NDTViz< PointT > Class Template Reference

#include <ndt_viz.h>

List of all members.

Public Member Functions
void	addParticle (float x, float y, float z, float R=1.0, float G=1.0, float B=1.0)
void	addScan (Eigen::Vector3d orig, pcl::PointCloud< PointT > &cloud, double R=1.0, double G=1.0, double B=1.0)
void	addTrajectoryPoint (float x, float y, float z, float R=1.0, float G=1.0, float B=1.0)
void	clear ()
void	clearParticles ()
void	clearTrajectoryPoints ()
void	displayParticles ()
void	displayTrajectory ()
void	ndtCoolCam (lslgeneric::NDTMap< PointT > *map, const Eigen::Affine3d &spos, double maxDist=70.0, unsigned int Nx=800, unsigned int Ny=600, double fx=800, double fy=600)
	NDTViz (bool allocate_new_window=true)
void	plotLocalConflictNDTMap (lslgeneric::NDTMap< PointT > *map, pcl::PointCloud< PointT > &cloud, double resolution, double R=1, double G=0, double B=0, bool heightCoding=false, double maxz=0)
void	plotLocalNDTMap (pcl::PointCloud< PointT > &cloud, double resolution, double R=0, double G=1, double B=0, bool heightCoding=true)
void	plotNDTMap (lslgeneric::NDTMap< PointT > *map, double R=1.0, double G=1.0, double B=1.0, bool heightCoding=false, bool setCameraPos=true)
void	plotNDTSAccordingToClass (float occupancy, lslgeneric::NDTMap< PointT > *map)
void	plotNDTSAccordingToCost (float occupancy, double MAX_COST, lslgeneric::NDTMap< PointT > *map)
void	plotNDTSAccordingToOccupancy (float occupancy, lslgeneric::NDTMap< PointT > *map)
void	plotNDTTraversabilityMap (lslgeneric::NDTMap< PointT > *map)
void	repaint ()
void	setCameraPointing (double x, double y, double z)
Public Attributes
mrpt::opengl::CPointCloudColouredPtr	gl_particles
mrpt::opengl::CPointCloudColouredPtr	gl_points
mrpt::gui::CDisplayWindow3D *	win3D

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Detailed Description

template<typename PointT>
class NDTViz< PointT >

Definition at line 14 of file ndt_viz.h.

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Constructor & Destructor Documentation

template<typename PointT>

NDTViz< PointT >::NDTViz

(

bool

allocate_new_window = true

)

[inline]

Definition at line 21 of file ndt_viz.h.

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Member Function Documentation

template<typename PointT>

void NDTViz< PointT >::addParticle	(	float	x,
		float	y,
		float	z,
		float	R = 1.0,
		float	G = 1.0,
		float	B = 1.0
	)		[inline]

Definition at line 65 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::addScan	(	Eigen::Vector3d	orig,
		pcl::PointCloud< PointT > &	cloud,
		double	R = 1.0,
		double	G = 1.0,
		double	B = 1.0
	)		[inline]

Add the laser scan to the scen

Definition at line 84 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::addTrajectoryPoint	(	float	x,
		float	y,
		float	z,
		float	R = 1.0,
		float	G = 1.0,
		float	B = 1.0
	)		[inline]

Definition at line 53 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::clear

(

)

[inline]

Definition at line 43 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::clearParticles

(

)

[inline]

Definition at line 64 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::clearTrajectoryPoints

(

)

[inline]

Definition at line 49 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::displayParticles

(

)

[inline]

Definition at line 70 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::displayTrajectory

(

)

[inline]

Definition at line 58 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::ndtCoolCam	(	lslgeneric::NDTMap< PointT > *	map,
		const Eigen::Affine3d &	spos,
		double	maxDist = 70.0,
		unsigned int	Nx = 800,
		unsigned int	Ny = 600,
		double	fx = 800,
		double	fy = 600
	)		[inline]

Computes and visualizes an NDT depth image, based on maximum likelihood estimation

Orientation matrix, for rotating the camera to world frame

< direction vector based on camera model

Direction vector in world frame

Definition at line 464 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotLocalConflictNDTMap	(	lslgeneric::NDTMap< PointT > *	map,
		pcl::PointCloud< PointT > &	cloud,
		double	resolution,
		double	R = 1,
		double	G = 0,
		double	B = 0,
		bool	heightCoding = false,
		double	maxz = 0
	)		[inline]

Definition at line 359 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotLocalNDTMap	(	pcl::PointCloud< PointT > &	cloud,
		double	resolution,
		double	R = 0,
		double	G = 1,
		double	B = 0,
		bool	heightCoding = true
	)		[inline]

Definition at line 321 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotNDTMap	(	lslgeneric::NDTMap< PointT > *	map,
		double	R = 1.0,
		double	G = 1.0,
		double	B = 1.0,
		bool	heightCoding = false,
		bool	setCameraPos = true
	)		[inline]

Definition at line 98 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotNDTSAccordingToClass	(	float	occupancy,
		lslgeneric::NDTMap< PointT > *	map
	)		[inline]

plots ndts according to the cell class, with an occupancy cutoff

Definition at line 196 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotNDTSAccordingToCost	(	float	occupancy,
		double	MAX_COST,
		lslgeneric::NDTMap< PointT > *	map
	)		[inline]

Definition at line 142 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotNDTSAccordingToOccupancy	(	float	occupancy,
		lslgeneric::NDTMap< PointT > *	map
	)		[inline]

Definition at line 270 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::plotNDTTraversabilityMap

(

lslgeneric::NDTMap< PointT > *

map

)

[inline]

Definition at line 412 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::repaint

(

)

[inline]

Definition at line 39 of file ndt_viz.h.

template<typename PointT>

void NDTViz< PointT >::setCameraPointing	(	double	x,
		double	y,
		double	z
	)		[inline]

Definition at line 75 of file ndt_viz.h.

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Member Data Documentation

template<typename PointT>

mrpt::opengl::CPointCloudColouredPtr NDTViz< PointT >::gl_particles

Definition at line 19 of file ndt_viz.h.

template<typename PointT>

mrpt::opengl::CPointCloudColouredPtr NDTViz< PointT >::gl_points

Definition at line 18 of file ndt_viz.h.

template<typename PointT>

mrpt::gui::CDisplayWindow3D* NDTViz< PointT >::win3D

Definition at line 17 of file ndt_viz.h.

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The documentation for this class was generated from the following file:

• ndt_viz.h