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GridMap integration (#1180)

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* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
This commit is contained in:
matlabbe
2023-12-17 22:44:11 -08:00
committed by GitHub
parent 45392fcfc6
commit 71415992ac
44 changed files with 5332 additions and 4255 deletions
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102
corelib/include/rtabmap/core/GlobalMap.h Normal file
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@@ -0,0 +1,102 @@
/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SRC_MAP_H_
#define SRC_MAP_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <rtabmap/core/LocalGrid.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Transform.h>
#include <list>
namespace rtabmap {
class RTABMAP_CORE_EXPORT GlobalMap
{
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:
virtual ~GlobalMap();
bool update(const std::map<int, Transform> & poses); // return true if map has changed
virtual void clear();
float getCellSize() const {return cellSize_;}
float getUpdateError() const {return updateError_;}
const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
void getGridMin(double & x, double & y) const {x=minValues_[0];y=minValues_[1];}
void getGridMax(double & x, double & y) const {x=maxValues_[0];y=maxValues_[1];}
void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];}
void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}
virtual unsigned long getMemoryUsed() const;
protected:
GlobalMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses) = 0;
const std::map<int, LocalGrid> & cache() const {return cache_->localGrids();}
const std::map<int, Transform> & assembledNodes() const {return addedNodes_;}
bool isNodeAssembled(int id) {return addedNodes_.find(id) != addedNodes_.end();}
void addAssembledNode(int id, const Transform & pose);
protected:
float cellSize_;
float updateError_;
float occupancyThr_;
float logOddsHit_;
float logOddsMiss_;
float logOddsClampingMin_;
float logOddsClampingMax_;
double minValues_[3];
double maxValues_[3];
private:
const LocalGridCache * cache_;
std::map<int, Transform> addedNodes_;
};
} /* namespace rtabmap */
#endif /* SRC_MAP_H_ */

90
corelib/include/rtabmap/core/LocalGrid.h Normal file
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@@ -0,0 +1,90 @@
/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SRC_LOCALGRID_H_
#define SRC_LOCALGRID_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <opencv2/core.hpp>
#include <map>
namespace rtabmap {
class RTABMAP_CORE_EXPORT LocalGrid
{
public:
LocalGrid(const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewPoint = cv::Point3f(0,0,0));
virtual ~LocalGrid() {}
bool is3D() const;
public:
cv::Mat groundCells;
cv::Mat obstacleCells;
cv::Mat emptyCells;
float cellSize;
cv::Point3f viewPoint;
};
class RTABMAP_CORE_EXPORT LocalGridCache
{
public:
LocalGridCache() {}
virtual ~LocalGridCache() {}
void add(int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewPoint = cv::Point3f(0,0,0));
void add(int nodeId, const LocalGrid & localGrid);
bool shareTo(int nodeId, LocalGridCache & anotherCache) const;
unsigned long getMemoryUsed() const;
void clear(bool temporaryOnly = false);
size_t size() const {return localGrids_.size();}
bool empty() const {return localGrids_.empty();}
const std::map<int, LocalGrid> & localGrids() const {return localGrids_;}
std::map<int, LocalGrid>::const_iterator find(int nodeId) const {return localGrids_.find(nodeId);}
std::map<int, LocalGrid>::const_iterator begin() const {return localGrids_.begin();}
std::map<int, LocalGrid>::const_iterator end() const {return localGrids_.end();}
private:
std::map<int, LocalGrid> localGrids_;
};
} /* namespace rtabmap */
#endif /* SRC_LOCALGRID_H_ */

