#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"
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::Publisher * | depthPointsPubPointer = NULL |
| int | imagePointsCurNum = 0 |
| double | imagePointsCurTime |
| int | imagePointsLastNum = 0 |
| double | imagePointsLastTime |
| ros::Publisher * | imagePointsProjPubPointer = NULL |
| ros::Publisher * | imageShowPubPointer |
| 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::TransformBroadcaster * | tfBroadcasterPointer = NULL |
| double | transformSum [6] = {0} |
| ros::Publisher * | voDataPubPointer = 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.
| pcl::PointCloud<ImagePoint>::Ptr imagePointsCur | ( | new pcl::PointCloud< ImagePoint > | () | ) |
| void imagePointsHandler | ( | const sensor_msgs::PointCloud2ConstPtr & | imagePoints2 | ) |
Definition at line 120 of file visualOdometry.cpp.
| 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 | ) |
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<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 > | () | ) |
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.
| double depthCloudTime |
Definition at line 49 of file visualOdometry.cpp.
| int depthPointsCurNum = 0 |
Definition at line 43 of file visualOdometry.cpp.
| int depthPointsLastNum = 0 |
Definition at line 44 of file visualOdometry.cpp.
| ros::Publisher* depthPointsPubPointer = NULL |
Definition at line 74 of file visualOdometry.cpp.
| int imagePointsCurNum = 0 |
Definition at line 40 of file visualOdometry.cpp.
| double imagePointsCurTime |
Definition at line 37 of file visualOdometry.cpp.
| int imagePointsLastNum = 0 |
Definition at line 41 of file visualOdometry.cpp.
| double imagePointsLastTime |
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.
| ros::Publisher* voDataPubPointer = NULL |
Definition at line 72 of file visualOdometry.cpp.