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MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true

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This commit is contained in:
matlabbe
2017-04-06 12:27:12 -04:00
parent e415dd8504
commit 1d8952867d
13 changed files with 386 additions and 117 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -490,7 +490,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is true.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, NormalK, int, 10, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
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()));
@@ -504,7 +504,7 @@ class RTABMAP_EXP Parameters
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()));
RTABMAP_PARAM(Grid, ProjRayTracing, bool, true, 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/util3d.h
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@@ -213,6 +213,8 @@ pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const cv::Mat & laserScan, i
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const cv::Mat & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
cv::Point3f RTABMAP_EXP projectDisparityTo3D(
const cv::Point2f & pt,

24
corelib/include/rtabmap/core/util3d_mapping.h
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@@ -51,13 +51,23 @@ RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
bool unknownSpaceFilled = false,
float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
void RTABMAP_EXP occupancy2DFromLaserScan(
RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
const cv::Mat & scan, // in /base_link frame
const cv::Point3f & viewpoint, // /base_link -> /base_scan
cv::Mat & ground,
cv::Mat & obstacles,
float cellSize,
bool unknownSpaceFilled = false,
float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");
void RTABMAP_EXP occupancy2DFromLaserScan(
const cv::Mat & scanHit, // in /base_link frame
const cv::Mat & scanNoHit, // in /base_link frame
const cv::Point3f & viewpoint, // /base_link -> /base_scan
cv::Mat & ground,
cv::Mat & obstacles,
float cellSize,
bool unknownSpaceFilled = false,
float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
@@ -79,7 +89,7 @@ RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform
float minMapSize = 0.0f,
float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
float cellSize,
@@ -87,6 +97,16 @@ cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
float & xMin,
float & yMin,
float minMapSize = 0.0f,
float scanMaxRange = 0.0f), "Use interface with cv::Mat scans.");
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
float cellSize,
bool unknownSpaceFilled,
float & xMin,
float & yMin,
float minMapSize = 0.0f,
float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
void RTABMAP_EXP rayTrace(const cv::Point2i & start,