0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

2026-10-04 09:07:47 +08:00 · 2016-08-31 12:43:53 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
@@ -0,0 +1,96 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CORELIB_SRC_OCCUPANCYGRID_H_
+#define CORELIB_SRC_OCCUPANCYGRID_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <rtabmap/core/Parameters.h>
+#include <rtabmap/core/Signature.h>
+
+namespace rtabmap {
+
+class RTABMAP_EXP OccupancyGrid
+{
+public:
+	OccupancyGrid(const ParametersMap & parameters = ParametersMap());
+	void parseParameters(const ParametersMap & parameters);
+	void setCellSize(float cellSize);
+	float getCellSize() const {return cellSize_;}
+	void createLocalMap(const Signature & node, cv::Mat & ground, cv::Mat & obstacles, cv::Point3f & viewPoint) const;
+
+	void clear();
+	void addToCache(
+			int nodeId,
+			const cv::Mat & ground,
+			const cv::Mat & obstacles);
+	void update(const std::map<int, Transform> & poses, float minMapSize = 0.0f, float footprintRadius = 0.0f);
+	const cv::Mat & getMap(float & xMin, float & yMin) const
+	{
+		xMin = xMin_;
+		yMin = yMin_;
+		return map_;
+	}
+
+private:
+	ParametersMap parameters_;
+	int cloudDecimation_;
+	float cloudMaxDepth_;
+	float cloudMinDepth_;
+	std::vector<float> roiRatios_;
+	int scanDecimation_;
+	float cellSize_;
+	bool occupancyFromCloud_;
+	bool projMapFrame_;
+	float maxObstacleHeight_;
+	int normalKSearch_;
+	float maxGroundAngle_;
+	int minClusterSize_;
+	bool flatObstaclesDetected_;
+	float minGroundHeight_;
+	float maxGroundHeight_;
+	bool normalsSegmentation_;
+	bool grid3D_;
+	bool groundIsObstacle_;
+	float noiseFilteringRadius_;
+	int noiseFilteringMinNeighbors_;
+	bool scan2dUnknownSpaceFilled_;
+	double scan2dMaxUnknownSpaceFilledRange_;
+
+	std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
+	cv::Mat map_;
+	cv::Mat mapInfo_;
+	std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
+	float xMin_;
+	float yMin_;
+	std::map<int, Transform> addedNodes_;
+};
+
+}
+
+#endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */