Functions | Variables
scanRegistration.cpp File Reference
#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/ros/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 scanRegistration.cpp:

Go to the source code of this file.

Functions

void AccumulateIMUShift ()
void imuHandler (const sensor_msgs::Imu::ConstPtr &imuIn)
void laserCloudHandler (const sensor_msgs::PointCloud2ConstPtr &laserCloudIn2)
int main (int argc, char **argv)
void ShiftToStartIMU ()
void TransformToStartIMU (pcl::PointXYZHSV *p)
void VeloToStartIMU ()

Variables

int cloudNeighborPicked [800]
int cloudSortInd [800]
const double deg2rad = PI / 180
float imuAccX [imuQueLength] = {0}
float imuAccY [imuQueLength] = {0}
float imuAccZ [imuQueLength] = {0}
bool imuInited = false
float imuPitch [imuQueLength] = {0}
float imuPitchCur
float imuPitchStart
int imuPointerFront = 0
int imuPointerLast = -1
const int imuQueLength = 400
float imuRoll [imuQueLength] = {0}
float imuRollCur
float imuRollStart
float imuShiftFromStartXCur
float imuShiftFromStartYCur
float imuShiftFromStartZCur
float imuShiftX [imuQueLength] = {0}
float imuShiftXCur
float imuShiftXStart
float imuShiftY [imuQueLength] = {0}
float imuShiftYCur
float imuShiftYStart
float imuShiftZ [imuQueLength] = {0}
float imuShiftZCur
float imuShiftZStart
double imuTime [imuQueLength] = {0}
float imuVeloFromStartXCur
float imuVeloFromStartYCur
float imuVeloFromStartZCur
float imuVeloX [imuQueLength] = {0}
float imuVeloXCur
float imuVeloXStart
float imuVeloY [imuQueLength] = {0}
float imuVeloYCur
float imuVeloYStart
float imuVeloZ [imuQueLength] = {0}
float imuVeloZCur
float imuVeloZStart
float imuYaw [imuQueLength] = {0}
float imuYawCur
float imuYawStart
double initTime
float laserAngleCur = 0
float laserAngleLast = 0
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudExtreCur (new pcl::PointCloud< pcl::PointXYZHSV >())
sensor_msgs::PointCloud2 laserCloudExtreCur2
sensor_msgs::PointCloud2 laserCloudLast2
pcl::PointCloud
< pcl::PointXYZHSV >::Ptr 
laserCloudLessExtreCur (new pcl::PointCloud< pcl::PointXYZHSV >())
int laserRotDir = 1
const double PI = 3.1415926
ros::PublisherpubLaserCloudExtreCurPointer
ros::PublisherpubLaserCloudLastPointer
const double rad2deg = 180 / PI
int skipFrameCount = 0
int skipFrameNum = 3
bool systemInited = false
double timeLasted
double timeScanCur = 0
double timeScanLast = 0
double timeStart

Function Documentation

Definition at line 144 of file scanRegistration.cpp.

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

Definition at line 619 of file scanRegistration.cpp.

void laserCloudHandler ( const sensor_msgs::PointCloud2ConstPtr &  laserCloudIn2)

Definition at line 182 of file scanRegistration.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 643 of file scanRegistration.cpp.

void ShiftToStartIMU ( )

Definition at line 87 of file scanRegistration.cpp.

Definition at line 117 of file scanRegistration.cpp.

void VeloToStartIMU ( )

Definition at line 102 of file scanRegistration.cpp.


Variable Documentation

Definition at line 52 of file scanRegistration.cpp.

int cloudSortInd[800]

Definition at line 51 of file scanRegistration.cpp.

const double deg2rad = PI / 180

Definition at line 25 of file scanRegistration.cpp.

float imuAccX[imuQueLength] = {0}

Definition at line 75 of file scanRegistration.cpp.

float imuAccY[imuQueLength] = {0}

Definition at line 76 of file scanRegistration.cpp.

float imuAccZ[imuQueLength] = {0}

Definition at line 77 of file scanRegistration.cpp.

bool imuInited = false

Definition at line 57 of file scanRegistration.cpp.

float imuPitch[imuQueLength] = {0}

Definition at line 72 of file scanRegistration.cpp.

float imuPitchCur

Definition at line 60 of file scanRegistration.cpp.

