#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/ros/conversions.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/filters/voxel_grid.h>#include <pcl/kdtree/kdtree_flann.h>
Go to the source code of this file.
Functions | |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | coeffSel (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| pcl::KdTreeFLANN < pcl::PointXYZHSV >::Ptr | kdtreeCornerLast (new pcl::KdTreeFLANN< pcl::PointXYZHSV >()) |
| pcl::KdTreeFLANN < pcl::PointXYZHSV >::Ptr | kdtreeCornerLLast (new pcl::KdTreeFLANN< pcl::PointXYZHSV >()) |
| pcl::KdTreeFLANN < pcl::PointXYZHSV >::Ptr | kdtreeSurfLast (new pcl::KdTreeFLANN< pcl::PointXYZHSV >()) |
| pcl::KdTreeFLANN < pcl::PointXYZHSV >::Ptr | kdtreeSurfLLast (new pcl::KdTreeFLANN< pcl::PointXYZHSV >()) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudCornerLast (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudCornerLLast (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudExtreCur (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| void | laserCloudExtreCurHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudExtreCur2) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudExtreLast (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudExtreOri (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudLast (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| void | laserCloudLastHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudLast2) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudSurfLast (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| pcl::PointCloud < pcl::PointXYZHSV >::Ptr | laserCloudSurfLLast (new pcl::PointCloud< pcl::PointXYZHSV >()) |
| int | main (int argc, char **argv) |
| void | TransformReset () |
| void | TransformToEnd (pcl::PointXYZHSV *pi, pcl::PointXYZHSV *po, double startTime, double endTime) |
| void | TransformToStart (pcl::PointXYZHSV *pi, pcl::PointXYZHSV *po, double startTime, double endTime) |
Variables | |
| const double | deg2rad = PI / 180 |
| bool | imuInited = false |
| float | imuPitchCur = 0 |
| float | imuPitchLast = 0 |
| float | imuPitchStartCur = 0 |
| float | imuPitchStartLast = 0 |
| float | imuRollCur = 0 |
| float | imuRollLast = 0 |
| float | imuRollStartCur = 0 |
| float | imuRollStartLast = 0 |
| float | imuShiftFromStartXCur = 0 |
| float | imuShiftFromStartXLast = 0 |
| float | imuShiftFromStartYCur = 0 |
| float | imuShiftFromStartYLast = 0 |
| float | imuShiftFromStartZCur = 0 |
| float | imuShiftFromStartZLast = 0 |
| float | imuVeloFromStartXCur = 0 |
| float | imuVeloFromStartXLast = 0 |
| float | imuVeloFromStartYCur = 0 |
| float | imuVeloFromStartYLast = 0 |
| float | imuVeloFromStartZCur = 0 |
| float | imuVeloFromStartZLast = 0 |
| float | imuYawCur = 0 |
| float | imuYawLast = 0 |
| float | imuYawStartCur = 0 |
| float | imuYawStartLast = 0 |
| double | initTime |
| bool | newLaserCloudExtreCur = false |
| bool | newLaserCloudLast = false |
| const double | PI = 3.1415926 |
| const double | rad2deg = 180 / PI |
| double | startTimeCur |
| double | startTimeLast |
| bool | systemInited = false |
| double | timeLaserCloudExtreCur = 0 |
| double | timeLaserCloudLast = 0 |
| double | timeLasted |
| double | timeLastedRec |
| float | transform [6] = {0} |
| float | transformRec [6] = {0} |
| float | transformSum [6] = {0} |
Function Documentation
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr coeffSel | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr kdtreeCornerLast | ( | new pcl::KdTreeFLANN< pcl::PointXYZHSV > | () | ) |
| pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr kdtreeCornerLLast | ( | new pcl::KdTreeFLANN< pcl::PointXYZHSV > | () | ) |
| pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr kdtreeSurfLast | ( | new pcl::KdTreeFLANN< pcl::PointXYZHSV > | () | ) |
| pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr kdtreeSurfLLast | ( | new pcl::KdTreeFLANN< pcl::PointXYZHSV > | () | ) |
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCornerLast | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCornerLLast | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudExtreCur | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| void laserCloudExtreCurHandler | ( | const sensor_msgs::PointCloud2ConstPtr & | laserCloudExtreCur2 | ) |
Definition at line 186 of file laserOdometry.cpp.
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudExtreLast | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudExtreOri | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudLast | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| void laserCloudLastHandler | ( | const sensor_msgs::PointCloud2ConstPtr & | laserCloudLast2 | ) |
Definition at line 236 of file laserOdometry.cpp.
