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Added parameter "Grid/ProjRayTracing" and renamed "Grid/3DGroundIsObstacle" to "Grid/GroundIsObstacle"

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This commit is contained in:
matlabbe
2017-03-01 14:06:21 -05:00
parent c9f6dabfc6
commit 17121d5861
7 changed files with 55 additions and 10 deletions
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1
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -103,6 +103,7 @@ private:
int noiseFilteringMinNeighbors_;
bool scan2dUnknownSpaceFilled_;
double scan2dMaxUnknownSpaceFilledRange_;
bool projRayTracing_;
std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
cv::Mat map_;

7
corelib/include/rtabmap/core/Parameters.h
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@@ -492,15 +492,16 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
#ifdef RTABMAP_OCTOMAP
RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an Octomap. Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str()));
RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str()));
#else
RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an Octomap. Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str()));
RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str()));
#endif
RTABMAP_PARAM(Grid, 3DGroundIsObstacle, bool, false, uFormat("[%s=true] Ground is an obstacle. Use this only if you want an Octomap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str()));
RTABMAP_PARAM(Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, "Unknown space filled. Only used with 2D laser scans.");
RTABMAP_PARAM(Grid, Scan2dMaxFilledRange, float, 4.0, "Unknown space filled maximum range. If 0, the laser scan maximum range is used.");
RTABMAP_PARAM(Grid, ProjRayTracing, bool, false, uFormat("[%s=false] 2D ray tracing is done for each projected obstacle, filling unknown space between the sensor and obstacles.", kGrid3D().c_str()));
public:
virtual ~Parameters();

2
corelib/include/rtabmap/core/impl/OccupancyGrid.hpp
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@@ -92,7 +92,7 @@ typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
if(indices->size())
{
if(normalsSegmentation_)
if(normalsSegmentation_ && !groundIsObstacle_)
{
UDEBUG("normalKSearch=%d", normalKSearch_);
UDEBUG("maxGroundAngle=%f", maxGroundAngle_);

20
corelib/src/OccupancyGrid.cpp
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@@ -59,11 +59,12 @@ OccupancyGrid::OccupancyGrid(const ParametersMap & parameters) :
maxGroundHeight_(Parameters::defaultGridMaxGroundHeight()),
normalsSegmentation_(Parameters::defaultGridNormalsSegmentation()),
grid3D_(Parameters::defaultGrid3D()),
groundIsObstacle_(Parameters::defaultGrid3DGroundIsObstacle()),
groundIsObstacle_(Parameters::defaultGridGroundIsObstacle()),
noiseFilteringRadius_(Parameters::defaultGridNoiseFilteringRadius()),
noiseFilteringMinNeighbors_(Parameters::defaultGridNoiseFilteringMinNeighbors()),
scan2dUnknownSpaceFilled_(Parameters::defaultGridScan2dUnknownSpaceFilled()),
scan2dMaxUnknownSpaceFilledRange_(Parameters::defaultGridScan2dMaxFilledRange()),
projRayTracing_(Parameters::defaultGridProjRayTracing()),
xMin_(0.0f),
yMin_(0.0f)
{
@@ -124,11 +125,12 @@ void OccupancyGrid::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kGridFlatObstacleDetected(), flatObstaclesDetected_);
Parameters::parse(parameters, Parameters::kGridNormalsSegmentation(), normalsSegmentation_);
Parameters::parse(parameters, Parameters::kGrid3D(), grid3D_);
Parameters::parse(parameters, Parameters::kGrid3DGroundIsObstacle(), groundIsObstacle_);
Parameters::parse(parameters, Parameters::kGridGroundIsObstacle(), groundIsObstacle_);
Parameters::parse(parameters, Parameters::kGridNoiseFilteringRadius(), noiseFilteringRadius_);
Parameters::parse(parameters, Parameters::kGridNoiseFilteringMinNeighbors(), noiseFilteringMinNeighbors_);
Parameters::parse(parameters, Parameters::kGridScan2dUnknownSpaceFilled(), scan2dUnknownSpaceFilled_);
Parameters::parse(parameters, Parameters::kGridScan2dMaxFilledRange(), scan2dMaxUnknownSpaceFilledRange_);
Parameters::parse(parameters, Parameters::kGridProjRayTracing(), projRayTracing_);
// convert ROI from string to vector
ParametersMap::const_iterator iter;
@@ -322,6 +324,20 @@ void OccupancyGrid::createLocalMap(
ground,
obstacles,
cellSize_);
if(projRayTracing_)
{
cv::Mat laserScan = obstacles;
ground = cv::Mat();
obstacles = cv::Mat();
util3d::occupancy2DFromLaserScan(
laserScan,
ground,
obstacles,
cellSize_,
false, // don't fill unknown space
0);
}
}
}
}

3
corelib/src/Parameters.cpp
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@@ -224,6 +224,9 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
{
// removed parameters
// 0.12.1
removedParameters_.insert(std::make_pair("Grid/3DGroundIsObstacle", std::make_pair(true, Parameters::kGridGroundIsObstacle())));
// 0.11.12
removedParameters_.insert(std::make_pair("Optimizer/Slam2D", std::make_pair(true, Parameters::kRegForce3DoF())));
removedParameters_.insert(std::make_pair("OdomF2M/FixedMapPath", std::make_pair(false, "")));