52 lines
1.2 KiB
C
52 lines
1.2 KiB
C
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#ifndef BLAM_SLAM_H
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#define BLAM_SLAM_H
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#include <point_cloud_filter/PointCloudFilter.h>
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#include <point_cloud_odometry/PointCloudOdometry.h>
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#include <point_cloud_localization/PointCloudLocalization.h>
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#include <point_cloud_mapper/PointCloudMapper.h>
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//// PCL
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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#include <pcl/common/transforms.h>
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#include <pcl/visualization/cloud_viewer.h>
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#include <pcl/filters/voxel_grid.h>
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#include <pcl/visualization/cloud_viewer.h>
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#include<string>
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#include"common.h"
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class BlamSlam {
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public:
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typedef pcl::PointCloud<pcl::POINT_TYPE> PointCloud;
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BlamSlam();
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~BlamSlam();
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bool Initialize();
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void ProcessPointCloudMessage(const PointCloud::ConstPtr& msg);
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bool showPointCloud(int FrameCounter);
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std::string itos(int i); // <20><>int ת<><D7AA><EFBFBD><EFBFBD>string
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private:
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// The node's name.
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std::string name_;
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// Update rates and callback timers.
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double estimate_update_rate_;
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double visualization_update_rate_;
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// Names of coordinate frames.
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std::string fixed_frame_id_;
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std::string base_frame_id_;
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public:
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PointCloudFilter filter_;
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PointCloudOdometry odometry_;
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PointCloudLocalization localization_;
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PointCloudMapper mapper_;
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};
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#endif
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