PointCloudRegistration Class Reference

List of all members.

Public Member Functions
pcl::PointCloud< pcl::PointNormal >	convertFromMsgToPointCloud (const sensor_msgs::PointCloud2 &pointcloud_msg)
Eigen::Matrix4f	getOverlapTransformation ()
	PointCloudRegistration ()
void	pointcloudRegistrationCallBack (const sensor_msgs::PointCloud2 &msg)
void	publishPointCloud (pcl::PointCloud< pcl::PointNormal > &pointcloud)
void	spin (int argc, char **argv)
	~PointCloudRegistration ()
Private Attributes
int	counter_
bool	curvature_check_
double	downsample_leafsize_
bool	downsample_pointcloud_after_
bool	downsample_pointcloud_before_
time_t	end
double	epsilon_curvature_
double	epsilon_transformation_
double	epsilon_z_
std::string	field_
bool	filter_outliers_
Eigen::Matrix4f	final_transformation_
bool	firstCloudReceived_
std::string	frame_id_
pcl::IterativeClosestPointCorrespondencesCheck < pcl::PointNormal, pcl::PointNormal >	icp_
pcl::KdTreeFLANN < pcl::PointNormal >	kdtree_
int	max_nn_icp_
int	max_nn_overlap_
int	max_number_of_iterations_icp_
std::string	merged_pointcloud_topic_
ros::NodeHandle	nh_
pcl::PointCloud< pcl::PointNormal >	pointcloud2_current_
pcl::PointCloud< pcl::PointNormal >	pointcloud2_merged_
pcl::PointCloud< pcl::PointNormal >	pointcloud2_transformed_
ros::Publisher	pointcloud_merged_publisher_
ros::Subscriber	pointcloud_subscriber_
double	radius_icp_
double	radius_overlap_
int	scan_index_
bool	secondCloudReceived_
time_t	start
std::string	subscribe_pointcloud_topic_

---

Detailed Description

Definition at line 85 of file pointcloud_registration_node.cpp.

---

Constructor & Destructor Documentation

PointCloudRegistration::PointCloudRegistration

(

)

Definition at line 329 of file pointcloud_registration_node.cpp.

PointCloudRegistration::~PointCloudRegistration

(

)

Definition at line 361 of file pointcloud_registration_node.cpp.

---

Member Function Documentation

pcl::PointCloud< pcl::PointNormal > PointCloudRegistration::convertFromMsgToPointCloud

(

const sensor_msgs::PointCloud2 &

pointcloud_msg

)

Definition at line 209 of file pointcloud_registration_node.cpp.

Eigen::Matrix4f PointCloudRegistration::getOverlapTransformation

(

)

Definition at line 116 of file pointcloud_registration_node.cpp.

void PointCloudRegistration::pointcloudRegistrationCallBack

(

const sensor_msgs::PointCloud2 &

msg

)

Definition at line 368 of file pointcloud_registration_node.cpp.

void PointCloudRegistration::publishPointCloud

(

pcl::PointCloud< pcl::PointNormal > &

pointcloud

)

Definition at line 178 of file pointcloud_registration_node.cpp.

void PointCloudRegistration::spin	(	int	argc,
		char **	argv
	)

Definition at line 414 of file pointcloud_registration_node.cpp.

---

Member Data Documentation

int PointCloudRegistration::counter_ [private]

Definition at line 102 of file pointcloud_registration_node.cpp.

bool PointCloudRegistration::curvature_check_ [private]

Definition at line 101 of file pointcloud_registration_node.cpp.

double PointCloudRegistration::downsample_leafsize_ [private]

Definition at line 100 of file pointcloud_registration_node.cpp.

bool PointCloudRegistration::downsample_pointcloud_after_ [private]

Definition at line 101 of file pointcloud_registration_node.cpp.

bool PointCloudRegistration::downsample_pointcloud_before_ [private]

