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Added occupancy grid footprintRadius parameter to clear obstacles under path

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This commit is contained in:
matlabbe
2016-08-14 14:52:42 -04:00
parent ae7436a41b
commit 18b1931e7c
6 changed files with 142 additions and 57 deletions
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3
corelib/include/rtabmap/core/util3d_mapping.h
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@@ -58,7 +58,8 @@ cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
float & xMin,
float & yMin,
float minMapSize = 0.0f,
bool erode = false);
bool erode = false,
float footprintRadius = 0.0f);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,

144
corelib/src/util3d_mapping.cpp
View File

@@ -129,7 +129,8 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
float & xMin,
float & yMin,
float minMapSize,
bool erode)
bool erode,
float footprintRadius)
{
UASSERT(minMapSize >= 0.0f);
UDEBUG("cellSize=%f m, minMapSize=%f m, erode=%d", cellSize, minMapSize, erode?1:0);
@@ -269,15 +270,45 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
for(int i=0; i<iter->second.rows; ++i)
{
cv::Point2i pt((iter->second.at<float>(i,0)-xMin)/cellSize + 0.5f, (iter->second.at<float>(i,1)-yMin)/cellSize + 0.5f);
map.at<char>(pt.y, pt.x) = 0; // free space
if(map.at<char>(pt.y, pt.x) != -2)
{
map.at<char>(pt.y, pt.x) = 0; // free space
}
}
}
if(footprintRadius >= cellSize*1.5f)
{
// place free space under the footprint of the robot
cv::Point2i ptBegin((kter->second.x()-footprintRadius-xMin)/cellSize + 0.5f, (kter->second.y()-footprintRadius-yMin)/cellSize + 0.5f);
cv::Point2i ptEnd((kter->second.x()+footprintRadius-xMin)/cellSize + 0.5f, (kter->second.y()+footprintRadius-yMin)/cellSize + 0.5f);
if(ptBegin.x < 0)
ptBegin.x = 0;
if(ptEnd.x >= map.cols)
ptEnd.x = map.cols-1;
if(ptBegin.y < 0)
ptBegin.y = 0;
if(ptEnd.y >= map.rows)
ptEnd.y = map.rows-1;
for(int i=ptBegin.x; i<ptEnd.x; ++i)
{
for(int j=ptBegin.y; j<ptEnd.y; ++j)
{
map.at<char>(j, i) = -2; // free space (footprint)
}
}
}
if(jter!=occupiedLocalMaps.end())
{
for(int i=0; i<jter->second.rows; ++i)
{
cv::Point2i pt((jter->second.at<float>(i,0)-xMin)/cellSize + 0.5f, (jter->second.at<float>(i,1)-yMin)/cellSize + 0.5f);
map.at<char>(pt.y, pt.x) = 100; // obstacles
if(map.at<char>(pt.y, pt.x) != -2)
{
map.at<char>(pt.y, pt.x) = 100; // obstacles
}
}
}
@@ -287,63 +318,70 @@ cv::Mat create2DMapFromOccupancyLocalMaps(
// fill holes and remove empty from obstacle borders
cv::Mat updatedMap = map.clone();
std::list<std::pair<int, int> > obstacleIndices;
for(int i=2; i<map.rows-2; ++i)
for(int i=0; i<map.rows; ++i)
{
for(int j=2; j<map.cols-2; ++j)
for(int j=0; j<map.cols; ++j)
{
if(map.at<char>(i, j) == -1 &&
map.at<char>(i+1, j) != -1 &&
map.at<char>(i-1, j) != -1 &&
map.at<char>(i, j+1) != -1 &&
map.at<char>(i, j-1) != -1)
if(map.at<char>(i, j) == -2)
{
updatedMap.at<char>(i, j) = 0;
}
else if(map.at<char>(i, j) == 100)
{
// obstacle/empty/unknown -> remove empty
// unknown/empty/obstacle -> remove empty
if(map.at<char>(i-1, j) == 0 &&
map.at<char>(i-2, j) == -1)
{
updatedMap.at<char>(i-1, j) = -1;
}
else if(map.at<char>(i+1, j) == 0 &&
map.at<char>(i+2, j) == -1)
{
updatedMap.at<char>(i+1, j) = -1;
}
if(map.at<char>(i, j-1) == 0 &&
map.at<char>(i, j-2) == -1)
{
updatedMap.at<char>(i, j-1) = -1;
}
else if(map.at<char>(i, j+1) == 0 &&
map.at<char>(i, j+2) == -1)
{
updatedMap.at<char>(i, j+1) = -1;
}
if(erode)
if(i >=2 && i<map.rows-2 && j>=2 && j<map.cols-2)
{
if(map.at<char>(i, j) == -1 &&
map.at<char>(i+1, j) != -1 &&
map.at<char>(i-1, j) != -1 &&
map.at<char>(i, j+1) != -1 &&
map.at<char>(i, j-1) != -1)
{
obstacleIndices.push_back(std::make_pair(i, j));
updatedMap.at<char>(i, j) = 0;
}
else if(map.at<char>(i, j) == 100)
{
// obstacle/empty/unknown -> remove empty
// unknown/empty/obstacle -> remove empty
if((map.at<char>(i-1, j) == 0 || map.at<char>(i-1, j) == -2) &&
map.at<char>(i-2, j) == -1)
{
updatedMap.at<char>(i-1, j) = -1;
}
else if((map.at<char>(i+1, j) == 0 || map.at<char>(i+1, j) == -2) &&
map.at<char>(i+2, j) == -1)
{
updatedMap.at<char>(i+1, j) = -1;
}
if((map.at<char>(i, j-1) == 0 || map.at<char>(i, j-1) == -2) &&
map.at<char>(i, j-2) == -1)
{
updatedMap.at<char>(i, j-1) = -1;
}
else if((map.at<char>(i, j+1) == 0 || map.at<char>(i, j+1) == -2) &&
map.at<char>(i, j+2) == -1)
{
updatedMap.at<char>(i, j+1) = -1;
}
if(erode)
{
obstacleIndices.push_back(std::make_pair(i, j));
}
}
else if(map.at<char>(i, j) == 0)
{
// obstacle/empty/obstacle -> remove empty
if(map.at<char>(i-1, j) == 100 &&
map.at<char>(i+1, j) == 100)
{
updatedMap.at<char>(i, j) = -1;
}
else if(map.at<char>(i, j-1) == 100 &&
map.at<char>(i, j+1) == 100)
{
updatedMap.at<char>(i, j) = -1;
}
}
}
else if(map.at<char>(i, j) == 0)
{
// obstacle/empty/obstacle -> remove empty
if(map.at<char>(i-1, j) == 100 &&
map.at<char>(i+1, j) == 100)
{
updatedMap.at<char>(i, j) = -1;
}
else if(map.at<char>(i, j-1) == 100 &&
map.at<char>(i, j+1) == 100)
{
updatedMap.at<char>(i, j) = -1;
}
}
}
}
map = updatedMap;
@@ -649,6 +687,10 @@ cv::Mat convertMap2Image8U(const cv::Mat & map8S)
{
gray = 0;
}
else if(v == -2)
{
gray = 200;
}
else // -1
{
gray = 89;