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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

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matlabbe
2018-08-16 14:42:05 -04:00
parent e0858a9c2a
commit 35d5200a3b
7 changed files with 364 additions and 21 deletions
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corelib/include/rtabmap/core/OccupancyGrid.h
+17
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@@ -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_;