115
corelib/include/rtabmap/core/LocalGridMaker.h Normal file
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/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SRC_LOCAL_MAP_H_
#define SRC_LOCAL_MAP_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>
namespace rtabmap {
class RTABMAP_CORE_EXPORT LocalGridMaker
{
public:
LocalGridMaker(const ParametersMap & parameters = ParametersMap());
virtual ~LocalGridMaker();
virtual void parseParameters(const ParametersMap & parameters);
float getCellSize() const {return cellSize_;}
bool isGridFromDepth() const {return occupancySensor_;}
bool isMapFrameProjection() const {return projMapFrame_;}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr segmentCloud(
const typename pcl::PointCloud<PointT>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & pose,
const cv::Point3f & viewPoint,
pcl::IndicesPtr & groundIndices, // output cloud indices
pcl::IndicesPtr & obstaclesIndices, // output cloud indices
pcl::IndicesPtr * flatObstacles = 0) const; // output cloud indices
void createLocalMap(
const Signature & node,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPoint);
void createLocalMap(
const LaserScan & cloud,
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPointInOut) const;
protected:
ParametersMap parameters_;
unsigned int cloudDecimation_;
float rangeMax_;
float rangeMin_;
std::vector<float> roiRatios_;
float footprintLength_;
float footprintWidth_;
float footprintHeight_;
int scanDecimation_;
float cellSize_;
bool preVoxelFiltering_;
int occupancySensor_;
bool projMapFrame_;
float maxObstacleHeight_;
int normalKSearch_;
float groundNormalsUp_;
float maxGroundAngle_;
float clusterRadius_;
int minClusterSize_;
bool flatObstaclesDetected_;
float minGroundHeight_;
float maxGroundHeight_;
bool normalsSegmentation_;
bool grid3D_;
bool groundIsObstacle_;
float noiseFilteringRadius_;
int noiseFilteringMinNeighbors_;
bool scan2dUnknownSpaceFilled_;
bool rayTracing_;
};
} /* namespace rtabmap */
#include <rtabmap/core/impl/LocalMapMaker.hpp>
#endif /* SRC_MAP_H_ */

4
corelib/include/rtabmap/core/Memory.h
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@@ -57,7 +57,7 @@ class RegistrationInfo;
class RegistrationIcp;
class RegistrationVis;
class Stereo;
class OccupancyGrid;
class LocalGridMaker;
class MarkerDetector;
class RTABMAP_CORE_EXPORT Memory
@@ -371,7 +371,7 @@ private:
RegistrationIcp * _registrationIcpMulti;
RegistrationVis * _registrationVis;
OccupancyGrid * _occupancy;
LocalGridMaker * _localMapMaker;
MarkerDetector * _markerDetector;
};

146
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -1,5 +1,5 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
@@ -25,144 +25,14 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CORELIB_SRC_OCCUPANCYGRID_H_
#define CORELIB_SRC_OCCUPANCYGRID_H_
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
/*
* Deprecated header, use the one below directly!
*/
#include <pcl/point_cloud.h>
#include <pcl/pcl_base.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/global_map/OccupancyGrid.h>
namespace rtabmap {
class RTABMAP_CORE_EXPORT 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);
void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
void setCellSize(float cellSize);
float getCellSize() const {return cellSize_;}
void setCloudAssembling(bool enabled);
float getMinMapSize() const {return minMapSize_;}
bool isGridFromDepth() const {return occupancySensor_;}
bool isFullUpdate() const {return fullUpdate_;}
float getUpdateError() const {return updateError_;}
bool isMapFrameProjection() const {return projMapFrame_;}
const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
int cacheSize() const {return (int)cache_.size();}
const std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > & getCache() const {return cache_;}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr segmentCloud(
const typename pcl::PointCloud<PointT>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & pose,
const cv::Point3f & viewPoint,
pcl::IndicesPtr & groundIndices, // output cloud indices
pcl::IndicesPtr & obstaclesIndices, // output cloud indices
pcl::IndicesPtr * flatObstacles = 0) const; // output cloud indices
void createLocalMap(
const Signature & node,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPoint);
void createLocalMap(
const LaserScan & cloud,
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPointInOut) const;
void clear();
void addToCache(
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty);
bool update(const std::map<int, Transform> & poses); // return true if map has changed
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_;}
unsigned long getMemoryUsed() const;
private:
ParametersMap parameters_;
unsigned int cloudDecimation_;
float cloudMaxDepth_;
float cloudMinDepth_;
std::vector<float> roiRatios_;
float footprintLength_;
float footprintWidth_;
float footprintHeight_;
int scanDecimation_;
float cellSize_;
bool preVoxelFiltering_;
int occupancySensor_;
bool projMapFrame_;
float maxObstacleHeight_;
int normalKSearch_;
float groundNormalsUp_;
float maxGroundAngle_;
float clusterRadius_;
int minClusterSize_;
bool flatObstaclesDetected_;
float minGroundHeight_;
float maxGroundHeight_;
bool normalsSegmentation_;
bool grid3D_;
bool groundIsObstacle_;
float noiseFilteringRadius_;
int noiseFilteringMinNeighbors_;
bool scan2dUnknownSpaceFilled_;
bool rayTracing_;
bool fullUpdate_;
float minMapSize_;
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_;
cv::Mat mapInfo_;
std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
float xMin_;
float yMin_;
std::map<int, Transform> addedNodes_;
bool cloudAssembling_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledEmptyCells_;
};
}
#include <rtabmap/core/impl/OccupancyGrid.hpp>
#endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_ */

