scanRegistration.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 scanRegistration.cpp:

Go to the source code of this file.

Functions
void	AccumulateIMUShift ()
void	imuHandler (const sensor_msgs::Imu::ConstPtr &imuIn)
void	laserCloudHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudIn2)
int	main (int argc, char **argv)
void	ShiftToStartIMU ()
void	TransformToStartIMU (pcl::PointXYZHSV *p)
void	VeloToStartIMU ()
Variables
int	cloudNeighborPicked [1200]
int	cloudSortInd [1200]
const double	deg2rad = PI / 180
double	imuAccuYaw = 0
float	imuAccX [imuQueLength] = {0}
float	imuAccY [imuQueLength] = {0}
float	imuAccZ [imuQueLength] = {0}
bool	imuInited = false
float	imuPitch [imuQueLength] = {0}
float	imuPitchCur
float	imuPitchStart
int	imuPointerFront = 0
int	imuPointerLast = -1
const int	imuQueLength = 50
float	imuRoll [imuQueLength] = {0}
float	imuRollCur
float	imuRollStart
float	imuShiftFromStartXCur
float	imuShiftFromStartYCur
float	imuShiftFromStartZCur
float	imuShiftX [imuQueLength] = {0}
float	imuShiftXCur
float	imuShiftXStart
float	imuShiftY [imuQueLength] = {0}
float	imuShiftYCur
float	imuShiftYStart
float	imuShiftZ [imuQueLength] = {0}
float	imuShiftZCur
float	imuShiftZStart
double	imuTime [imuQueLength] = {0}
float	imuVeloFromStartXCur
float	imuVeloFromStartYCur
float	imuVeloFromStartZCur
float	imuVeloX [imuQueLength] = {0}
float	imuVeloXCur
float	imuVeloXStart
float	imuVeloY [imuQueLength] = {0}
float	imuVeloYCur
float	imuVeloYStart
float	imuVeloZ [imuQueLength] = {0}
float	imuVeloZCur
float	imuVeloZStart
float	imuYaw [imuQueLength] = {0}
float	imuYawCur
float	imuYawStart
double	initTime
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudExtreCur (new pcl::PointCloud< pcl::PointXYZHSV >())
sensor_msgs::PointCloud2	laserCloudExtreCur2
sensor_msgs::PointCloud2	laserCloudLast2
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudLessExtreCur (new pcl::PointCloud< pcl::PointXYZHSV >())
int	laserRotDir = 1
const double	PI = 3.1415926
ros::Publisher *	pubLaserCloudExtreCurPointer
ros::Publisher *	pubLaserCloudLastPointer
const double	rad2deg = 180 / PI
int	skipFrameCount = 0
int	skipFrameNum = 2
bool	systemInited = false
double	timeLasted
double	timeScanCur = 0
double	timeScanLast = 0
double	timeStart

---

Function Documentation

void AccumulateIMUShift

(

)

Definition at line 146 of file scanRegistration.cpp.

void imuHandler

(

const sensor_msgs::Imu::ConstPtr &

imuIn

)

Definition at line 638 of file scanRegistration.cpp.

void laserCloudHandler

(

const sensor_msgs::PointCloud2ConstPtr &

laserCloudIn2

)

Definition at line 184 of file scanRegistration.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 671 of file scanRegistration.cpp.

void ShiftToStartIMU

(

)

Definition at line 89 of file scanRegistration.cpp.

void TransformToStartIMU

(

pcl::PointXYZHSV *

p

)

Definition at line 119 of file scanRegistration.cpp.

void VeloToStartIMU

(

)

Definition at line 104 of file scanRegistration.cpp.

---

Variable Documentation

int cloudNeighborPicked[1200]

Definition at line 50 of file scanRegistration.cpp.

int cloudSortInd[1200]

Definition at line 49 of file scanRegistration.cpp.

const double deg2rad = PI / 180

Definition at line 25 of file scanRegistration.cpp.

double imuAccuYaw = 0

Definition at line 87 of file scanRegistration.cpp.

float imuAccX[imuQueLength] = {0}

Definition at line 73 of file scanRegistration.cpp.

float imuAccY[imuQueLength] = {0}

Definition at line 74 of file scanRegistration.cpp.

float imuAccZ[imuQueLength] = {0}

Definition at line 75 of file scanRegistration.cpp.

bool imuInited = false

Definition at line 55 of file scanRegistration.cpp.

float imuPitch[imuQueLength] = {0}

Definition at line 70 of file scanRegistration.cpp.

float imuPitchCur

Definition at line 58 of file scanRegistration.cpp.

