variable Documentation

const double deg2rad = PI / 180

Definition at line 25 of file laserMapping.cpp.

Definition at line 58 of file laserMapping.cpp.

const int laserCloudCenDepth = 5

Definition at line 35 of file laserMapping.cpp.

const int laserCloudCenHeight = 5

Definition at line 34 of file laserMapping.cpp.

const int laserCloudCenWidth = 5

Definition at line 33 of file laserMapping.cpp.

const int laserCloudDepth = 11

Definition at line 38 of file laserMapping.cpp.

const int laserCloudHeight = 11

Definition at line 37 of file laserMapping.cpp.

Definition at line 39 of file laserMapping.cpp.

Definition at line 42 of file laserMapping.cpp.

Definition at line 41 of file laserMapping.cpp.

const int laserCloudWidth = 11

Definition at line 36 of file laserMapping.cpp.

bool newLaserCloudLast = false

Definition at line 30 of file laserMapping.cpp.

bool newLaserOdometry = false

Definition at line 31 of file laserMapping.cpp.

const double PI = 3.1415926

Definition at line 23 of file laserMapping.cpp.

const double rad2deg = 180 / PI

Definition at line 24 of file laserMapping.cpp.

Definition at line 27 of file laserMapping.cpp.

Definition at line 28 of file laserMapping.cpp.

float transformAftMapped[6] = {0}

Definition at line 67 of file laserMapping.cpp.

float transformBefMapped[6] = {0}

Definition at line 66 of file laserMapping.cpp.

float transformIncre[6] = {0}

Definition at line 64 of file laserMapping.cpp.

float transformSum[6] = {0}

Definition at line 63 of file laserMapping.cpp.

float transformTobeMapped[6] = {0}

Definition at line 65 of file laserMapping.cpp.

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loam_backAndForth
Author(s): Ji Zhang
autogenerated on Sun Oct 6 2013 11:47:42