Namespaces | Classes | Typedefs | Functions | Variables
armarx::localization_and_mapping::cartographer_adapter Namespace Reference

This file is part of ArmarX. More...

Namespaces

namespace  util
 
namespace  utils
 

Classes

class  ApproximateTimeQueue
 The ApproximateTimeQueue class. More...
 
class  ArVizDrawer
 
class  ArVizDrawerMapBuilder
 The ArVizDrawerMapBuilder class. More...
 
class  CartographerAdapter
 
struct  ColoredMeshGrid
 
class  InterpolatingTimeQueue
 
struct  LaserMessage
 
struct  LaserScannerData
 
struct  LaserScannerMessage
 
class  LaserScannerSensorBase
 
struct  LocalSlamData
 
class  MapRegistration
 
class  MessageCallee
 
class  MessageQueue
 The purpose of the MessageQueue is to provide a convenient way to process incoming messages sequentially. More...
 
struct  OptimizedGraphData
 
struct  OptimizedNodeData
 
struct  PoseStamped
 
struct  RotatedRect
 
class  SlamDataCallable
 
struct  SubMapData
 
struct  TimedData
 
class  TimeQueue
 
struct  TimeRange
 

Typedefs

using LaserMessages = std::vector<LaserMessage>
 
using SubMapDataVector = std::vector<SubMapData>
 

Functions

::cartographer::transform::Rigid3d fromEigen (const Eigen::Isometry3f &pose)
 
PoseStamped interpolate (const PoseStamped &posePre, const PoseStamped &poseNext, float t)
 
Eigen::Isometry3f interpolatePose2 (const Eigen::Isometry3f &posePre, const Eigen::Isometry3f &poseNext, float t)
 
void mToMM (pcl::PointXYZ &point)
 
void mToMMWithOffset (pcl::PointXYZ &point)
 
std::string nameWithId (const std::string &name, const int id, const unsigned int idWidth=6)
 
std::string nameWithIds (const std::string &name, const int id, const int subId, const unsigned int idWidth=6)
 
bool storeDefaultRegistrationFile (const fs::path &jsonFile)
 
template<typename EigenVectorT>
std::vector< EigenVectorT > toCartesian (const armarx::LaserScan &laserScan)
 
template<typename EigenVectorT>
EigenVectorT toCartesian (const LaserScanStep &laserScanStep)
 
Eigen::Isometry3f toEigen (const ::cartographer::transform::Rigid3d &pose)
 
cv::Mat2b toImage (const ::cartographer::mapping::Grid2D &grid)
 
cv::Mat2b toImage (const ::cartographer::mapping::ProbabilityGrid &grid)
 
cv::Mat2b toImage (const ::cartographer::mapping::TSDF2D &tsdf)
 
ColoredMeshGrid toMeshGrid (const ::cartographer::mapping::Grid2D &grid)
 
ColoredMeshGrid toMeshGrid (const ::cartographer::mapping::ProbabilityGrid &grid)
 
Eigen::Vector3f toMM (const Eigen::Vector3f &vec)
 
Eigen::Isometry3f toMM (Eigen::Isometry3f pose)
 
armem::vision::OccupancyGrid toOccupancyGrid (const ::cartographer::mapping::Grid2D &grid)
 
armem::vision::OccupancyGrid toOccupancyGrid (const ::cartographer::mapping::ProbabilityGrid &grid)
 
::pcl::PointCloud<::pcl::PointXYZ > toPCL (const auto &pointCloud, const ::cartographer::transform::Rigid3d &pose)
 
::pcl::PointCloud<::pcl::PointXYZ > toPCL (const std::vector<::cartographer::sensor::RangefinderPoint > &points)
 
::pcl::PointCloud<::pcl::PointXYZ > toPCL (const std::vector<::cartographer::sensor::TimedRangefinderPoint > &pointCloud, const Eigen::Isometry3f &pose)
 
::pcl::PointCloud<::pcl::PointXYZ > toPCL (const std::vector<::cartographer::sensor::TimedRangefinderPoint > &points)
 
template<typename T>
::pcl::PointCloud<::pcl::PointXYZ > toPCLImpl (const std::vector< T > &points)
 
auto toVizColor (const ColoredMeshGrid::ColorGrid &colorGrid, const Eigen::Array2i &numCells)
 
auto toVizPoint (ColoredMeshGrid::VertexGrid vvertices)
 
void trimToLatest (auto &vec, const unsigned int size)
 