Definition at line 59 of file scanRegistration.cpp.

int imuPointerFront = 0

Definition at line 54 of file scanRegistration.cpp.

int imuPointerLast = -1

Definition at line 55 of file scanRegistration.cpp.

const int imuQueLength = 400

Definition at line 56 of file scanRegistration.cpp.

float imuRoll[imuQueLength] = {0}

Definition at line 71 of file scanRegistration.cpp.

float imuRollCur

Definition at line 60 of file scanRegistration.cpp.

float imuRollStart

Definition at line 59 of file scanRegistration.cpp.

Definition at line 67 of file scanRegistration.cpp.

Definition at line 67 of file scanRegistration.cpp.

Definition at line 67 of file scanRegistration.cpp.

float imuShiftX[imuQueLength] = {0}

Definition at line 83 of file scanRegistration.cpp.

float imuShiftXCur

Definition at line 65 of file scanRegistration.cpp.

Definition at line 63 of file scanRegistration.cpp.

float imuShiftY[imuQueLength] = {0}

Definition at line 84 of file scanRegistration.cpp.

float imuShiftYCur

Definition at line 65 of file scanRegistration.cpp.

Definition at line 63 of file scanRegistration.cpp.

float imuShiftZ[imuQueLength] = {0}

Definition at line 85 of file scanRegistration.cpp.

float imuShiftZCur

Definition at line 65 of file scanRegistration.cpp.

Definition at line 63 of file scanRegistration.cpp.

double imuTime[imuQueLength] = {0}

Definition at line 70 of file scanRegistration.cpp.

Definition at line 68 of file scanRegistration.cpp.

Definition at line 68 of file scanRegistration.cpp.

Definition at line 68 of file scanRegistration.cpp.

float imuVeloX[imuQueLength] = {0}

Definition at line 79 of file scanRegistration.cpp.

float imuVeloXCur

Definition at line 64 of file scanRegistration.cpp.

Definition at line 62 of file scanRegistration.cpp.

float imuVeloY[imuQueLength] = {0}

Definition at line 80 of file scanRegistration.cpp.

float imuVeloYCur

Definition at line 64 of file scanRegistration.cpp.

Definition at line 62 of file scanRegistration.cpp.

float imuVeloZ[imuQueLength] = {0}

Definition at line 81 of file scanRegistration.cpp.

float imuVeloZCur

Definition at line 64 of file scanRegistration.cpp.

Definition at line 62 of file scanRegistration.cpp.

float imuYaw[imuQueLength] = {0}

Definition at line 73 of file scanRegistration.cpp.

float imuYawCur

Definition at line 60 of file scanRegistration.cpp.

float imuYawStart

Definition at line 59 of file scanRegistration.cpp.

double initTime

Definition at line 27 of file scanRegistration.cpp.

float laserAngleCur = 0

Definition at line 37 of file scanRegistration.cpp.

float laserAngleLast = 0

Definition at line 36 of file scanRegistration.cpp.

sensor_msgs::PointCloud2 laserCloudExtreCur2

Definition at line 45 of file scanRegistration.cpp.

sensor_msgs::PointCloud2 laserCloudLast2

Definition at line 46 of file scanRegistration.cpp.

int laserRotDir = 1

Definition at line 35 of file scanRegistration.cpp.

const double PI = 3.1415926

Definition at line 23 of file scanRegistration.cpp.

Definition at line 48 of file scanRegistration.cpp.

Definition at line 49 of file scanRegistration.cpp.

const double rad2deg = 180 / PI

Definition at line 24 of file scanRegistration.cpp.

int skipFrameCount = 0

Definition at line 40 of file scanRegistration.cpp.

int skipFrameNum = 3

Definition at line 39 of file scanRegistration.cpp.

bool systemInited = false

Definition at line 30 of file scanRegistration.cpp.

double timeLasted

Definition at line 29 of file scanRegistration.cpp.

double timeScanCur = 0

Definition at line 32 of file scanRegistration.cpp.

double timeScanLast = 0

Definition at line 33 of file scanRegistration.cpp.

double timeStart

Definition at line 28 of file scanRegistration.cpp.

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loam_backAndForth
Author(s): Ji Zhang
autogenerated on Sun Oct 6 2013 11:47:42