laserMapping.cpp File Reference

#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>

Include dependency graph for laserMapping.cpp:

Go to the source code of this file.

Functions
void	laserCloudLastHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudLast2)
void	laserOdometryHandler (const nav_msgs::Odometry::ConstPtr &laserOdometry)
int	main (int argc, char **argv)
void	pointAssociateToMap (pcl::PointXYZHSV *pi, pcl::PointXYZHSV *po)
void	transformAssociateToMap ()
void	transformUpdate ()
Variables
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	coeffSel (new pcl::PointCloud< pcl::PointXYZHSV >())
const double	deg2rad = PI / 180
pcl::KdTreeFLANN < pcl::PointXYZHSV >::Ptr	kdtreeCornerFromMap (new pcl::KdTreeFLANN< pcl::PointXYZHSV >())
pcl::KdTreeFLANN < pcl::PointXYZHSV >::Ptr	kdtreeSurfFromMap (new pcl::KdTreeFLANN< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudArray [laserCloudNum]
const int	laserCloudCenDepth = 5
const int	laserCloudCenHeight = 5
const int	laserCloudCenWidth = 5
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudCorner (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudCorner2 (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudCornerFromMap (new pcl::PointCloud< pcl::PointXYZHSV >())
const int	laserCloudDepth = 11
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudFromMap (new pcl::PointCloud< pcl::PointXYZHSV >())
const int	laserCloudHeight = 11
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudLast (new pcl::PointCloud< pcl::PointXYZHSV >())
const int	laserCloudNum = laserCloudWidth * laserCloudHeight * laserCloudDepth
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudOri (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudSurf (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudSurf2 (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZHSV >::Ptr	laserCloudSurfFromMap (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurround (new pcl::PointCloud< pcl::PointXYZI >())
int	laserCloudSurroundInd [27]
int	laserCloudValidInd [27]
const int	laserCloudWidth = 11
bool	newLaserCloudLast = false
bool	newLaserOdometry = false
const double	PI = 3.1415926
const double	rad2deg = 180 / PI
double	timeLaserCloudLast
double	timeLaserOdometry
float	transformAftMapped [6] = {0}
float	transformBefMapped [6] = {0}
float	transformIncre [6] = {0}
float	transformSum [6] = {0}
float	transformTobeMapped [6] = {0}

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Function Documentation

void laserCloudLastHandler

(

const sensor_msgs::PointCloud2ConstPtr &

laserCloudLast2

)

Definition at line 144 of file laserMapping.cpp.

void laserOdometryHandler

(

const nav_msgs::Odometry::ConstPtr &

laserOdometry

)

Definition at line 154 of file laserMapping.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 173 of file laserMapping.cpp.

void pointAssociateToMap	(	pcl::PointXYZHSV *	pi,
		pcl::PointXYZHSV *	po
	)

Definition at line 122 of file laserMapping.cpp.

void transformAssociateToMap

(

)

Definition at line 69 of file laserMapping.cpp.

void transformUpdate

(

)

Definition at line 110 of file laserMapping.cpp.

---

Variable Documentation

pcl::PointCloud<pcl::PointXYZHSV>::Ptr coeffSel(new pcl::PointCloud< pcl::PointXYZHSV >())

const double deg2rad = PI / 180

Definition at line 25 of file laserMapping.cpp.

pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr kdtreeCornerFromMap(new pcl::KdTreeFLANN< pcl::PointXYZHSV >())

pcl::KdTreeFLANN<pcl::PointXYZHSV>::Ptr kdtreeSurfFromMap(new pcl::KdTreeFLANN< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudArray[laserCloudNum]

Definition at line 58 of file laserMapping.cpp.

const int laserCloudCenDepth = 5

Definition at line 35 of file laserMapping.cpp.

const int laserCloudCenHeight = 5

Definition at line 34 of file laserMapping.cpp.

const int laserCloudCenWidth = 5

Definition at line 33 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCorner(new pcl::PointCloud< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCorner2(new pcl::PointCloud< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCornerFromMap(new pcl::PointCloud< pcl::PointXYZHSV >())

const int laserCloudDepth = 11

Definition at line 38 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudFromMap(new pcl::PointCloud< pcl::PointXYZHSV >())

const int laserCloudHeight = 11

Definition at line 37 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudLast(new pcl::PointCloud< pcl::PointXYZHSV >())

const int laserCloudNum = laserCloudWidth * laserCloudHeight * laserCloudDepth

Definition at line 39 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudOri(new pcl::PointCloud< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudSurf(new pcl::PointCloud< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudSurf2(new pcl::PointCloud< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudSurfFromMap(new pcl::PointCloud< pcl::PointXYZHSV >())

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudSurround(new pcl::PointCloud< pcl::PointXYZI >())

int laserCloudSurroundInd[27]

Definition at line 42 of file laserMapping.cpp.

int laserCloudValidInd[27]

Definition at line 41 of file laserMapping.cpp.

const int laserCloudWidth = 11

Definition at line 36 of file laserMapping.cpp.

bool newLaserCloudLast = false

Definition at line 30 of file laserMapping.cpp.

bool newLaserOdometry = false

Definition at line 31 of file laserMapping.cpp.

const double PI = 3.1415926

Definition at line 23 of file laserMapping.cpp.

const double rad2deg = 180 / PI

Definition at line 24 of file laserMapping.cpp.

double timeLaserCloudLast

Definition at line 27 of file laserMapping.cpp.

double timeLaserOdometry

Definition at line 28 of file laserMapping.cpp.

float transformAftMapped[6] = {0}

Definition at line 67 of file laserMapping.cpp.

float transformBefMapped[6] = {0}

Definition at line 66 of file laserMapping.cpp.

float transformIncre[6] = {0}

Definition at line 64 of file laserMapping.cpp.

float transformSum[6] = {0}

Definition at line 63 of file laserMapping.cpp.

float transformTobeMapped[6] = {0}

Definition at line 65 of file laserMapping.cpp.