#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_conversions/pcl_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:

Functions
pcl::PointCloud < pcl::PointXYZI >::Ptr	coeffSel (new pcl::PointCloud< pcl::PointXYZI >())
void	imuHandler (const sensor_msgs::Imu::ConstPtr &imuIn)
pcl::KdTreeFLANN < pcl::PointXYZI >::Ptr	kdtreeCornerFromMap (new pcl::KdTreeFLANN< pcl::PointXYZI >())
pcl::KdTreeFLANN < pcl::PointXYZI >::Ptr	kdtreeSurfFromMap (new pcl::KdTreeFLANN< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudCornerFromMap (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudCornerLast (new pcl::PointCloud< pcl::PointXYZI >())
void	laserCloudCornerLastHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudCornerLast2)
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudCornerStack (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudCornerStack2 (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudFullRes (new pcl::PointCloud< pcl::PointXYZI >())
void	laserCloudFullResHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudFullRes2)
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudOri (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurfFromMap (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurfLast (new pcl::PointCloud< pcl::PointXYZI >())
void	laserCloudSurfLastHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudSurfLast2)
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurfStack (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurfStack2 (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurround (new pcl::PointCloud< pcl::PointXYZI >())
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurround2 (new pcl::PointCloud< pcl::PointXYZI >())
void	laserOdometryHandler (const nav_msgs::Odometry::ConstPtr &laserOdometry)
int	main (int argc, char **argv)
void	pointAssociateTobeMapped (pcl::PointXYZI pi, pcl::PointXYZI po)
void	pointAssociateToMap (pcl::PointXYZI pi, pcl::PointXYZI po)
void	transformAssociateToMap ()
void	transformUpdate ()
Variables
float	imuPitch [imuQueLength] = {0}
int	imuPointerFront = 0
int	imuPointerLast = -1
const int	imuQueLength = 200
float	imuRoll [imuQueLength] = {0}
double	imuTime [imuQueLength] = {0}
int	laserCloudCenDepth = 10
int	laserCloudCenHeight = 5
int	laserCloudCenWidth = 10
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudCornerArray [laserCloudNum]
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudCornerArray2 [laserCloudNum]
const int	laserCloudDepth = 21
const int	laserCloudHeight = 11
const int	laserCloudNum = laserCloudWidth * laserCloudHeight * laserCloudDepth
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurfArray [laserCloudNum]
pcl::PointCloud < pcl::PointXYZI >::Ptr	laserCloudSurfArray2 [laserCloudNum]
int	laserCloudSurroundInd [125]
int	laserCloudValidInd [125]
const int	laserCloudWidth = 21
const int	mapFrameNum = 5
bool	newLaserCloudCornerLast = false
bool	newLaserCloudFullRes = false
bool	newLaserCloudSurfLast = false
bool	newLaserOdometry = false
const double	PI = 3.1415926
const float	scanPeriod = 0.1
const int	stackFrameNum = 1
double	timeLaserCloudCornerLast = 0
double	timeLaserCloudFullRes = 0
double	timeLaserCloudSurfLast = 0
double	timeLaserOdometry = 0
float	transformAftMapped [6] = {0}
float	transformBefMapped [6] = {0}
float	transformIncre [6] = {0}
float	transformSum [6] = {0}
float	transformTobeMapped [6] = {0}

Function Documentation

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

void imuHandler ( const sensor_msgs::Imu::ConstPtr & imuIn )

Definition at line 305 of file laserMapping.cpp.

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

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

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

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

void laserCloudCornerLastHandler ( const sensor_msgs::PointCloud2ConstPtr & laserCloudCornerLast2 )

Definition at line 256 of file laserMapping.cpp.

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

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudCornerStack2 ( new pcl::PointCloud< pcl::PointXYZI > () )

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

void laserCloudFullResHandler ( const sensor_msgs::PointCloud2ConstPtr & laserCloudFullRes2 )

Definition at line 276 of file laserMapping.cpp.

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

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

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

void laserCloudSurfLastHandler ( const sensor_msgs::PointCloud2ConstPtr & laserCloudSurfLast2 )

Definition at line 266 of file laserMapping.cpp.

