#include <ros/ros.h>#include <std_msgs/String.h>#include <sensor_msgs/PointCloud.h>#include <sensor_msgs/PointCloud2.h>#include <nav_msgs/OccupancyGrid.h>#include <pcl/ros/conversions.h>#include <sensor_msgs/point_cloud_conversion.h>#include <sensor_msgs/LaserScan.h>#include <pcl/point_types.h>#include <pcl/io/pcd_io.h>#include <laser_geometry/laser_geometry.h>#include <tf/transform_listener.h>#include <pcl/registration/icp.h>#include <pcl/registration/icp_nl.h>#include <pcl/registration/transforms.h>#include <pcl/kdtree/kdtree_flann.h>#include <geometry_msgs/PoseWithCovarianceStamped.h>#include <boost/thread/mutex.hpp>
Go to the source code of this file.
Typedefs | |
| typedef pcl::PointCloud < pcl::PointXYZ > | PointCloudT |
Functions | |
| bool | getTransform (tf::StampedTransform &trans, const std::string parent_frame, const std::string child_frame, const ros::Time stamp) |
| pcl::KdTree< pcl::PointXYZ >::Ptr | getTree (pcl::PointCloud< pcl::PointXYZ >::Ptr cloudb) |
| int | main (int argc, char **argv) |
| void | mapCallback (const nav_msgs::OccupancyGrid &msg) |
| void | matrixAsTransfrom (const Eigen::Matrix4f &out_mat, tf::Transform &bt) |
| void | scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_in) |
| void | updateParams () |
Variables | |
| int | actScan = 0 |
| double | AGE_THRESHOLD = 1 |
| double | ANGLE_THRESHOLD = 0.01 |
| double | ANGLE_UPPER_THRESHOLD = M_PI / 6 |
| std::string | BASE_LASER_FRAME = "/base_laser_link" |
| sensor_msgs::PointCloud2 | cloud2 |
| sensor_msgs::PointCloud2 | cloud2transformed |
| boost::shared_ptr < pcl::PointCloud < pcl::PointXYZ > > | cloud_xyz |
| int | count_sc_ = 0 |
| double | DIST_THRESHOLD = 0.05 |
| double | ICP_FITNESS_THRESHOLD = 100.1 |
| double | ICP_INLIER_DIST = 0.1 |
| double | ICP_INLIER_THRESHOLD = 0.9 |
| double | ICP_NUM_ITER = 250 |
| ros::Time | last_processed_scan |
| int | lastScan = 0 |
| int | lastTimeSent = -1000 |
| tf::TransformListener * | listener_ = 0 |
| pcl::KdTree< pcl::PointXYZ >::Ptr | mapTree |
| ros::NodeHandle * | nh = 0 |
| std::string | ODOM_FRAME = "/odom_combined" |
| boost::shared_ptr < sensor_msgs::PointCloud2 > | output_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2()) |
| ros::Time | paramsWereUpdated |
| double | POSE_COVARIANCE_TRANS = 1.5 |
| laser_geometry::LaserProjection * | projector_ = 0 |
| ros::Publisher | pub_info_ |
| ros::Publisher | pub_output_ |
| ros::Publisher | pub_output_scan |
| ros::Publisher | pub_output_scan_transformed |
| ros::Publisher | pub_pose |
| boost::mutex | scan_callback_mutex |
| boost::shared_ptr < sensor_msgs::PointCloud2 > | scan_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2()) |
| double | SCAN_RATE = 2 |
| double | UPDATE_AGE_THRESHOLD = 1 |
| bool | use_sim_time = false |
| bool | we_have_a_map = false |
| bool | we_have_a_scan = false |
| bool | we_have_a_scan_transformed = false |
| typedef pcl::PointCloud<pcl::PointXYZ> PointCloudT |
Definition at line 93 of file SnapMapICP.cpp.
| bool getTransform | ( | tf::StampedTransform & | trans, |
| const std::string | parent_frame, | ||
| const std::string | child_frame, | ||
| const ros::Time | stamp | ||
| ) |
Definition at line 214 of file SnapMapICP.cpp.
| pcl::KdTree<pcl::PointXYZ>::Ptr getTree | ( | pcl::PointCloud< pcl::PointXYZ >::Ptr | cloudb | ) |
Definition at line 155 of file SnapMapICP.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 514 of file SnapMapICP.cpp.