225
corelib/include/rtabmap/core/OctoMap.h
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@@ -1,5 +1,5 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
@@ -25,223 +25,14 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SRC_OCTOMAP_H_
#define SRC_OCTOMAP_H_
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
/*
* Deprecated header, use the one below directly!
*/
#include <octomap/ColorOcTree.h>
#include <octomap/OcTreeKey.h>
#include <rtabmap/core/global_map/OctoMap.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <map>
#include <unordered_set>
#include <string>
#include <queue>
namespace rtabmap {
// forward declaraton for "friend"
class RtabmapColorOcTree;
class RtabmapColorOcTreeNode : public octomap::ColorOcTreeNode
{
public:
enum OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};
public:
friend class RtabmapColorOcTree; // needs access to node children (inherited)
RtabmapColorOcTreeNode() : ColorOcTreeNode(), nodeRefId_(0), type_(kTypeUnknown) {}
RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode& rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}
void setNodeRefId(int nodeRefId) {nodeRefId_ = nodeRefId;}
void setOccupancyType(char type) {type_=type;}
void setPointRef(const octomap::point3d & point) {pointRef_ = point;}
int getNodeRefId() const {return nodeRefId_;}
int getOccupancyType() const {return type_;}
const octomap::point3d & getPointRef() const {return pointRef_;}
// following methods defined for octomap < 1.8 compatibility
RtabmapColorOcTreeNode* getChild(unsigned int i);
const RtabmapColorOcTreeNode* getChild(unsigned int i) const;
bool pruneNode();
void expandNode();
bool createChild(unsigned int i);
void updateOccupancyTypeChildren();
private:
int nodeRefId_;
int type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
octomap::point3d pointRef_;
};
// Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode
class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTreeNode> {
public:
/// Default constructor, sets resolution of leafs
RtabmapColorOcTree(double resolution);
virtual ~RtabmapColorOcTree() {}
/// virtual constructor: creates a new object of same type
/// (Covariant return type requires an up-to-date compiler)
RtabmapColorOcTree* create() const {return new RtabmapColorOcTree(resolution); }
std::string getTreeType() const {return "ColorOcTree";} // same type as ColorOcTree to be compatible with ROS OctoMap msg
/**
* Prunes a node when it is collapsible. This overloaded
* version only considers the node occupancy for pruning,
* different colors of child nodes are ignored.
* @return true if pruning was successful
*/
virtual bool pruneNode(RtabmapColorOcTreeNode* node);
virtual bool isNodeCollapsible(const RtabmapColorOcTreeNode* node) const;
// set node color at given key or coordinate. Replaces previous color.
RtabmapColorOcTreeNode* setNodeColor(const octomap::OcTreeKey& key, uint8_t r,
uint8_t g, uint8_t b);
RtabmapColorOcTreeNode* setNodeColor(float x, float y,
float z, uint8_t r,
uint8_t g, uint8_t b) {
octomap::OcTreeKey key;
if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
return setNodeColor(key,r,g,b);
}
// integrate color measurement at given key or coordinate. Average with previous color
RtabmapColorOcTreeNode* averageNodeColor(const octomap::OcTreeKey& key, uint8_t r,
uint8_t g, uint8_t b);
RtabmapColorOcTreeNode* averageNodeColor(float x, float y,
float z, uint8_t r,
uint8_t g, uint8_t b) {
octomap:: OcTreeKey key;
if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
return averageNodeColor(key,r,g,b);
}
// integrate color measurement at given key or coordinate. Average with previous color
RtabmapColorOcTreeNode* integrateNodeColor(const octomap::OcTreeKey& key, uint8_t r,
uint8_t g, uint8_t b);
RtabmapColorOcTreeNode* integrateNodeColor(float x, float y,
float z, uint8_t r,
uint8_t g, uint8_t b) {
octomap::OcTreeKey key;
if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
return integrateNodeColor(key,r,g,b);
}
// update inner nodes, sets color to average child color
void updateInnerOccupancy();
protected:
void updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, unsigned int depth);
/**
* Static member object which ensures that this OcTree's prototype
* ends up in the classIDMapping only once. You need this as a
* static member in any derived octree class in order to read .ot
* files through the AbstractOcTree factory. You should also call
* ensureLinking() once from the constructor.
*/
class StaticMemberInitializer{
public:
StaticMemberInitializer();
/**
* Dummy function to ensure that MSVC does not drop the
* StaticMemberInitializer, causing this tree failing to register.
* Needs to be called from the constructor of this octree.
*/
void ensureLinking() {};
};
/// static member to ensure static initialization (only once)
static StaticMemberInitializer RtabmapColorOcTreeMemberInit;
};
class RTABMAP_CORE_EXPORT OctoMap {
public:
OctoMap(const ParametersMap & parameters = ParametersMap());
const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
void addToCache(int nodeId,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & ground,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstacles,
const pcl::PointXYZ & viewPoint);
void addToCache(int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
const cv::Point3f & viewPoint);
bool update(const std::map<int, Transform> & poses); // return true if map has changed
const RtabmapColorOcTree * octree() const {return octree_;}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
unsigned int treeDepth = 0,
std::vector<int> * obstacleIndices = 0,
std::vector<int> * emptyIndices = 0,
std::vector<int> * groundIndices = 0,
bool originalRefPoints = true,
std::vector<int> * frontierIndices = 0,
std::vector<double> * cloudProb = 0) const;
cv::Mat createProjectionMap(
float & xMin,
float & yMin,
float & gridCellSize,
float minGridSize = 0.0f,
unsigned int treeDepth = 0);
bool writeBinary(const std::string & path);
virtual ~OctoMap();
void clear();
void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];}
void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}
void setMaxRange(float value) {rangeMax_ = value;}
void setRayTracing(bool enabled) {rayTracing_ = enabled;}
bool hasColor() const {return hasColor_;}
static std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> findEmptyNode(RtabmapColorOcTree* octree_, unsigned int treeDepth, octomap::point3d startPosition);
static void floodFill(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition, std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> & EmptyNodes,std::queue<octomap::point3d>& positionToExplore);
static bool isNodeVisited(std::unordered_set<octomap::OcTreeKey,octomap::OcTreeKey::KeyHash> const & EmptyNodes,octomap::OcTreeKey const key);
static octomap::point3d findCloseEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
static bool isValidEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
private:
void updateMinMax(const octomap::point3d & point);
private:
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; // [id: < <ground, obstacles>, empty>]
std::map<int, std::pair<const pcl::PointCloud<pcl::PointXYZRGB>::Ptr, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cacheClouds_; // [id: <ground, obstacles>]
std::map<int, cv::Point3f> cacheViewPoints_;
RtabmapColorOcTree * octree_;
std::map<int, Transform> addedNodes_;
bool hasColor_;
bool fullUpdate_;
float updateError_;
float rangeMax_;
bool rayTracing_;
unsigned int emptyFloodFillDepth_;
double minValues_[3];
double maxValues_[3];
};
} /* namespace rtabmap */
#endif /* SRC_OCTOMAP_H_ */
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_ */

