velo2cam_calibration.cpp File Reference

#include "velo2cam_calibration/ClusterCentroids.h"
#include <vector>
#include <ros/ros.h>
#include <ros/package.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/common/transforms.h>
#include <pcl/registration/icp.h>
#include <ctime>
#include "tinyxml.h"
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_eigen.h>
#include <pcl_ros/transforms.h>
#include "velo2cam_utils.h"

Include dependency graph for velo2cam_calibration.cpp:

Go to the source code of this file.

Macros
#define	PCL_NO_PRECOMPILE

Typedefs
typedef Eigen::Matrix< double, 12, 12 >	Matrix12d
typedef Eigen::Matrix< double, 12, 1 >	Vector12d

Functions
void	calibrateExtrinsics (int seek_iter=-1)
const std::string	currentDateTime ()
std::vector< pcl::PointXYZ >	cv (4)
void	laser_callback (const velo2cam_calibration::ClusterCentroids::ConstPtr velo_centroids)
std::vector< pcl::PointXYZ >	lv (4)
int	main (int argc, char **argv)
void	stereo_callback (velo2cam_calibration::ClusterCentroids::ConstPtr image_centroids)

Variables
ros::Publisher	aux2_pub
ros::Publisher	aux_pub
std::vector< std::tuple< int, int, pcl::PointCloud< pcl::PointXYZ >, std::vector< pcl::PointXYZ > > >	cam_buffer
long int	cam_count
pcl::PointCloud< pcl::PointXYZ >::Ptr	camera_cloud
bool	cameraReceived
ros::Publisher	clusters_c
ros::Publisher	clusters_l
pcl::PointCloud< pcl::PointXYZI >::Ptr	icamera_cloud
pcl::PointCloud< pcl::PointXYZI >::Ptr	ilaser_cloud
std::vector< std::tuple< int, int, pcl::PointCloud< pcl::PointXYZ >, std::vector< pcl::PointXYZ > > >	laser_buffer
pcl::PointCloud< pcl::PointXYZ >::Ptr	laser_cloud
long int	laser_count
bool	laserReceived
int	nFrames
bool	publish_tf_
bool	save_to_file_
std::ofstream	savefile
bool	sync_iterations
ros::Publisher	t_pub
tf::StampedTransform	tf_velodyne_camera
tf::Transform	transf

Macro Definition Documentation

#define PCL_NO_PRECOMPILE

Definition at line 25 of file velo2cam_calibration.cpp.

Typedef Documentation

typedef Eigen::Matrix<double, 12, 12> Matrix12d

Definition at line 74 of file velo2cam_calibration.cpp.

typedef Eigen::Matrix<double, 12, 1> Vector12d

Definition at line 75 of file velo2cam_calibration.cpp.

Function Documentation

void calibrateExtrinsics

(

int

seek_iter = -1

)

Definition at line 102 of file velo2cam_calibration.cpp.

const std::string currentDateTime

(

)

Definition at line 90 of file velo2cam_calibration.cpp.

std::vector<pcl::PointXYZ> cv

(

4

)

void laser_callback

(

const velo2cam_calibration::ClusterCentroids::ConstPtr

velo_centroids

)

Definition at line 295 of file velo2cam_calibration.cpp.

std::vector<pcl::PointXYZ> lv

(

4

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 422 of file velo2cam_calibration.cpp.

void stereo_callback

(

velo2cam_calibration::ClusterCentroids::ConstPtr

image_centroids

)

Definition at line 336 of file velo2cam_calibration.cpp.

Variable Documentation

ros::Publisher aux2_pub

Definition at line 62 of file velo2cam_calibration.cpp.

ros::Publisher aux_pub

Definition at line 62 of file velo2cam_calibration.cpp.

std::vector< std::tuple<int,int,pcl::PointCloud<pcl::PointXYZ>, std::vector<pcl::PointXYZ> > > cam_buffer

Definition at line 80 of file velo2cam_calibration.cpp.

long int cam_count

Definition at line 86 of file velo2cam_calibration.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr camera_cloud

Definition at line 68 of file velo2cam_calibration.cpp.

bool cameraReceived

Definition at line 66 of file velo2cam_calibration.cpp.

ros::Publisher clusters_c

Definition at line 64 of file velo2cam_calibration.cpp.

ros::Publisher clusters_l

Definition at line 64 of file velo2cam_calibration.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr icamera_cloud

Definition at line 69 of file velo2cam_calibration.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr ilaser_cloud

Definition at line 69 of file velo2cam_calibration.cpp.

std::vector< std::tuple<int,int,pcl::PointCloud<pcl::PointXYZ>, std::vector<pcl::PointXYZ> > > laser_buffer

Definition at line 79 of file velo2cam_calibration.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr laser_cloud

Definition at line 68 of file velo2cam_calibration.cpp.

long int laser_count

Definition at line 86 of file velo2cam_calibration.cpp.

bool laserReceived

Definition at line 66 of file velo2cam_calibration.cpp.

int nFrames

Definition at line 65 of file velo2cam_calibration.cpp.

bool publish_tf_

Definition at line 84 of file velo2cam_calibration.cpp.

bool save_to_file_

Definition at line 83 of file velo2cam_calibration.cpp.

std::ofstream savefile

Definition at line 88 of file velo2cam_calibration.cpp.

bool sync_iterations

Definition at line 82 of file velo2cam_calibration.cpp.

ros::Publisher t_pub

Definition at line 63 of file velo2cam_calibration.cpp.

tf::StampedTransform tf_velodyne_camera

Definition at line 72 of file velo2cam_calibration.cpp.

tf::Transform transf

Definition at line 77 of file velo2cam_calibration.cpp.