Definition at line 101 of file pointcloud_registration_node.cpp.

time_t PointCloudRegistration::end [private]

Definition at line 103 of file pointcloud_registration_node.cpp.

double PointCloudRegistration::epsilon_curvature_ [private]

Definition at line 100 of file pointcloud_registration_node.cpp.

double PointCloudRegistration::epsilon_transformation_ [private]

Definition at line 100 of file pointcloud_registration_node.cpp.

double PointCloudRegistration::epsilon_z_ [private]

Definition at line 100 of file pointcloud_registration_node.cpp.

std::string PointCloudRegistration::field_ [private]

Definition at line 98 of file pointcloud_registration_node.cpp.

bool PointCloudRegistration::filter_outliers_ [private]

Definition at line 101 of file pointcloud_registration_node.cpp.

Eigen::Matrix4f PointCloudRegistration::final_transformation_ [private]

Definition at line 104 of file pointcloud_registration_node.cpp.

bool PointCloudRegistration::firstCloudReceived_ [private]

Definition at line 110 of file pointcloud_registration_node.cpp.

std::string PointCloudRegistration::frame_id_ [private]

Definition at line 98 of file pointcloud_registration_node.cpp.

pcl::IterativeClosestPointCorrespondencesCheck<pcl::PointNormal, pcl::PointNormal> PointCloudRegistration::icp_ [private]

Definition at line 108 of file pointcloud_registration_node.cpp.

pcl::KdTreeFLANN<pcl::PointNormal> PointCloudRegistration::kdtree_ [private]

Definition at line 109 of file pointcloud_registration_node.cpp.

int PointCloudRegistration::max_nn_icp_ [private]

Definition at line 99 of file pointcloud_registration_node.cpp.

int PointCloudRegistration::max_nn_overlap_ [private]

Definition at line 99 of file pointcloud_registration_node.cpp.

int PointCloudRegistration::max_number_of_iterations_icp_ [private]

Definition at line 99 of file pointcloud_registration_node.cpp.

std::string PointCloudRegistration::merged_pointcloud_topic_ [private]

Definition at line 98 of file pointcloud_registration_node.cpp.

ros::NodeHandle PointCloudRegistration::nh_ [private]

Definition at line 97 of file pointcloud_registration_node.cpp.

pcl::PointCloud<pcl::PointNormal> PointCloudRegistration::pointcloud2_current_ [private]

Definition at line 111 of file pointcloud_registration_node.cpp.

pcl::PointCloud<pcl::PointNormal> PointCloudRegistration::pointcloud2_merged_ [private]

Definition at line 111 of file pointcloud_registration_node.cpp.

pcl::PointCloud<pcl::PointNormal> PointCloudRegistration::pointcloud2_transformed_ [private]

Definition at line 111 of file pointcloud_registration_node.cpp.

ros::Publisher PointCloudRegistration::pointcloud_merged_publisher_ [private]

Definition at line 106 of file pointcloud_registration_node.cpp.

ros::Subscriber PointCloudRegistration::pointcloud_subscriber_ [private]

Definition at line 105 of file pointcloud_registration_node.cpp.

double PointCloudRegistration::radius_icp_ [private]

Definition at line 100 of file pointcloud_registration_node.cpp.

double PointCloudRegistration::radius_overlap_ [private]

Definition at line 100 of file pointcloud_registration_node.cpp.

int PointCloudRegistration::scan_index_ [private]

Definition at line 102 of file pointcloud_registration_node.cpp.

bool PointCloudRegistration::secondCloudReceived_ [private]

Definition at line 110 of file pointcloud_registration_node.cpp.

time_t PointCloudRegistration::start [private]

Definition at line 103 of file pointcloud_registration_node.cpp.

std::string PointCloudRegistration::subscribe_pointcloud_topic_ [private]

Definition at line 98 of file pointcloud_registration_node.cpp.

---

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

• pointcloud_registration_node.cpp