floam::lidar::Lidar< T > Class Template Reference

#include <lidar.hpp>

Public Member Functions
template<>
void	detectEdges (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointXYZL >::Ptr &edges)
	Scanner type. More...
void	detectEdges (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointXYZL >::Ptr &edges)
template<>
void	detectEdges (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointXYZL >::Ptr &edges)
	overload detectEdges for Scanner type More...
template<>
void	detectEdges (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointXYZL >::Ptr &edges)
	overload detectEdges for Imager type More...
template<>
void	detectEdges (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointXYZL >::Ptr &edges)
	Imager type. More...
void	detectSurfaces (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointNormal >::Ptr &normals)
template<>
void	detectSurfaces (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointNormal >::Ptr &normals)
	overload detectSurfaces for Scanner type More...
template<>
void	detectSurfaces (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointNormal >::Ptr &normals)
	overload detectSurfaces for Imager type More...
template<>
void	detectSurfaces (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointNormal >::Ptr &normals)
	Scanner type. More...
template<>
void	detectSurfaces (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, pcl::PointCloud< pcl::PointNormal >::Ptr &normals)
	overloaded for Imager type More...

Public Attributes
std::vector< int >	m_addedPoints
Eigen::Matrix< std::complex< double >, 3, 3 >	m_covariance
	covariance objects More...
Eigen::Matrix< std::complex< double >, 3, 1 >	m_eigenValues
pcl::KdTreeFLANN< pcl::PointXYZ >	m_kdTree
	kdTree More...
std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >	m_lidarScans
	lidarScans More...
T	m_settings
	Settings for specific Lidar type. More...
floam::lidar::Total	m_total
	Total counters (i.e. frames and time) More...
std::vector< int >	pointSearch
std::vector< float >	pointSquaredDistance

Detailed Description

template<class T>
class floam::lidar::Lidar< T >

Definition at line 22 of file lidar.hpp.

Member Function Documentation

detectEdges() [1/5]

template<>

void floam::lidar::Lidar< floam::lidar::Scanner >::detectEdges	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointXYZL >::Ptr &	edges
	)

Scanner type.

clear addedPoints

clear lidar scans

TODO(flynneva): use downsampling technique instead of just skipping points? number of points to skip

calculate radial distance to point

number of neighbor points found - 1

divide matrix by number of points - 1

calculate surface variation

end function

(flynneva) why 131?

TODO(flynneva): separate out this bit to function?

input: points, sectorSize output: cloudCurvature

end of potential cloudCurvature func

loop over sectors

Definition at line 25 of file lidar.cpp.

detectEdges() [2/5]

template<class T>

void floam::lidar::Lidar< T >::detectEdges	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointXYZL >::Ptr &	edges
	)

Detects edges from input pointcloud

Parameters

points	input pointcloud
edges	output edges

detectEdges() [3/5]

template<>

void floam::lidar::Lidar< floam::lidar::Scanner >::detectEdges	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointXYZL >::Ptr &	edges
	)

overload detectEdges for Scanner type

detectEdges() [4/5]

template<>

void floam::lidar::Lidar< floam::lidar::Imager >::detectEdges	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointXYZL >::Ptr &	edges
	)

overload detectEdges for Imager type

detectEdges() [5/5]

template<>

void floam::lidar::Lidar< floam::lidar::Imager >::detectEdges	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointXYZL >::Ptr &	edges
	)

Imager type.

Definition at line 305 of file lidar.cpp.

detectSurfaces() [1/5]

template<class T>

void floam::lidar::Lidar< T >::detectSurfaces	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	normals
	)

Detects surface normals from input pointcloud

Parameters

points	input pointcloud
edges	output edges

detectSurfaces() [2/5]

template<>

void floam::lidar::Lidar< floam::lidar::Scanner >::detectSurfaces	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	normals
	)

overload detectSurfaces for Scanner type

detectSurfaces() [3/5]

template<>

void floam::lidar::Lidar< floam::lidar::Imager >::detectSurfaces	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	normals
	)

overload detectSurfaces for Imager type

detectSurfaces() [4/5]

template<>

void floam::lidar::Lidar< floam::lidar::Scanner >::detectSurfaces	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	normals
	)

Scanner type.

Definition at line 328 of file lidar.cpp.

detectSurfaces() [5/5]

template<>

void floam::lidar::Lidar< floam::lidar::Imager >::detectSurfaces	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	normals
	)

overloaded for Imager type

Definition at line 352 of file lidar.cpp.

Member Data Documentation

m_addedPoints

template<class T>

std::vector<int> floam::lidar::Lidar< T >::m_addedPoints

Definition at line 50 of file lidar.hpp.

m_covariance

template<class T>

Eigen::Matrix<std::complex<double>, 3, 3> floam::lidar::Lidar< T >::m_covariance

covariance objects

Definition at line 58 of file lidar.hpp.

m_eigenValues

template<class T>

Eigen::Matrix<std::complex<double>, 3, 1> floam::lidar::Lidar< T >::m_eigenValues

Definition at line 59 of file lidar.hpp.

m_kdTree

template<class T>

pcl::KdTreeFLANN<pcl::PointXYZ> floam::lidar::Lidar< T >::m_kdTree

kdTree

Definition at line 53 of file lidar.hpp.

m_lidarScans

template<class T>

std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> floam::lidar::Lidar< T >::m_lidarScans

lidarScans

Definition at line 49 of file lidar.hpp.

m_settings

template<class T>

T floam::lidar::Lidar< T >::m_settings

Settings for specific Lidar type.

Definition at line 44 of file lidar.hpp.

m_total

template<class T>

floam::lidar::Total floam::lidar::Lidar< T >::m_total

Total counters (i.e. frames and time)

Definition at line 46 of file lidar.hpp.

pointSearch

template<class T>

std::vector<int> floam::lidar::Lidar< T >::pointSearch

Definition at line 54 of file lidar.hpp.

pointSquaredDistance

template<class T>

std::vector<float> floam::lidar::Lidar< T >::pointSquaredDistance

Definition at line 55 of file lidar.hpp.

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

• lidar.hpp