Functions | Variables
visualOdometry.cpp File Reference
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include "cameraParameters.h"
#include "pointDefinition.h"
Include dependency graph for visualOdometry.cpp:

Go to the source code of this file.

Functions

void accumulateRotation (double cx, double cy, double cz, double lx, double ly, double lz, double &ox, double &oy, double &oz)
pcl::PointCloud
< pcl::PointXYZI >::Ptr 
depthCloud (new pcl::PointCloud< pcl::PointXYZI >())
void depthCloudHandler (const sensor_msgs::PointCloud2ConstPtr &depthCloud2)
pcl::PointCloud< DepthPoint >::Ptr depthPointsCur (new pcl::PointCloud< DepthPoint >())
pcl::PointCloud< DepthPoint >::Ptr depthPointsLast (new pcl::PointCloud< DepthPoint >())
pcl::PointCloud< DepthPoint >::Ptr depthPointsSend (new pcl::PointCloud< DepthPoint >())
void diffRotation (double cx, double cy, double cz, double lx, double ly, double lz, double &ox, double &oy, double &oz)
void imageDataHandler (const sensor_msgs::Image::ConstPtr &imageData)
pcl::PointCloud< ImagePoint >::Ptr imagePointsCur (new pcl::PointCloud< ImagePoint >())
void imagePointsHandler (const sensor_msgs::PointCloud2ConstPtr &imagePoints2)
pcl::PointCloud< ImagePoint >::Ptr imagePointsLast (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< pcl::PointXYZ >
::Ptr 
imagePointsProj (new pcl::PointCloud< pcl::PointXYZ >())
void imuDataHandler (const sensor_msgs::Imu::ConstPtr &imuData)
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
ipRelations (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
ipRelations2 (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::KdTreeFLANN
< pcl::PointXYZI >::Ptr 
kdTree (new pcl::KdTreeFLANN< pcl::PointXYZI >())
int main (int argc, char **argv)
pcl::PointCloud< ImagePoint >::Ptr startPointsCur (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr startPointsLast (new pcl::PointCloud< ImagePoint >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
startTransCur (new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
startTransLast (new pcl::PointCloud< pcl::PointXYZHSV >())

Variables

double angleSum [3] = {0}
int depthCloudNum = 0
double depthCloudTime
int depthPointsCurNum = 0
int depthPointsLastNum = 0
ros::PublisherdepthPointsPubPointer = NULL
int imagePointsCurNum = 0
double imagePointsCurTime
int imagePointsLastNum = 0
double imagePointsLastTime
ros::PublisherimagePointsProjPubPointer = NULL
ros::PublisherimageShowPubPointer
bool imuInited = false
double imuPitch [imuQueLength] = {0}
double imuPitchCur = 0
double imuPitchLast = 0
int imuPointerFront = 0
int imuPointerLast = -1
const int imuQueLength = 200
double imuRoll [imuQueLength] = {0}
double imuRollCur = 0
double imuRollLast = 0
double imuTime [imuQueLength] = {0}
double imuYaw [imuQueLength] = {0}
double imuYawCur = 0
double imuYawInit = 0
double imuYawLast = 0
std::vector< float > * ipDepthCur = new std::vector<float>()
std::vector< float > * ipDepthLast = new std::vector<float>()
std::vector< int > ipInd
std::vector< float > ipy2
const double PI = 3.1415926
std::vector< int > pointSearchInd
std::vector< float > pointSearchSqrDis
const int showDSRate = 2
tf::TransformBroadcastertfBroadcasterPointer = NULL
double transformSum [6] = {0}
ros::PublishervoDataPubPointer = NULL

Function Documentation

void accumulateRotation ( double  cx,
double  cy,
double  cz,
double  lx,
double  ly,
double  lz,
double &  ox,
double &  oy,
double &  oz 
)

Definition at line 80 of file visualOdometry.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr depthCloud ( new pcl::PointCloud< pcl::PointXYZI >  ())
void depthCloudHandler ( const sensor_msgs::PointCloud2ConstPtr &  depthCloud2)

Definition at line 760 of file visualOdometry.cpp.

pcl::PointCloud<DepthPoint>::Ptr depthPointsCur ( new pcl::PointCloud< DepthPoint >  ())
pcl::PointCloud<DepthPoint>::Ptr depthPointsLast ( new pcl::PointCloud< DepthPoint >  ())
pcl::PointCloud<DepthPoint>::Ptr depthPointsSend ( new pcl::PointCloud< DepthPoint >  ())
void diffRotation ( double  cx,
double  cy,
double  cz,
double  lx,
double  ly,
double  lz,
double &  ox,
double &  oy,
double &  oz 
)

