lslgeneric::NDTFuser Class Reference

This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion. More...

#include <ndt_fuser.h>

List of all members.

Public Member Functions
double	getDoubleTime ()
void	initialize (Eigen::Affine3d initPos, pcl::PointCloud< pcl::PointXYZ > &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< pcl::PointXYZ > &cloud)
bool	wasInit ()
	~NDTFuser ()
Public Attributes
bool	be2D
bool	checkConsistency
lslgeneric::NDTMap *	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 *	viewer
Private Attributes
bool	isInit
double	map_size
double	map_size_x
double	map_size_y
double	map_size_z
lslgeneric::NDTMatcherD2D	matcher
lslgeneric::NDTMatcherD2D_2D	matcher2D
double	resolution
	resolution of the map
double	rotation_fuse_delta
Eigen::Affine3d	sensor_pose
double	translation_fuse_delta
bool	visualize

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Detailed Description

This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion.

Author:

Jari, Todor

Definition at line 21 of file ndt_fuser.h.

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Constructor & Destructor Documentation

lslgeneric::NDTFuser::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
	)		[inline]

Definition at line 32 of file ndt_fuser.h.

lslgeneric::NDTFuser::~NDTFuser

(

)

[inline]

Definition at line 54 of file ndt_fuser.h.

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Member Function Documentation

double lslgeneric::NDTFuser::getDoubleTime

(

)

[inline]

Definition at line 62 of file ndt_fuser.h.

void lslgeneric::NDTFuser::initialize	(	Eigen::Affine3d	initPos,
		pcl::PointCloud< pcl::PointXYZ > &	cloud
	)

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 4 of file ndt_fuser.cpp.

void lslgeneric::NDTFuser::setSensorPose

(

Eigen::Affine3d

spose

)

[inline]

Definition at line 68 of file ndt_fuser.h.

Eigen::Affine3d lslgeneric::NDTFuser::update	(	Eigen::Affine3d	Tmotion,
		pcl::PointCloud< pcl::PointXYZ > &	cloud
	)

Set the cloud to sensor frame with respect to base

Create local map

Definition at line 24 of file ndt_fuser.cpp.

bool lslgeneric::NDTFuser::wasInit

(

)

[inline]

Definition at line 72 of file ndt_fuser.h.

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Member Data Documentation

bool lslgeneric::NDTFuser::be2D

Definition at line 28 of file ndt_fuser.h.

bool lslgeneric::NDTFuser::checkConsistency

Definition at line 25 of file ndt_fuser.h.

bool lslgeneric::NDTFuser::isInit [private]

Definition at line 88 of file ndt_fuser.h.

lslgeneric::NDTMap* lslgeneric::NDTFuser::map

da map

Definition at line 24 of file ndt_fuser.h.

double lslgeneric::NDTFuser::map_size [private]

Definition at line 91 of file ndt_fuser.h.

double lslgeneric::NDTFuser::map_size_x [private]

Definition at line 94 of file ndt_fuser.h.

double lslgeneric::NDTFuser::map_size_y [private]

Definition at line 95 of file ndt_fuser.h.

double lslgeneric::NDTFuser::map_size_z [private]

Definition at line 96 of file ndt_fuser.h.

lslgeneric::NDTMatcherD2D lslgeneric::NDTFuser::matcher [private]

Definition at line 100 of file ndt_fuser.h.

lslgeneric::NDTMatcherD2D_2D lslgeneric::NDTFuser::matcher2D [private]

Definition at line 101 of file ndt_fuser.h.

double lslgeneric::NDTFuser::max_rotation_norm

Definition at line 26 of file ndt_fuser.h.

double lslgeneric::NDTFuser::max_translation_norm

perform a check for consistency against initial estimate

Definition at line 26 of file ndt_fuser.h.

double lslgeneric::NDTFuser::resolution [private]

resolution of the map

Definition at line 90 of file ndt_fuser.h.

double lslgeneric::NDTFuser::rotation_fuse_delta [private]

Definition at line 93 of file ndt_fuser.h.

Eigen::Affine3d lslgeneric::NDTFuser::sensor_pose [private]

Definition at line 99 of file ndt_fuser.h.

double lslgeneric::NDTFuser::sensor_range

Definition at line 27 of file ndt_fuser.h.

Eigen::Affine3d lslgeneric::NDTFuser::Tlast_fuse

current pose

Definition at line 23 of file ndt_fuser.h.

Eigen::Affine3d lslgeneric::NDTFuser::Tnow

Definition at line 23 of file ndt_fuser.h.

double lslgeneric::NDTFuser::translation_fuse_delta [private]

Definition at line 93 of file ndt_fuser.h.

NDTViz* lslgeneric::NDTFuser::viewer

Definition at line 30 of file ndt_fuser.h.

bool lslgeneric::NDTFuser::visualize [private]

Definition at line 97 of file ndt_fuser.h.

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

• ndt_fuser.h
• ndt_fuser.cpp