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OctoMap: improved projection performance

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This commit is contained in:
matlabbe
2018-02-19 16:25:55 -05:00
parent 37cbf79b4c
commit 6cdb2a48fd
1 changed files with 18 additions and 35 deletions
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53
corelib/src/OctoMap.cpp
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@@ -1023,6 +1023,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
cv::Mat OctoMap::createProjectionMap(float & xMin, float & yMin, float & gridCellSize, float minGridSize, unsigned int treeDepth) cv::Mat OctoMap::createProjectionMap(float & xMin, float & yMin, float & gridCellSize, float minGridSize, unsigned int treeDepth)
{ {
UDEBUG("minGridSize=%f, treeDepth=%d", minGridSize, (int)treeDepth);
UASSERT(treeDepth <= octree_->getTreeDepth()); UASSERT(treeDepth <= octree_->getTreeDepth());
if(treeDepth == 0) if(treeDepth == 0)
{ {
@@ -1032,65 +1033,47 @@ cv::Mat OctoMap::createProjectionMap(float & xMin, float & yMin, float & gridCel
gridCellSize = octree_->getNodeSize(treeDepth); gridCellSize = octree_->getNodeSize(treeDepth);
float halfCellSize = gridCellSize/2.0f; float halfCellSize = gridCellSize/2.0f;
pcl::PointCloud<pcl::PointXYZ>::Ptr ground(new pcl::PointCloud<pcl::PointXYZ>); cv::Mat obstaclesMat = cv::Mat(1, (int)octree_->size(), CV_32FC2);
pcl::PointCloud<pcl::PointXYZ>::Ptr obstacles(new pcl::PointCloud<pcl::PointXYZ>); cv::Mat groundMat = cv::Mat(1, (int)octree_->size(), CV_32FC2);
ground->resize(octree_->size());
obstacles->resize(octree_->size());
int gi=0; int gi=0;
int oi=0; int oi=0;
cv::Vec2f * oPtr = obstaclesMat.ptr<cv::Vec2f>(0,0);
cv::Vec2f * gPtr = groundMat.ptr<cv::Vec2f>(0,0);
for (RtabmapColorOcTree::iterator it = octree_->begin(treeDepth); it != octree_->end(); ++it) for (RtabmapColorOcTree::iterator it = octree_->begin(treeDepth); it != octree_->end(); ++it)
{ {
octomap::point3d pt = octree_->keyToCoord(it.getKey()); octomap::point3d pt = octree_->keyToCoord(it.getKey());
if(octree_->isNodeOccupied(*it) && it->getOccupancyType() == RtabmapColorOcTreeNode::kTypeObstacle) if(octree_->isNodeOccupied(*it) && it->getOccupancyType() == RtabmapColorOcTreeNode::kTypeObstacle)
{ {
(*obstacles)[oi++] = pcl::PointXYZ(pt.x()-halfCellSize, pt.y()-halfCellSize, 0); // projected on ground // projected on ground
oPtr[oi][0] = pt.x()-halfCellSize;
oPtr[oi][1] = pt.y()-halfCellSize;
++oi;
} }
else else
{ {
(*ground)[gi++] = pcl::PointXYZ(pt.x()-halfCellSize, pt.y()-halfCellSize, 0); // projected on ground // projected on ground
gPtr[gi][0] = pt.x()-halfCellSize;
gPtr[gi][1] = pt.y()-halfCellSize;
++gi;
} }
} }
obstacles->resize(oi); obstaclesMat = obstaclesMat(cv::Range::all(), cv::Range(0, oi));
ground->resize(gi); groundMat = groundMat(cv::Range::all(), cv::Range(0, gi));
if(obstacles->size())
{
obstacles = util3d::voxelize(obstacles, halfCellSize);
}
if(ground->size())
{
ground = util3d::voxelize(ground, halfCellSize);
}
cv::Mat obstaclesMat = cv::Mat(1, (int)obstacles->size(), CV_32FC2);
cv::Vec2f * ptr = obstaclesMat.ptr<cv::Vec2f>(0,0);
for(unsigned int i=0;i<obstacles->size(); ++i)
{
ptr[i][0] = obstacles->at(i).x;
ptr[i][1] = obstacles->at(i).y;
}
cv::Mat groundMat = cv::Mat(1, (int)ground->size(), CV_32FC2);
ptr = groundMat.ptr<cv::Vec2f>(0,0);
for(unsigned int i=0;i<ground->size(); ++i)
{
ptr[i][0] = ground->at(i).x;
ptr[i][1] = ground->at(i).y;
}
std::map<int, Transform> poses; std::map<int, Transform> poses;
poses.insert(std::make_pair(1, Transform::getIdentity())); poses.insert(std::make_pair(1, Transform::getIdentity()));
std::map<int, std::pair<cv::Mat, cv::Mat> > maps; std::map<int, std::pair<cv::Mat, cv::Mat> > maps;
maps.insert(std::make_pair(1, std::make_pair(groundMat, obstaclesMat))); maps.insert(std::make_pair(1, std::make_pair(groundMat, obstaclesMat)));
return util3d::create2DMapFromOccupancyLocalMaps( cv::Mat map = util3d::create2DMapFromOccupancyLocalMaps(
poses, poses,
maps, maps,
gridCellSize, gridCellSize,
xMin, yMin, xMin, yMin,
minGridSize, minGridSize,
false); false);
UDEBUG("");
return map;
} }
bool OctoMap::writeBinary(const std::string & path) bool OctoMap::writeBinary(const std::string & path)