#include <odom_estimation.hpp>

Public Member Functions
void	addEdgeCostFactor (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, const pcl::PointCloud< pcl::PointXYZ >::Ptr &map, ceres::Problem &problem, ceres::LossFunction *lossFunction)
	function More...

void	addPointsToMap (const pcl::PointCloud< pcl::PointXYZ >::Ptr &downsampledEdgeCloud, const pcl::PointCloud< pcl::PointXYZ >::Ptr &downsampledSurfCloud)

void	addSurfCostFactor (const pcl::PointCloud< pcl::PointXYZ >::Ptr &points, const pcl::PointCloud< pcl::PointXYZ >::Ptr &map, ceres::Problem &problem, ceres::LossFunction *lossFunction)

void	downSamplingToMap (const pcl::PointCloud< pcl::PointXYZ >::Ptr &edgesIn, pcl::PointCloud< pcl::PointXYZ >::Ptr &edgesOut, const pcl::PointCloud< pcl::PointXYZ >::Ptr &surfacesIn, pcl::PointCloud< pcl::PointXYZ >::Ptr &surfacesOut)

void	getMap (pcl::PointCloud< pcl::PointXYZ >::Ptr &lidarCloudMap)

void	init (const double &mapResolution)

void	initMapWithPoints (const pcl::PointCloud< pcl::PointXYZ >::Ptr &edges, const pcl::PointCloud< pcl::PointXYZ >::Ptr &surfaces)

	OdomEstimation ()
	constructor / destructor More...

void	pointAssociateToMap (const std::shared_ptr< pcl::PointXYZ > &pointsIn, std::shared_ptr< pcl::PointXYZ > &pointsOut)

void	updatePointsToMap (const pcl::PointCloud< pcl::PointXYZ >::Ptr &edges, const pcl::PointCloud< pcl::PointXYZ >::Ptr &surfaces)

	~OdomEstimation ()

Public Attributes
pcl::CropBox< pcl::PointXYZ >	m_cropBoxFilter
	local map More...

Eigen::Map< Eigen::Quaterniond >	m_currentRotation = Eigen::Map<Eigen::Quaterniond>(m_parameters)

Eigen::Map< Eigen::Vector3d >	m_currentTranslation = Eigen::Map<Eigen::Vector3d>(m_parameters + 4)

pcl::VoxelGrid< pcl::PointXYZ >	m_downSizeFilterEdge
	points downsampling before add to map More...

pcl::VoxelGrid< pcl::PointXYZ >	m_downSizeFilterSurf

pcl::KdTreeFLANN< pcl::PointXYZ >::Ptr	m_kdTreeEdgeMap
	kd-tree More...

pcl::KdTreeFLANN< pcl::PointXYZ >::Ptr	m_kdTreeSurfMap

Eigen::Isometry3d	m_lastOdom

pcl::PointCloud< pcl::PointXYZ >::Ptr	m_lidarCloudCornerMap
	corner and surface map objects More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	m_lidarCloudSurfMap

Eigen::Isometry3d	m_odom
	Odometry. More...

int	m_optimizationCount
	optimization count More...

double	m_parameters [7] = {0, 0, 0, 1, 0, 0, 0}
	Optimization parameters that ceres solvers update each loop. More...

floam::lidar::Total	m_totals
	totals counters (frames, time) More...

Detailed Description

Odometry Estimation Class

Can be used across all lidar types

Definition at line 48 of file odom_estimation.hpp.

Constructor & Destructor Documentation

◆ OdomEstimation()

floam::odom::OdomEstimation::OdomEstimation ( )

constructor / destructor

Definition at line 18 of file odom_estimation.cpp.

◆ ~OdomEstimation()

floam::odom::OdomEstimation::~OdomEstimation ( )

inline

Definition at line 53 of file odom_estimation.hpp.

Member Function Documentation

◆ addEdgeCostFactor()

void floam::odom::OdomEstimation::addEdgeCostFactor	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	map,
		ceres::Problem &	problem,
		ceres::LossFunction *	lossFunction
	)

function

Definition at line 140 of file odom_estimation.cpp.

◆ addPointsToMap()

void floam::odom::OdomEstimation::addPointsToMap	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	downsampledEdgeCloud,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	downsampledSurfCloud
	)

Definition at line 277 of file odom_estimation.cpp.

◆ addSurfCostFactor()

void floam::odom::OdomEstimation::addSurfCostFactor	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	points,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	map,
		ceres::Problem &	problem,
		ceres::LossFunction *	lossFunction
	)

Definition at line 211 of file odom_estimation.cpp.