float imuPitchStart

Definition at line 57 of file scanRegistration.cpp.

int imuPointerFront = 0

Definition at line 52 of file scanRegistration.cpp.

int imuPointerLast = -1

Definition at line 53 of file scanRegistration.cpp.

const int imuQueLength = 50

Definition at line 54 of file scanRegistration.cpp.

float imuRoll[imuQueLength] = {0}

Definition at line 69 of file scanRegistration.cpp.

float imuRollCur

Definition at line 58 of file scanRegistration.cpp.

float imuRollStart

Definition at line 57 of file scanRegistration.cpp.

float imuShiftFromStartXCur

Definition at line 65 of file scanRegistration.cpp.

float imuShiftFromStartYCur

Definition at line 65 of file scanRegistration.cpp.

float imuShiftFromStartZCur

Definition at line 65 of file scanRegistration.cpp.

float imuShiftX[imuQueLength] = {0}

Definition at line 81 of file scanRegistration.cpp.

float imuShiftXCur

Definition at line 63 of file scanRegistration.cpp.

float imuShiftXStart

Definition at line 61 of file scanRegistration.cpp.

float imuShiftY[imuQueLength] = {0}

Definition at line 82 of file scanRegistration.cpp.

float imuShiftYCur

Definition at line 63 of file scanRegistration.cpp.

float imuShiftYStart

Definition at line 61 of file scanRegistration.cpp.

float imuShiftZ[imuQueLength] = {0}

Definition at line 83 of file scanRegistration.cpp.

float imuShiftZCur

Definition at line 63 of file scanRegistration.cpp.

float imuShiftZStart

Definition at line 61 of file scanRegistration.cpp.

double imuTime[imuQueLength] = {0}

Definition at line 68 of file scanRegistration.cpp.

float imuVeloFromStartXCur

Definition at line 66 of file scanRegistration.cpp.

float imuVeloFromStartYCur

Definition at line 66 of file scanRegistration.cpp.

float imuVeloFromStartZCur

Definition at line 66 of file scanRegistration.cpp.

float imuVeloX[imuQueLength] = {0}

Definition at line 77 of file scanRegistration.cpp.

float imuVeloXCur

Definition at line 62 of file scanRegistration.cpp.

float imuVeloXStart

Definition at line 60 of file scanRegistration.cpp.

float imuVeloY[imuQueLength] = {0}

Definition at line 78 of file scanRegistration.cpp.

float imuVeloYCur

Definition at line 62 of file scanRegistration.cpp.

float imuVeloYStart

Definition at line 60 of file scanRegistration.cpp.

float imuVeloZ[imuQueLength] = {0}

Definition at line 79 of file scanRegistration.cpp.

float imuVeloZCur

Definition at line 62 of file scanRegistration.cpp.

float imuVeloZStart

Definition at line 60 of file scanRegistration.cpp.

float imuYaw[imuQueLength] = {0}

Definition at line 71 of file scanRegistration.cpp.

float imuYawCur

Definition at line 58 of file scanRegistration.cpp.

float imuYawStart

Definition at line 57 of file scanRegistration.cpp.

double initTime

Definition at line 27 of file scanRegistration.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudExtreCur(new pcl::PointCloud< pcl::PointXYZHSV >())

sensor_msgs::PointCloud2 laserCloudExtreCur2

Definition at line 43 of file scanRegistration.cpp.

sensor_msgs::PointCloud2 laserCloudLast2

Definition at line 44 of file scanRegistration.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudLessExtreCur(new pcl::PointCloud< pcl::PointXYZHSV >())

int laserRotDir = 1

Definition at line 35 of file scanRegistration.cpp.

const double PI = 3.1415926

Definition at line 23 of file scanRegistration.cpp.

ros::Publisher* pubLaserCloudExtreCurPointer

Definition at line 46 of file scanRegistration.cpp.

ros::Publisher* pubLaserCloudLastPointer

Definition at line 47 of file scanRegistration.cpp.

const double rad2deg = 180 / PI

Definition at line 24 of file scanRegistration.cpp.

int skipFrameCount = 0

Definition at line 38 of file scanRegistration.cpp.

int skipFrameNum = 2

Definition at line 37 of file scanRegistration.cpp.

bool systemInited = false

Definition at line 30 of file scanRegistration.cpp.

double timeLasted

Definition at line 29 of file scanRegistration.cpp.

double timeScanCur = 0

Definition at line 32 of file scanRegistration.cpp.

double timeScanLast = 0

Definition at line 33 of file scanRegistration.cpp.

double timeStart

Definition at line 28 of file scanRegistration.cpp.