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0.12.15 Parameters: added "GridGlobal" parameter group, fixed https://github.com/introlab/rtabmap_ros/issues/162

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This commit is contained in:
matlabbe
2017-04-10 16:59:48 -04:00
parent 98a96a897b
commit 6f148c47e2
9 changed files with 287 additions and 236 deletions
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13
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -44,6 +44,7 @@ public:
void parseParameters(const ParametersMap & parameters);
void setCellSize(float cellSize);
float getCellSize() const {return cellSize_;}
float getMinMapSize() const {return minMapSize_;}
bool isGridFromDepth() const {return occupancyFromCloud_;}
bool isFullUpdate() const {return fullUpdate_;}
const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
@@ -69,13 +70,8 @@ public:
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles);
void update(const std::map<int, Transform> & poses, float minMapSize = 0.0f, float footprintRadius = 0.0f);
const cv::Mat & getMap(float & xMin, float & yMin) const
{
xMin = xMin_;
yMin = yMin_;
return map_;
}
void update(const std::map<int, Transform> & poses);
const cv::Mat getMap(float & xMin, float & yMin) const;
private:
ParametersMap parameters_;
@@ -107,6 +103,9 @@ private:
double scan2dMaxUnknownSpaceFilledRange_;
bool projRayTracing_;
bool fullUpdate_;
float minMapSize_;
bool erode_;
float footprintRadius_;
std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
cv::Mat map_;

6
corelib/include/rtabmap/core/Parameters.h
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@@ -505,7 +505,11 @@ class RTABMAP_EXP Parameters
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, true, 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, FullUpdate, bool, true, "When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.");
RTABMAP_PARAM(GridGlobal, FullUpdate, bool, true, "When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.");
RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
public:
virtual ~Parameters();