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudSurfLast | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudSurfLLast | ( | new pcl::PointCloud< pcl::PointXYZHSV > | () | ) |
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 306 of file laserOdometry.cpp.
| void TransformReset | ( | ) |
Definition at line 75 of file laserOdometry.cpp.
| void TransformToEnd | ( | pcl::PointXYZHSV * | pi, |
| pcl::PointXYZHSV * | po, | ||
| double | startTime, | ||
| double | endTime | ||
| ) |
Definition at line 114 of file laserOdometry.cpp.
| void TransformToStart | ( | pcl::PointXYZHSV * | pi, |
| pcl::PointXYZHSV * | po, | ||
| double | startTime, | ||
| double | endTime | ||
| ) |
Definition at line 87 of file laserOdometry.cpp.
Variable Documentation
Definition at line 25 of file laserOdometry.cpp.
| bool imuInited = false |
Definition at line 73 of file laserOdometry.cpp.
| float imuPitchCur = 0 |
Definition at line 64 of file laserOdometry.cpp.
| float imuPitchLast = 0 |
Definition at line 69 of file laserOdometry.cpp.
| float imuPitchStartCur = 0 |
Definition at line 63 of file laserOdometry.cpp.
| float imuPitchStartLast = 0 |
Definition at line 68 of file laserOdometry.cpp.
| float imuRollCur = 0 |
Definition at line 64 of file laserOdometry.cpp.
| float imuRollLast = 0 |
Definition at line 69 of file laserOdometry.cpp.
| float imuRollStartCur = 0 |
Definition at line 63 of file laserOdometry.cpp.
| float imuRollStartLast = 0 |
Definition at line 68 of file laserOdometry.cpp.
| float imuShiftFromStartXCur = 0 |
Definition at line 65 of file laserOdometry.cpp.
| float imuShiftFromStartXLast = 0 |
Definition at line 70 of file laserOdometry.cpp.
| float imuShiftFromStartYCur = 0 |
Definition at line 65 of file laserOdometry.cpp.
| float imuShiftFromStartYLast = 0 |
Definition at line 70 of file laserOdometry.cpp.
| float imuShiftFromStartZCur = 0 |
Definition at line 65 of file laserOdometry.cpp.
| float imuShiftFromStartZLast = 0 |
Definition at line 70 of file laserOdometry.cpp.
| float imuVeloFromStartXCur = 0 |
Definition at line 66 of file laserOdometry.cpp.
| float imuVeloFromStartXLast = 0 |
Definition at line 71 of file laserOdometry.cpp.
| float imuVeloFromStartYCur = 0 |
Definition at line 66 of file laserOdometry.cpp.
| float imuVeloFromStartYLast = 0 |
Definition at line 71 of file laserOdometry.cpp.
| float imuVeloFromStartZCur = 0 |
Definition at line 66 of file laserOdometry.cpp.
| float imuVeloFromStartZLast = 0 |
Definition at line 71 of file laserOdometry.cpp.
| float imuYawCur = 0 |
Definition at line 64 of file laserOdometry.cpp.
| float imuYawLast = 0 |
Definition at line 69 of file laserOdometry.cpp.
| float imuYawStartCur = 0 |
Definition at line 63 of file laserOdometry.cpp.
| float imuYawStartLast = 0 |
Definition at line 68 of file laserOdometry.cpp.
| double initTime |
Definition at line 29 of file laserOdometry.cpp.
| bool newLaserCloudExtreCur = false |
Definition at line 38 of file laserOdometry.cpp.
| bool newLaserCloudLast = false |
Definition at line 39 of file laserOdometry.cpp.
| const double PI = 3.1415926 |
Definition at line 23 of file laserOdometry.cpp.
Definition at line 24 of file laserOdometry.cpp.
| double startTimeCur |
Definition at line 32 of file laserOdometry.cpp.
| double startTimeLast |
Definition at line 33 of file laserOdometry.cpp.
| bool systemInited = false |
Definition at line 27 of file laserOdometry.cpp.
| double timeLaserCloudExtreCur = 0 |
Definition at line 35 of file laserOdometry.cpp.
| double timeLaserCloudLast = 0 |
Definition at line 36 of file laserOdometry.cpp.
| double timeLasted |
Definition at line 30 of file laserOdometry.cpp.
| double timeLastedRec |
Definition at line 31 of file laserOdometry.cpp.
| float transform[6] = {0} |
Definition at line 59 of file laserOdometry.cpp.
| float transformRec[6] = {0} |
Definition at line 60 of file laserOdometry.cpp.
| float transformSum[6] = {0} |
Definition at line 61 of file laserOdometry.cpp.