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

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudSurfStack2 ( new pcl::PointCloud< pcl::PointXYZI > () )

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

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudSurround2 ( new pcl::PointCloud< pcl::PointXYZI > () )

void laserOdometryHandler ( const nav_msgs::Odometry::ConstPtr & laserOdometry )

Definition at line 286 of file laserMapping.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 319 of file laserMapping.cpp.

void pointAssociateTobeMapped	(	pcl::PointXYZI *	pi,
		pcl::PointXYZI *	po
	)

Definition at line 236 of file laserMapping.cpp.

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

Definition at line 216 of file laserMapping.cpp.

void transformAssociateToMap ( )

Definition at line 89 of file laserMapping.cpp.

void transformUpdate ( )

Definition at line 178 of file laserMapping.cpp.

Variable Documentation

float imuPitch[imuQueLength] = {0}

Definition at line 87 of file laserMapping.cpp.

int imuPointerFront = 0

Definition at line 81 of file laserMapping.cpp.

int imuPointerLast = -1

Definition at line 82 of file laserMapping.cpp.

const int imuQueLength = 200

Definition at line 83 of file laserMapping.cpp.

float imuRoll[imuQueLength] = {0}

Definition at line 86 of file laserMapping.cpp.

double imuTime[imuQueLength] = {0}

Definition at line 85 of file laserMapping.cpp.

int laserCloudCenDepth = 10

Definition at line 42 of file laserMapping.cpp.

int laserCloudCenHeight = 5

Definition at line 41 of file laserMapping.cpp.

int laserCloudCenWidth = 10

Definition at line 40 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudCornerArray[laserCloudNum]

Definition at line 67 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudCornerArray2[laserCloudNum]

Definition at line 69 of file laserMapping.cpp.

const int laserCloudDepth = 21

Definition at line 45 of file laserMapping.cpp.

const int laserCloudHeight = 11

Definition at line 44 of file laserMapping.cpp.

const int laserCloudNum = laserCloudWidth * laserCloudHeight * laserCloudDepth

Definition at line 46 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudSurfArray[laserCloudNum]

Definition at line 68 of file laserMapping.cpp.

pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudSurfArray2[laserCloudNum]

Definition at line 70 of file laserMapping.cpp.

int laserCloudSurroundInd[125]

Definition at line 49 of file laserMapping.cpp.

int laserCloudValidInd[125]

Definition at line 48 of file laserMapping.cpp.

const int laserCloudWidth = 21

Definition at line 43 of file laserMapping.cpp.

const int mapFrameNum = 5

Definition at line 28 of file laserMapping.cpp.

bool newLaserCloudCornerLast = false

Definition at line 35 of file laserMapping.cpp.

bool newLaserCloudFullRes = false

Definition at line 37 of file laserMapping.cpp.

bool newLaserCloudSurfLast = false

Definition at line 36 of file laserMapping.cpp.

bool newLaserOdometry = false

Definition at line 38 of file laserMapping.cpp.

const double PI = 3.1415926

Definition at line 23 of file laserMapping.cpp.

const float scanPeriod = 0.1

Definition at line 25 of file laserMapping.cpp.

const int stackFrameNum = 1

Definition at line 27 of file laserMapping.cpp.

double timeLaserCloudCornerLast = 0

Definition at line 30 of file laserMapping.cpp.

double timeLaserCloudFullRes = 0

Definition at line 32 of file laserMapping.cpp.

double timeLaserCloudSurfLast = 0

Definition at line 31 of file laserMapping.cpp.

double timeLaserOdometry = 0

Definition at line 33 of file laserMapping.cpp.

float transformAftMapped[6] = {0}

Definition at line 79 of file laserMapping.cpp.

float transformBefMapped[6] = {0}

Definition at line 78 of file laserMapping.cpp.

float transformIncre[6] = {0}

Definition at line 76 of file laserMapping.cpp.

float transformSum[6] = {0}

Definition at line 75 of file laserMapping.cpp.

float transformTobeMapped[6] = {0}

Definition at line 77 of file laserMapping.cpp.

Functions

Variables

Function Documentation

Variable Documentation