Variables

constexpr int mToMM {1000}
 

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author
Fabian Reister ( fabian dot reister at kit dot edu )
Date
2021 Humanoids Group, H2T, KIT @license http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Typedef Documentation

◆ LaserMessages

using LaserMessages = std::vector<LaserMessage>

◆ SubMapDataVector

using SubMapDataVector = std::vector<SubMapData>

Function Documentation

◆ fromEigen()

cartographer::transform::Rigid3d fromEigen ( const Eigen::Isometry3f & pose)

◆ interpolate()

PoseStamped interpolate ( const PoseStamped & posePre,
const PoseStamped & poseNext,
float t )

◆ interpolatePose2()

Eigen::Isometry3f interpolatePose2 ( const Eigen::Isometry3f & posePre,
const Eigen::Isometry3f & poseNext,
float t )

◆ mToMM()

void mToMM ( pcl::PointXYZ & point)

◆ mToMMWithOffset()

void mToMMWithOffset ( pcl::PointXYZ & point)

◆ nameWithId()

std::string nameWithId ( const std::string & name,
const int id,
const unsigned int idWidth = 6 )
inline

◆ nameWithIds()

std::string nameWithIds ( const std::string & name,
const int id,
const int subId,
const unsigned int idWidth = 6 )
inline

◆ storeDefaultRegistrationFile()

bool storeDefaultRegistrationFile ( const fs::path & jsonFile)

◆ toCartesian() [1/2]

template<typename EigenVectorT>
std::vector< EigenVectorT > toCartesian ( const armarx::LaserScan & laserScan)

◆ toCartesian() [2/2]

template<typename EigenVectorT>
EigenVectorT toCartesian ( const LaserScanStep & laserScanStep)

◆ toEigen()

Eigen::Isometry3f toEigen ( const ::cartographer::transform::Rigid3d & pose)

◆ toImage() [1/3]

cv::Mat2b toImage ( const ::cartographer::mapping::Grid2D & grid)

◆ toImage() [2/3]

cv::Mat2b toImage ( const ::cartographer::mapping::ProbabilityGrid & grid)

◆ toImage() [3/3]

cv::Mat2b toImage ( const ::cartographer::mapping::TSDF2D & tsdf)

◆ toMeshGrid() [1/2]

ColoredMeshGrid toMeshGrid ( const ::cartographer::mapping::Grid2D & grid)

◆ toMeshGrid() [2/2]

ColoredMeshGrid toMeshGrid ( const ::cartographer::mapping::ProbabilityGrid & grid)

◆ toMM() [1/2]

Eigen::Vector3f toMM ( const Eigen::Vector3f & vec)
inline

◆ toMM() [2/2]

Eigen::Isometry3f toMM ( Eigen::Isometry3f pose)
inline

◆ toOccupancyGrid() [1/2]

armem::vision::OccupancyGrid toOccupancyGrid ( const ::cartographer::mapping::Grid2D & grid)

◆ toOccupancyGrid() [2/2]

armem::vision::OccupancyGrid toOccupancyGrid ( const ::cartographer::mapping::ProbabilityGrid & grid)

◆ toPCL() [1/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL ( const auto & pointCloud,
const ::cartographer::transform::Rigid3d & pose )

◆ toPCL() [2/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL ( const std::vector<::cartographer::sensor::RangefinderPoint > & points)

◆ toPCL() [3/4]

pcl::PointCloud<::pcl::PointXYZ > toPCL ( const std::vector<::cartographer::sensor::TimedRangefinderPoint > & pointCloud,
const Eigen::Isometry3f & pose )

◆ toPCL() [4/4]

::pcl::PointCloud<::pcl::PointXYZ > toPCL ( const std::vector<::cartographer::sensor::TimedRangefinderPoint > & points)

◆ toPCLImpl()

template<typename T>
::pcl::PointCloud<::pcl::PointXYZ > toPCLImpl ( const std::vector< T > & points)

◆ toVizColor()

auto toVizColor ( const ColoredMeshGrid::ColorGrid & colorGrid,
const Eigen::Array2i & numCells )

◆ toVizPoint()

auto toVizPoint ( ColoredMeshGrid::VertexGrid vvertices)

◆ trimToLatest()

void trimToLatest ( auto & vec,
const unsigned int size )

Variable Documentation

◆ mToMM

int mToMM {1000}
constexpr