lslgeneric::NDTFuserHMT Class Reference

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

#include <ndt_fuser_hmt.h>

List of all members.

Public Member Functions
double	getDoubleTime ()
void	initialize (Eigen::Affine3d initPos, pcl::PointCloud< pcl::PointXYZ > &cloud, bool preLoad=false)
	NDTFuserHMT (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, bool doMultires_=false, bool fuseIncomplete_=false, int max_itr=30, std::string prefix_="", bool beHMT_=true, std::string hmt_map_dir_="map", bool _step_control=true)
bool	saveMap ()
void	setSensorPose (Eigen::Affine3d spose)
Eigen::Affine3d	update (Eigen::Affine3d Tmotion, pcl::PointCloud< pcl::PointXYZ > &cloud)
bool	wasInit ()
	~NDTFuserHMT ()
Public Attributes
bool	be2D
bool	beHMT
bool	checkConsistency
int	ctr
bool	disableRegistration
bool	doMultires
FILE *	fAddTimes
FILE *	fRegTimes
bool	fuseIncomplete
std::string	hmt_map_dir
lslgeneric::NDTMap *	map
	da map
double	max_rotation_norm
double	max_translation_norm
	perform a check for consistency against initial estimate
std::string	prefix
double	sensor_range
Eigen::Affine3d	Tlast_fuse
Eigen::Affine3d	Tnow
Eigen::Affine3d	Todom
	current pose
NDTViz *	viewer
Private Attributes
bool	isInit
Eigen::Vector3d	localMapSize
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 24 of file ndt_fuser_hmt.h.

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Constructor & Destructor Documentation

lslgeneric::NDTFuserHMT::NDTFuserHMT	(	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,
		bool	doMultires_ = false,
		bool	fuseIncomplete_ = false,
		int	max_itr = 30,
		std::string	prefix_ = "",
		bool	beHMT_ = true,
		std::string	hmt_map_dir_ = "map",
		bool	_step_control = true
	)		[inline]

Definition at line 40 of file ndt_fuser_hmt.h.

lslgeneric::NDTFuserHMT::~NDTFuserHMT

(

)

[inline]

Definition at line 86 of file ndt_fuser_hmt.h.

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Member Function Documentation

double lslgeneric::NDTFuserHMT::getDoubleTime

(

)

[inline]

Definition at line 96 of file ndt_fuser_hmt.h.

void lslgeneric::NDTFuserHMT::initialize	(	Eigen::Affine3d	initPos,
		pcl::PointCloud< pcl::PointXYZ > &	cloud,
		bool	preLoad = false
	)

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_hmt.cpp.

bool lslgeneric::NDTFuserHMT::saveMap

(

)

[inline]

Definition at line 111 of file ndt_fuser_hmt.h.

void lslgeneric::NDTFuserHMT::setSensorPose

(

Eigen::Affine3d

spose

)

[inline]

Definition at line 102 of file ndt_fuser_hmt.h.

Eigen::Affine3d lslgeneric::NDTFuserHMT::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 60 of file ndt_fuser_hmt.cpp.

bool lslgeneric::NDTFuserHMT::wasInit

(

)

[inline]

Definition at line 106 of file ndt_fuser_hmt.h.

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Member Data Documentation

bool lslgeneric::NDTFuserHMT::be2D

Definition at line 31 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::beHMT

Definition at line 31 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::checkConsistency

Definition at line 28 of file ndt_fuser_hmt.h.

int lslgeneric::NDTFuserHMT::ctr

Definition at line 32 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::disableRegistration

Definition at line 31 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::doMultires

Definition at line 31 of file ndt_fuser_hmt.h.

FILE* lslgeneric::NDTFuserHMT::fAddTimes

Definition at line 38 of file ndt_fuser_hmt.h.

FILE * lslgeneric::NDTFuserHMT::fRegTimes

Definition at line 38 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::fuseIncomplete

Definition at line 31 of file ndt_fuser_hmt.h.

std::string lslgeneric::NDTFuserHMT::hmt_map_dir

Definition at line 34 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::isInit [private]

Definition at line 137 of file ndt_fuser_hmt.h.

Eigen::Vector3d lslgeneric::NDTFuserHMT::localMapSize [private]

Definition at line 151 of file ndt_fuser_hmt.h.

lslgeneric::NDTMap* lslgeneric::NDTFuserHMT::map

da map

Definition at line 27 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::map_size [private]

Definition at line 140 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::map_size_x [private]

Definition at line 143 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::map_size_y [private]

Definition at line 144 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::map_size_z [private]

Definition at line 145 of file ndt_fuser_hmt.h.

lslgeneric::NDTMatcherD2D lslgeneric::NDTFuserHMT::matcher [private]

Definition at line 149 of file ndt_fuser_hmt.h.

lslgeneric::NDTMatcherD2D_2D lslgeneric::NDTFuserHMT::matcher2D [private]

Definition at line 150 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::max_rotation_norm

Definition at line 29 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::max_translation_norm

perform a check for consistency against initial estimate

Definition at line 29 of file ndt_fuser_hmt.h.

std::string lslgeneric::NDTFuserHMT::prefix

Definition at line 33 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::resolution [private]

resolution of the map

Definition at line 139 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::rotation_fuse_delta [private]

Definition at line 142 of file ndt_fuser_hmt.h.

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

Definition at line 148 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::sensor_range

Definition at line 30 of file ndt_fuser_hmt.h.

Eigen::Affine3d lslgeneric::NDTFuserHMT::Tlast_fuse

Definition at line 26 of file ndt_fuser_hmt.h.

Eigen::Affine3d lslgeneric::NDTFuserHMT::Tnow

Definition at line 26 of file ndt_fuser_hmt.h.

Eigen::Affine3d lslgeneric::NDTFuserHMT::Todom

current pose

Definition at line 26 of file ndt_fuser_hmt.h.

double lslgeneric::NDTFuserHMT::translation_fuse_delta [private]

Definition at line 142 of file ndt_fuser_hmt.h.

NDTViz* lslgeneric::NDTFuserHMT::viewer

Definition at line 36 of file ndt_fuser_hmt.h.

bool lslgeneric::NDTFuserHMT::visualize [private]

Definition at line 146 of file ndt_fuser_hmt.h.

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

• ndt_fuser_hmt.h
• ndt_fuser_hmt.cpp