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SnapMapICP.cpp File Reference

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/OccupancyGrid.h>
#include <pcl/ros/conversions.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <sensor_msgs/LaserScan.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <laser_geometry/laser_geometry.h>
#include <tf/transform_listener.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <boost/thread/mutex.hpp>
Include dependency graph for SnapMapICP.cpp:

Go to the source code of this file.

Typedefs

typedef pcl::PointCloud
< pcl::PointXYZ > 
PointCloudT

Functions

bool getTransform (tf::StampedTransform &trans, const std::string parent_frame, const std::string child_frame, const ros::Time stamp)
pcl::KdTree< pcl::PointXYZ >::Ptr getTree (pcl::PointCloud< pcl::PointXYZ >::Ptr cloudb)
int main (int argc, char **argv)
void mapCallback (const nav_msgs::OccupancyGrid &msg)
void matrixAsTransfrom (const Eigen::Matrix4f &out_mat, tf::Transform &bt)
void scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_in)
void updateParams ()

Variables

int actScan = 0
double AGE_THRESHOLD = 1
double ANGLE_THRESHOLD = 0.01
double ANGLE_UPPER_THRESHOLD = M_PI / 6
std::string BASE_LASER_FRAME = "/base_laser_link"
sensor_msgs::PointCloud2 cloud2
sensor_msgs::PointCloud2 cloud2transformed
boost::shared_ptr
< pcl::PointCloud
< pcl::PointXYZ > > 
cloud_xyz
int count_sc_ = 0
double DIST_THRESHOLD = 0.05
double ICP_FITNESS_THRESHOLD = 100.1
double ICP_INLIER_DIST = 0.1
double ICP_INLIER_THRESHOLD = 0.9
double ICP_NUM_ITER = 250
ros::Time last_processed_scan
int lastScan = 0
int lastTimeSent = -1000
tf::TransformListenerlistener_ = 0
pcl::KdTree< pcl::PointXYZ >::Ptr mapTree
ros::NodeHandlenh = 0
std::string ODOM_FRAME = "/odom_combined"
boost::shared_ptr
< sensor_msgs::PointCloud2
output_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2())
ros::Time paramsWereUpdated
double POSE_COVARIANCE_TRANS = 1.5
laser_geometry::LaserProjectionprojector_ = 0
ros::Publisher pub_info_
ros::Publisher pub_output_
ros::Publisher pub_output_scan
ros::Publisher pub_output_scan_transformed
ros::Publisher pub_pose
boost::mutex scan_callback_mutex
boost::shared_ptr
< sensor_msgs::PointCloud2
scan_cloud = boost::shared_ptr<sensor_msgs::PointCloud2>(new sensor_msgs::PointCloud2())
double SCAN_RATE = 2
double UPDATE_AGE_THRESHOLD = 1
bool use_sim_time = false
bool we_have_a_map = false
bool we_have_a_scan = false
bool we_have_a_scan_transformed = false

Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> PointCloudT

Definition at line 93 of file SnapMapICP.cpp.


Function Documentation

bool getTransform ( tf::StampedTransform trans,
const std::string  parent_frame,
const std::string  child_frame,
const ros::Time  stamp 
)

Definition at line 214 of file SnapMapICP.cpp.

pcl::KdTree<pcl::PointXYZ>::Ptr getTree ( pcl::PointCloud< pcl::PointXYZ >::Ptr  cloudb  ) 

Definition at line 155 of file SnapMapICP.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 514 of file SnapMapICP.cpp.

void mapCallback ( const nav_msgs::OccupancyGrid msg  ) 

Definition at line 165 of file SnapMapICP.cpp.

void matrixAsTransfrom ( const Eigen::Matrix4f &  out_mat,
tf::Transform bt 
) [inline]

Definition at line 126 of file SnapMapICP.cpp.

void scanCallback ( const sensor_msgs::LaserScan::ConstPtr scan_in  ) 

Definition at line 243 of file SnapMapICP.cpp.

void updateParams (  ) 

Definition at line 492 of file SnapMapICP.cpp.


Variable Documentation

int actScan = 0

Definition at line 105 of file SnapMapICP.cpp.

double AGE_THRESHOLD = 1

Definition at line 65 of file SnapMapICP.cpp.

double ANGLE_THRESHOLD = 0.01

Definition at line 62 of file SnapMapICP.cpp.

double ANGLE_UPPER_THRESHOLD = M_PI / 6

Definition at line 63 of file SnapMapICP.cpp.

std::string BASE_LASER_FRAME = "/base_laser_link"

Definition at line 76 of file SnapMapICP.cpp.

Definition at line 90 of file SnapMapICP.cpp.

Definition at line 91 of file SnapMapICP.cpp.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > cloud_xyz

Definition at line 150 of file SnapMapICP.cpp.

int count_sc_ = 0

Definition at line 212 of file SnapMapICP.cpp.

double DIST_THRESHOLD = 0.05

Definition at line 60 of file SnapMapICP.cpp.

double ICP_FITNESS_THRESHOLD = 100.1

Definition at line 58 of file SnapMapICP.cpp.

double ICP_INLIER_DIST = 0.1

Definition at line 69 of file SnapMapICP.cpp.

double ICP_INLIER_THRESHOLD = 0.9

Definition at line 68 of file SnapMapICP.cpp.

double ICP_NUM_ITER = 250

Definition at line 72 of file SnapMapICP.cpp.

Definition at line 241 of file SnapMapICP.cpp.

int lastScan = 0

Definition at line 104 of file SnapMapICP.cpp.

int lastTimeSent = -1000

Definition at line 210 of file SnapMapICP.cpp.

Definition at line 89 of file SnapMapICP.cpp.

pcl::KdTree<pcl::PointXYZ>::Ptr mapTree

Definition at line 152 of file SnapMapICP.cpp.

Definition at line 79 of file SnapMapICP.cpp.

std::string ODOM_FRAME = "/odom_combined"

Definition at line 77 of file SnapMapICP.cpp.

Definition at line 95 of file SnapMapICP.cpp.

Definition at line 489 of file SnapMapICP.cpp.

double POSE_COVARIANCE_TRANS = 1.5

Definition at line 71 of file SnapMapICP.cpp.

Definition at line 88 of file SnapMapICP.cpp.

Definition at line 83 of file SnapMapICP.cpp.

Definition at line 80 of file SnapMapICP.cpp.

Definition at line 81 of file SnapMapICP.cpp.

Definition at line 82 of file SnapMapICP.cpp.

Definition at line 85 of file SnapMapICP.cpp.

boost::mutex scan_callback_mutex

Definition at line 54 of file SnapMapICP.cpp.

Definition at line 96 of file SnapMapICP.cpp.

double SCAN_RATE = 2

Definition at line 74 of file SnapMapICP.cpp.

Definition at line 66 of file SnapMapICP.cpp.

bool use_sim_time = false

Definition at line 102 of file SnapMapICP.cpp.

bool we_have_a_map = false

Definition at line 98 of file SnapMapICP.cpp.

bool we_have_a_scan = false

Definition at line 99 of file SnapMapICP.cpp.

Definition at line 100 of file SnapMapICP.cpp.

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SnapMapICP
Author(s): Thomas Ruehr
autogenerated on Tue Dec 4 00:16:36 2012