◆ downSamplingToMap()

void floam::odom::OdomEstimation::downSamplingToMap	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	edgesIn,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	edgesOut,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	surfacesIn,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	surfacesOut
	)

Definition at line 128 of file odom_estimation.cpp.

◆ getMap()

void floam::odom::OdomEstimation::getMap ( pcl::PointCloud< pcl::PointXYZ >::Ptr & lidarCloudMap )

Definition at line 326 of file odom_estimation.cpp.

◆ init()

void floam::odom::OdomEstimation::init ( const double & mapResolution )

Definition at line 23 of file odom_estimation.cpp.

◆ initMapWithPoints()

void floam::odom::OdomEstimation::initMapWithPoints	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	edges,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	surfaces
	)

TODO(flynneva): make this a parameter

Definition at line 40 of file odom_estimation.cpp.

◆ pointAssociateToMap()

void floam::odom::OdomEstimation::pointAssociateToMap	(	const std::shared_ptr< pcl::PointXYZ > &	pointsIn,
		std::shared_ptr< pcl::PointXYZ > &	pointsOut
	)

Definition at line 116 of file odom_estimation.cpp.

◆ updatePointsToMap()

void floam::odom::OdomEstimation::updatePointsToMap	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	edges,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	surfaces
	)

TODO(flynneva): make this a parameter

generate map from edges and surfaces

TODO(flynneva): make these parameters

Update odom

Definition at line 51 of file odom_estimation.cpp.

Member Data Documentation

◆ m_cropBoxFilter

pcl::CropBox<pcl::PointXYZ> floam::odom::OdomEstimation::m_cropBoxFilter

local map

Definition at line 82 of file odom_estimation.hpp.

◆ m_currentRotation

Eigen::Map<Eigen::Quaterniond> floam::odom::OdomEstimation::m_currentRotation = Eigen::Map<Eigen::Quaterniond>(m_parameters)

Definition at line 66 of file odom_estimation.hpp.

◆ m_currentTranslation

Eigen::Map<Eigen::Vector3d> floam::odom::OdomEstimation::m_currentTranslation = Eigen::Map<Eigen::Vector3d>(m_parameters + 4)

Definition at line 67 of file odom_estimation.hpp.

◆ m_downSizeFilterEdge

pcl::VoxelGrid<pcl::PointXYZ> floam::odom::OdomEstimation::m_downSizeFilterEdge

points downsampling before add to map

Definition at line 78 of file odom_estimation.hpp.

◆ m_downSizeFilterSurf

pcl::VoxelGrid<pcl::PointXYZ> floam::odom::OdomEstimation::m_downSizeFilterSurf

Definition at line 79 of file odom_estimation.hpp.

◆ m_kdTreeEdgeMap

pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr floam::odom::OdomEstimation::m_kdTreeEdgeMap

kd-tree

Definition at line 70 of file odom_estimation.hpp.

◆ m_kdTreeSurfMap

pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr floam::odom::OdomEstimation::m_kdTreeSurfMap

Definition at line 71 of file odom_estimation.hpp.

◆ m_lastOdom

Eigen::Isometry3d floam::odom::OdomEstimation::m_lastOdom

Definition at line 61 of file odom_estimation.hpp.

◆ m_lidarCloudCornerMap

pcl::PointCloud<pcl::PointXYZ>::Ptr floam::odom::OdomEstimation::m_lidarCloudCornerMap

corner and surface map objects

Definition at line 74 of file odom_estimation.hpp.

◆ m_lidarCloudSurfMap

pcl::PointCloud<pcl::PointXYZ>::Ptr floam::odom::OdomEstimation::m_lidarCloudSurfMap

Definition at line 75 of file odom_estimation.hpp.

◆ m_odom

Eigen::Isometry3d floam::odom::OdomEstimation::m_odom

Odometry.

Definition at line 61 of file odom_estimation.hpp.

◆ m_optimizationCount

int floam::odom::OdomEstimation::m_optimizationCount

optimization count

Definition at line 85 of file odom_estimation.hpp.

◆ m_parameters

double floam::odom::OdomEstimation::m_parameters[7] = {0, 0, 0, 1, 0, 0, 0}

Optimization parameters that ceres solvers update each loop.

Definition at line 64 of file odom_estimation.hpp.

◆ m_totals

floam::lidar::Total floam::odom::OdomEstimation::m_totals

totals counters (frames, time)

Definition at line 88 of file odom_estimation.hpp.

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

Public Member Functions

Public Attributes