Extracted laser odometry component into own class.

* Let transformToEnd transform a whole cloud at once instead of only one point, since it was only called in loops over whole clouds.
* Reduced scopes of variables where possible.

Changes to the logic:
* Do not publish corner and surface clouds during initialization, as they are anyhow rejected without the corresponding full resolution cloud (which was not sent during initialization).

New Features:
* All buffers used during optimization are now dynamic and automatically adapted to the currently processed cloud sizes.
* Again, there are two modis: active and passive. However, passive mode requires some further work with respect to result management.

CMakeLists.txt

@@ -34,8 +34,8 @@ add_subdirectory(src/lib)
 add_executable(scanRegistration src/velodyne_scan_registration_node.cpp)
 target_link_libraries(scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} loam )
 
-add_executable(laserOdometry src/laserOdometry.cpp)
-target_link_libraries(laserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} )
+add_executable(laserOdometry src/laser_odometry_node.cpp)
+target_link_libraries(laserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} loam )
 
 add_executable(laserMapping src/laserMapping.cpp)
 target_link_libraries(laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} )

src/laser_odometry_node.cpp

@@ -0,0 +1,20 @@
+#include <ros/ros.h>
+#include "lib/LaserOdometry.h"
+
+
+/** Main node entry point. */
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "laserOdometry");
+  ros::NodeHandle node;
+  ros::NodeHandle privateNode("~");
+
+  loam::LaserOdometry laserOdom(0.1);
+
+  if (laserOdom.setup(node, privateNode)) {
+    // initialization successful
+    laserOdom.spin();
+  }
+
+  return 0;
+}

src/lib/CMakeLists.txt

@@ -4,5 +4,7 @@ add_library(loam
             ScanRegistration.h
             ScanRegistration.cpp
             VelodyneScanRegistration.h
-            VelodyneScanRegistration.cpp)
+            VelodyneScanRegistration.cpp
+            LaserOdometry.h
+            LaserOdometry.cpp)
 target_link_libraries(loam ${catkin_LIBRARIES} ${PCL_LIBRARIES})