Definition at line 99 of file visualOdometry.cpp.

void imageDataHandler ( const sensor_msgs::Image::ConstPtr &  imageData)

Definition at line 795 of file visualOdometry.cpp.

void imagePointsHandler ( const sensor_msgs::PointCloud2ConstPtr &  imagePoints2)

Definition at line 120 of file visualOdometry.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr imagePointsProj ( new pcl::PointCloud< pcl::PointXYZ >  ())
void imuDataHandler ( const sensor_msgs::Imu::ConstPtr &  imuData)

Definition at line 780 of file visualOdometry.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr ipRelations ( new pcl::PointCloud< pcl::PointXYZHSV >  ())
pcl::PointCloud<pcl::PointXYZHSV>::Ptr ipRelations2 ( new pcl::PointCloud< pcl::PointXYZHSV >  ())
pcl::KdTreeFLANN<pcl::PointXYZI>::Ptr kdTree ( new pcl::KdTreeFLANN< pcl::PointXYZI >  ())
int main ( int  argc,
char **  argv 
)

Definition at line 820 of file visualOdometry.cpp.

pcl::PointCloud<pcl::PointXYZHSV>::Ptr startTransCur ( new pcl::PointCloud< pcl::PointXYZHSV >  ())
pcl::PointCloud<pcl::PointXYZHSV>::Ptr startTransLast ( new pcl::PointCloud< pcl::PointXYZHSV >  ())

Variable Documentation

double angleSum[3] = {0}

Definition at line 56 of file visualOdometry.cpp.

int depthCloudNum = 0

Definition at line 50 of file visualOdometry.cpp.

Definition at line 49 of file visualOdometry.cpp.

Definition at line 43 of file visualOdometry.cpp.

Definition at line 44 of file visualOdometry.cpp.

Definition at line 74 of file visualOdometry.cpp.

Definition at line 40 of file visualOdometry.cpp.

Definition at line 37 of file visualOdometry.cpp.

Definition at line 41 of file visualOdometry.cpp.

Definition at line 38 of file visualOdometry.cpp.

Definition at line 75 of file visualOdometry.cpp.

Definition at line 76 of file visualOdometry.cpp.

bool imuInited = false

Definition at line 61 of file visualOdometry.cpp.

double imuPitch[imuQueLength] = {0}

Definition at line 69 of file visualOdometry.cpp.

double imuPitchCur = 0

Definition at line 63 of file visualOdometry.cpp.

double imuPitchLast = 0

Definition at line 64 of file visualOdometry.cpp.

int imuPointerFront = 0

Definition at line 58 of file visualOdometry.cpp.

int imuPointerLast = -1

Definition at line 59 of file visualOdometry.cpp.

const int imuQueLength = 200

Definition at line 60 of file visualOdometry.cpp.

double imuRoll[imuQueLength] = {0}

Definition at line 68 of file visualOdometry.cpp.

double imuRollCur = 0

Definition at line 63 of file visualOdometry.cpp.

double imuRollLast = 0

Definition at line 64 of file visualOdometry.cpp.

double imuTime[imuQueLength] = {0}

Definition at line 67 of file visualOdometry.cpp.

double imuYaw[imuQueLength] = {0}

Definition at line 70 of file visualOdometry.cpp.

double imuYawCur = 0

Definition at line 63 of file visualOdometry.cpp.

double imuYawInit = 0

Definition at line 66 of file visualOdometry.cpp.

double imuYawLast = 0

Definition at line 64 of file visualOdometry.cpp.

std::vector<float>* ipDepthCur = new std::vector<float>()

Definition at line 34 of file visualOdometry.cpp.

std::vector<float>* ipDepthLast = new std::vector<float>()

Definition at line 35 of file visualOdometry.cpp.

std::vector<int> ipInd

Definition at line 31 of file visualOdometry.cpp.

std::vector<float> ipy2

Definition at line 32 of file visualOdometry.cpp.

const double PI = 3.1415926

Definition at line 16 of file visualOdometry.cpp.

std::vector<int> pointSearchInd

Definition at line 52 of file visualOdometry.cpp.

std::vector<float> pointSearchSqrDis

Definition at line 53 of file visualOdometry.cpp.

const int showDSRate = 2

Definition at line 78 of file visualOdometry.cpp.

Definition at line 73 of file visualOdometry.cpp.

double transformSum[6] = {0}

Definition at line 55 of file visualOdometry.cpp.

Definition at line 72 of file visualOdometry.cpp.



demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Mar 1 2015 11:30:50