This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion. More...
#include <ndt_fuser_hmt.h>
Public Member Functions | |
| double | getDoubleTime () |
| void | initialize (Eigen::Affine3d initPos, pcl::PointCloud< PointT > &cloud, bool preLoad=false) |
| NDTFuserHMT (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, bool doMultires_=false, bool fuseIncomplete_=false, int max_itr=30, std::string prefix_="", bool beHMT_=true, std::string hmt_map_dir_="map", bool _step_control=true) | |
| bool | saveMap () |
| void | setSensorPose (Eigen::Affine3d spose) |
| Eigen::Affine3d | update (Eigen::Affine3d Tmotion, pcl::PointCloud< PointT > &cloud) |
| bool | wasInit () |
| ~NDTFuserHMT () | |
Public Attributes | |
| bool | be2D |
| bool | beHMT |
| bool | checkConsistency |
| int | ctr |
| bool | doMultires |
| FILE * | fAddTimes |
| FILE * | fRegTimes |
| bool | fuseIncomplete |
| std::string | hmt_map_dir |
| lslgeneric::NDTMap< PointT > * | map |
| da map | |
| double | max_rotation_norm |
| double | max_translation_norm |
| perform a check for consistency against initial estimate | |
| std::string | prefix |
| double | sensor_range |
| Eigen::Affine3d | Tlast_fuse |
| Eigen::Affine3d | Tnow |
| Eigen::Affine3d | Todom |
| current pose | |
| NDTViz< PointT > * | viewer |
Private Attributes | |
| bool | isInit |
| Eigen::Vector3d | localMapSize |
| 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 |
This class fuses new point clouds into a common ndt map reference, keeping tack of the camera postion.
Definition at line 23 of file ndt_fuser_hmt.h.
| lslgeneric::NDTFuserHMT< PointT >::NDTFuserHMT | ( | double | map_resolution, |
| double | map_size_x_, | ||
| double | map_size_y_, | ||
| double | map_size_z_, | ||
| double | sensor_range_ = 3, |
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| bool | visualize_ = false, |
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| bool | be2D_ = false, |
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| bool | doMultires_ = false, |
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| bool | fuseIncomplete_ = false, |
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| int | max_itr = 30, |
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| std::string | prefix_ = "", |
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| bool | beHMT_ = true, |
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| std::string | hmt_map_dir_ = "map", |
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| bool | _step_control = true |
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| ) | [inline] |
Definition at line 38 of file ndt_fuser_hmt.h.
| lslgeneric::NDTFuserHMT< PointT >::~NDTFuserHMT | ( | ) | [inline] |
Definition at line 76 of file ndt_fuser_hmt.h.
| double lslgeneric::NDTFuserHMT< PointT >::getDoubleTime | ( | ) | [inline] |
Definition at line 84 of file ndt_fuser_hmt.h.
| void lslgeneric::NDTFuserHMT< PointT >::initialize | ( | Eigen::Affine3d | initPos, |
| pcl::PointCloud< PointT > & | cloud, | ||
| bool | preLoad = false |
||
| ) | [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 116 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::saveMap | ( | ) | [inline] |
Definition at line 99 of file ndt_fuser_hmt.h.
| void lslgeneric::NDTFuserHMT< PointT >::setSensorPose | ( | Eigen::Affine3d | spose | ) | [inline] |
Definition at line 90 of file ndt_fuser_hmt.h.
| Eigen::Affine3d lslgeneric::NDTFuserHMT< 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 160 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::wasInit | ( | ) | [inline] |
Definition at line 94 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::be2D |
Definition at line 31 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::beHMT |
Definition at line 31 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::checkConsistency |
Definition at line 28 of file ndt_fuser_hmt.h.
| int lslgeneric::NDTFuserHMT< PointT >::ctr |
Definition at line 32 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::doMultires |
Definition at line 31 of file ndt_fuser_hmt.h.
| FILE* lslgeneric::NDTFuserHMT< PointT >::fAddTimes |
Definition at line 36 of file ndt_fuser_hmt.h.
| FILE * lslgeneric::NDTFuserHMT< PointT >::fRegTimes |
Definition at line 36 of file ndt_fuser_hmt.h.
| bool lslgeneric::NDTFuserHMT< PointT >::fuseIncomplete |
Definition at line 31 of file ndt_fuser_hmt.h.
| std::string lslgeneric::NDTFuserHMT< PointT >::hmt_map_dir |
Definition at line 34 of file ndt_fuser_hmt.h.
bool lslgeneric::NDTFuserHMT< PointT >::isInit [private] |
Definition at line 344 of file ndt_fuser_hmt.h.
Eigen::Vector3d lslgeneric::NDTFuserHMT< PointT >::localMapSize [private] |
Definition at line 358 of file ndt_fuser_hmt.h.
| lslgeneric::NDTMap<PointT>* lslgeneric::NDTFuserHMT< PointT >::map |
da map
Definition at line 27 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::map_size [private] |
Definition at line 347 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::map_size_x [private] |
Definition at line 350 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::map_size_y [private] |
Definition at line 351 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::map_size_z [private] |
Definition at line 352 of file ndt_fuser_hmt.h.
lslgeneric::NDTMatcherD2D<PointT,PointT> lslgeneric::NDTFuserHMT< PointT >::matcher [private] |
Definition at line 356 of file ndt_fuser_hmt.h.
lslgeneric::NDTMatcherD2D_2D<PointT,PointT> lslgeneric::NDTFuserHMT< PointT >::matcher2D [private] |
Definition at line 357 of file ndt_fuser_hmt.h.
| double lslgeneric::NDTFuserHMT< PointT >::max_rotation_norm |
Definition at line 29 of file ndt_fuser_hmt.h.
| double lslgeneric::NDTFuserHMT< PointT >::max_translation_norm |
perform a check for consistency against initial estimate
Definition at line 29 of file ndt_fuser_hmt.h.
| std::string lslgeneric::NDTFuserHMT< PointT >::prefix |
Definition at line 33 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::resolution [private] |
resolution of the map
Definition at line 346 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::rotation_fuse_delta [private] |
Definition at line 349 of file ndt_fuser_hmt.h.
Eigen::Affine3d lslgeneric::NDTFuserHMT< PointT >::sensor_pose [private] |
Definition at line 355 of file ndt_fuser_hmt.h.
| double lslgeneric::NDTFuserHMT< PointT >::sensor_range |
Definition at line 30 of file ndt_fuser_hmt.h.
| Eigen::Affine3d lslgeneric::NDTFuserHMT< PointT >::Tlast_fuse |
Definition at line 25 of file ndt_fuser_hmt.h.
| Eigen::Affine3d lslgeneric::NDTFuserHMT< PointT >::Tnow |
Definition at line 25 of file ndt_fuser_hmt.h.
| Eigen::Affine3d lslgeneric::NDTFuserHMT< PointT >::Todom |
current pose
Definition at line 25 of file ndt_fuser_hmt.h.
double lslgeneric::NDTFuserHMT< PointT >::translation_fuse_delta [private] |
Definition at line 349 of file ndt_fuser_hmt.h.
| NDTViz<PointT>* lslgeneric::NDTFuserHMT< PointT >::viewer |
Definition at line 35 of file ndt_fuser_hmt.h.
bool lslgeneric::NDTFuserHMT< PointT >::visualize [private] |
Definition at line 353 of file ndt_fuser_hmt.h.