#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_conversions/pcl_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:

Functions
void	AccumulateIMUShift ()
pcl::PointCloud < pcl::PointXYZI >::Ptr	cornerPointsLessSharp (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	cornerPointsSharp (new pcl::PointCloud< pcl::PointXYZI >())
void	imuHandler (const sensor_msgs::Imu::ConstPtr &imuIn)
pcl::PointCloud< pcl::PointXYZ > ::Ptr	imuTrans (new pcl::PointCloud< pcl::PointXYZ >(4, 1))
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloud (new pcl::PointCloud< pcl::PointXYZI >())
void	laserCloudHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudIn2)
pcl::PointCloud< pcl::PointXYZ > ::Ptr	laserCloudIn (new pcl::PointCloud< pcl::PointXYZ >())
int	main (int argc, char **argv)
void	ShiftToStartIMU (float pointTime)
pcl::PointCloud < pcl::PointXYZI >::Ptr	surfPointsFlat (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	surfPointsLessFlat (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	surfPointsLessFlatScan (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	surfPointsLessFlatScanDS (new pcl::PointCloud< pcl::PointXYZI >())
void	TransformToStartIMU (pcl::PointXYZI *p)
void	VeloToStartIMU ()
Variables
float	cloudCurvature [40000]
int	cloudLabel [40000]
int	cloudNeighborPicked [40000]
int	cloudSortInd [40000]
float	imuAccX [imuQueLength] = {0}
float	imuAccY [imuQueLength] = {0}
float	imuAccZ [imuQueLength] = {0}
float	imuPitch [imuQueLength] = {0}
float	imuPitchCur = 0
float	imuPitchStart = 0
int	imuPointerFront = 0
int	imuPointerLast = -1
const int	imuQueLength = 200
float	imuRoll [imuQueLength] = {0}
float	imuRollCur = 0
float	imuRollStart = 0
float	imuShiftFromStartXCur = 0
float	imuShiftFromStartYCur = 0
float	imuShiftFromStartZCur = 0
float	imuShiftX [imuQueLength] = {0}
float	imuShiftXCur = 0
float	imuShiftXStart = 0
float	imuShiftY [imuQueLength] = {0}
float	imuShiftYCur = 0
float	imuShiftYStart = 0
float	imuShiftZ [imuQueLength] = {0}
float	imuShiftZCur = 0
float	imuShiftZStart = 0
double	imuTime [imuQueLength] = {0}
float	imuVeloFromStartXCur = 0
float	imuVeloFromStartYCur = 0
float	imuVeloFromStartZCur = 0
float	imuVeloX [imuQueLength] = {0}
float	imuVeloXCur = 0
float	imuVeloXStart = 0
float	imuVeloY [imuQueLength] = {0}
float	imuVeloYCur = 0
float	imuVeloYStart = 0
float	imuVeloZ [imuQueLength] = {0}
float	imuVeloZCur = 0
float	imuVeloZStart = 0
float	imuYaw [imuQueLength] = {0}
float	imuYawCur = 0
float	imuYawStart = 0
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudScans [16]
const double	PI = 3.1415926
ros::Publisher *	pubCornerPointsLessSharpPointer
ros::Publisher *	pubCornerPointsSharpPointer
ros::Publisher *	pubImuTransPointer
ros::Publisher *	pubLaserCloudPointer
ros::Publisher *	pubSurfPointsFlatPointer
ros::Publisher *	pubSurfPointsLessFlatPointer
int	scanEndInd [16]
const float	scanPeriod = 0.1
int	scanStartInd [16]
const int	systemDelay = 20
int	systemInitCount = 0
bool	systemInited = false