| void mapCallback | ( | const nav_msgs::OccupancyGrid & | msg | ) |
Definition at line 165 of file SnapMapICP.cpp.
| void matrixAsTransfrom | ( | const Eigen::Matrix4f & | out_mat, |
| tf::Transform & | bt | ||
| ) | [inline] |
Definition at line 126 of file SnapMapICP.cpp.
| void scanCallback | ( | const sensor_msgs::LaserScan::ConstPtr & | scan_in | ) |
Definition at line 243 of file SnapMapICP.cpp.
| void updateParams | ( | ) |
Definition at line 492 of file SnapMapICP.cpp.
| int actScan = 0 |
Definition at line 105 of file SnapMapICP.cpp.
| double AGE_THRESHOLD = 1 |
Definition at line 65 of file SnapMapICP.cpp.
| double ANGLE_THRESHOLD = 0.01 |
Definition at line 62 of file SnapMapICP.cpp.
| double ANGLE_UPPER_THRESHOLD = M_PI / 6 |
Definition at line 63 of file SnapMapICP.cpp.
| std::string BASE_LASER_FRAME = "/base_laser_link" |
Definition at line 76 of file SnapMapICP.cpp.
| sensor_msgs::PointCloud2 cloud2 |
Definition at line 90 of file SnapMapICP.cpp.
| sensor_msgs::PointCloud2 cloud2transformed |
Definition at line 91 of file SnapMapICP.cpp.
| boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > cloud_xyz |
Definition at line 150 of file SnapMapICP.cpp.
| int count_sc_ = 0 |
Definition at line 212 of file SnapMapICP.cpp.
| double DIST_THRESHOLD = 0.05 |
Definition at line 60 of file SnapMapICP.cpp.
| double ICP_FITNESS_THRESHOLD = 100.1 |
Definition at line 58 of file SnapMapICP.cpp.
| double ICP_INLIER_DIST = 0.1 |
Definition at line 69 of file SnapMapICP.cpp.
| double ICP_INLIER_THRESHOLD = 0.9 |
Definition at line 68 of file SnapMapICP.cpp.
| double ICP_NUM_ITER = 250 |
Definition at line 72 of file SnapMapICP.cpp.
Definition at line 241 of file SnapMapICP.cpp.
| int lastScan = 0 |
Definition at line 104 of file SnapMapICP.cpp.
| int lastTimeSent = -1000 |
Definition at line 210 of file SnapMapICP.cpp.
Definition at line 89 of file SnapMapICP.cpp.
| pcl::KdTree<pcl::PointXYZ>::Ptr mapTree |
Definition at line 152 of file SnapMapICP.cpp.
| ros::NodeHandle* nh = 0 |
Definition at line 79 of file SnapMapICP.cpp.
| std::string ODOM_FRAME = "/odom_combined" |
Definition at line 77 of file SnapMapICP.cpp.
| boost::shared_ptr< sensor_msgs::PointCloud2> output_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2()) |
Definition at line 95 of file SnapMapICP.cpp.
Definition at line 489 of file SnapMapICP.cpp.
| double POSE_COVARIANCE_TRANS = 1.5 |
Definition at line 71 of file SnapMapICP.cpp.
Definition at line 88 of file SnapMapICP.cpp.
Definition at line 83 of file SnapMapICP.cpp.
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Definition at line 82 of file SnapMapICP.cpp.
Definition at line 85 of file SnapMapICP.cpp.
Definition at line 54 of file SnapMapICP.cpp.
| boost::shared_ptr< sensor_msgs::PointCloud2> scan_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2()) |
Definition at line 96 of file SnapMapICP.cpp.
| double SCAN_RATE = 2 |
Definition at line 74 of file SnapMapICP.cpp.
| double UPDATE_AGE_THRESHOLD = 1 |
Definition at line 66 of file SnapMapICP.cpp.
| bool use_sim_time = false |
Definition at line 102 of file SnapMapICP.cpp.
| bool we_have_a_map = false |
Definition at line 98 of file SnapMapICP.cpp.
| bool we_have_a_scan = false |
Definition at line 99 of file SnapMapICP.cpp.
| bool we_have_a_scan_transformed = false |
Definition at line 100 of file SnapMapICP.cpp.