lslgeneric::NDTFuser< PointT > Class Template Reference

This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion. More...

#include <ndt_fuser.h>

List of all members.

Public Member Functions
double	getDoubleTime ()
void	initialize (Eigen::Affine3d initPos, pcl::PointCloud< PointT > &cloud)
	NDTFuser (double map_resolution, double map_size_x_, double map_size_y_, double map_size_z_, double sensor_range_=3, bool visualize_=false, bool be2D_=false)
void	setSensorPose (Eigen::Affine3d spose)
Eigen::Affine3d	update (Eigen::Affine3d Tmotion, pcl::PointCloud< PointT > &cloud)
bool	wasInit ()
	~NDTFuser ()
Public Attributes
bool	be2D
bool	checkConsistency
lslgeneric::NDTMap< PointT > *	map
	da map
double	max_rotation_norm
double	max_translation_norm
	perform a check for consistency against initial estimate
double	sensor_range
Eigen::Affine3d	Tlast_fuse
	current pose
Eigen::Affine3d	Tnow
NDTViz< PointT > *	viewer
Private Attributes
bool	isInit
double	map_size
double	map_size_x
double	map_size_y
double	map_size_z
lslgeneric::NDTMatcherD2D < PointT, PointT >	matcher
lslgeneric::NDTMatcherD2D_2D < PointT, PointT >	matcher2D
double	resolution
	resolution of the map
double	rotation_fuse_delta
Eigen::Affine3d	sensor_pose
double	translation_fuse_delta
bool	visualize

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Detailed Description

template<typename PointT>
class lslgeneric::NDTFuser< PointT >

This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion.

Author:

Jari, Todor

Definition at line 20 of file ndt_fuser.h.

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Constructor & Destructor Documentation

template<typename PointT>

lslgeneric::NDTFuser< PointT >::NDTFuser	(	double	map_resolution,
		double	map_size_x_,
		double	map_size_y_,
		double	map_size_z_,
		double	sensor_range_ = 3,
		bool	visualize_ = false,
		bool	be2D_ = false
	)		[inline]

Definition at line 30 of file ndt_fuser.h.

template<typename PointT>

lslgeneric::NDTFuser< PointT >::~NDTFuser

(

)

[inline]

Definition at line 50 of file ndt_fuser.h.

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Member Function Documentation

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::getDoubleTime

(

)

[inline]

Definition at line 56 of file ndt_fuser.h.

template<typename PointT>

void lslgeneric::NDTFuser< PointT >::initialize	(	Eigen::Affine3d	initPos,
		pcl::PointCloud< PointT > &	cloud
	)		[inline]

Set the initial position and set the first scan to the map

Set the cloud to sensor frame with respect to base

Definition at line 74 of file ndt_fuser.h.

template<typename PointT>

void lslgeneric::NDTFuser< PointT >::setSensorPose

(

Eigen::Affine3d

spose

)

[inline]

Definition at line 62 of file ndt_fuser.h.

template<typename PointT>

Eigen::Affine3d lslgeneric::NDTFuser< PointT >::update	(	Eigen::Affine3d	Tmotion,
		pcl::PointCloud< PointT > &	cloud
	)		[inline]

Set the cloud to sensor frame with respect to base

Create local map

Definition at line 96 of file ndt_fuser.h.

template<typename PointT>

bool lslgeneric::NDTFuser< PointT >::wasInit

(

)

[inline]

Definition at line 66 of file ndt_fuser.h.

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Member Data Documentation

template<typename PointT>

bool lslgeneric::NDTFuser< PointT >::be2D

Definition at line 27 of file ndt_fuser.h.

template<typename PointT>

bool lslgeneric::NDTFuser< PointT >::checkConsistency

Definition at line 24 of file ndt_fuser.h.

template<typename PointT>

bool lslgeneric::NDTFuser< PointT >::isInit [private]

Definition at line 199 of file ndt_fuser.h.

template<typename PointT>

lslgeneric::NDTMap<PointT>* lslgeneric::NDTFuser< PointT >::map

da map

Definition at line 23 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::map_size [private]

Definition at line 202 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::map_size_x [private]

Definition at line 205 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::map_size_y [private]

Definition at line 206 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::map_size_z [private]

Definition at line 207 of file ndt_fuser.h.

template<typename PointT>

lslgeneric::NDTMatcherD2D<PointT,PointT> lslgeneric::NDTFuser< PointT >::matcher [private]

Definition at line 211 of file ndt_fuser.h.

template<typename PointT>

lslgeneric::NDTMatcherD2D_2D<PointT,PointT> lslgeneric::NDTFuser< PointT >::matcher2D [private]

Definition at line 212 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::max_rotation_norm

Definition at line 25 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::max_translation_norm

perform a check for consistency against initial estimate

Definition at line 25 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::resolution [private]

resolution of the map

Definition at line 201 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::rotation_fuse_delta [private]

Definition at line 204 of file ndt_fuser.h.

template<typename PointT>

Eigen::Affine3d lslgeneric::NDTFuser< PointT >::sensor_pose [private]

Definition at line 210 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::sensor_range

Definition at line 26 of file ndt_fuser.h.

template<typename PointT>

Eigen::Affine3d lslgeneric::NDTFuser< PointT >::Tlast_fuse

current pose

Definition at line 22 of file ndt_fuser.h.

template<typename PointT>

Eigen::Affine3d lslgeneric::NDTFuser< PointT >::Tnow

Definition at line 22 of file ndt_fuser.h.

template<typename PointT>

double lslgeneric::NDTFuser< PointT >::translation_fuse_delta [private]

Definition at line 204 of file ndt_fuser.h.

template<typename PointT>

NDTViz<PointT>* lslgeneric::NDTFuser< PointT >::viewer

Definition at line 28 of file ndt_fuser.h.

template<typename PointT>

bool lslgeneric::NDTFuser< PointT >::visualize [private]

Definition at line 208 of file ndt_fuser.h.

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

• ndt_fuser.h