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

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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_);