i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269

Browse Source
This commit is contained in:
matlabbe
2018-08-16 14:42:05 -04:00
parent e0858a9c2a
commit 35d5200a3b
7 changed files with 364 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
corelib/include/rtabmap/core/OccupancyGrid.h
View File

@@ -39,6 +39,17 @@ namespace rtabmap {
class RTABMAP_EXP OccupancyGrid
{
public:
inline static float logodds(double probability)
{
return (float) log(probability/(1-probability));
}
inline static double probability(double logodds)
{
return 1. - ( 1. / (1. + exp(logodds)));
}
public:
OccupancyGrid(const ParametersMap & parameters = ParametersMap());
void parseParameters(const ParametersMap & parameters);
@@ -88,6 +99,7 @@ public:
const cv::Mat & empty);
void update(const std::map<int, Transform> & poses);
cv::Mat getMap(float & xMin, float & yMin) const;
cv::Mat getProbMap(float & xMin, float & yMin) const;
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
@@ -126,6 +138,11 @@ private:
bool erode_;
float footprintRadius_;
float updateError_;
float occupancyThr_;
float probHit_;
float probMiss_;
float probClampingMin_;
float probClampingMax_;
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; //<node id, < <ground, obstacles>, empty> >
cv::Mat map_;

6
corelib/include/rtabmap/core/Parameters.h
View File

@@ -678,7 +678,11 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
RTABMAP_PARAM(GridGlobal, OctoMapOccupancyThr, float, 0.5, "OctoMap occupancy threshold (value between 0 and 1).");
RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
public:
virtual ~Parameters();