2
corelib/include/rtabmap/core/Parameters.h
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@@ -836,8 +836,6 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()));
RTABMAP_PARAM(Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
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, UpdateError, float, 0.01, "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
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).");

64
corelib/include/rtabmap/core/global_map/CloudMap.h Normal file
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@@ -0,0 +1,64 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CORELIB_SRC_CLOUDMAP_H_
#define CORELIB_SRC_CLOUDMAP_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <rtabmap/core/GlobalMap.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
namespace rtabmap {
class RTABMAP_CORE_EXPORT CloudMap : public GlobalMap
{
public:
CloudMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
virtual void clear();
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
const pcl::PointCloud<pcl::PointXYZ>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
unsigned long getMemoryUsed() const;
protected:
virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
private:
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
pcl::PointCloud<pcl::PointXYZ>::Ptr assembledEmptyCells_;
};
}
#endif /* CORELIB_SRC_CLOUDMAP_H_ */

69
corelib/include/rtabmap/core/global_map/GridMap.h Normal file
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@@ -0,0 +1,69 @@
/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CORELIB_SRC_GRIDMAP_H_
#define CORELIB_SRC_GRIDMAP_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <rtabmap/core/GlobalMap.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <grid_map_core/GridMap.hpp>
namespace rtabmap {
class RTABMAP_CORE_EXPORT GridMap : public GlobalMap
{
public:
GridMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
virtual void clear();
const grid_map::GridMap & gridMap() const {return gridMap_;}
cv::Mat createHeightMap(float & xMin, float & yMin, float & cellSize) const;
cv::Mat createColorMap(float & xMin, float & yMin, float & cellSize) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createTerrainCloud() const;
pcl::PolygonMesh::Ptr createTerrainMesh() const;
protected:
virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
private:
cv::Mat toImage(const std::string & layer, float & xMin, float & yMin, float & cellSize) const;
private:
grid_map::GridMap gridMap_;
float minMapSize_;
};
}
#endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */

69
corelib/include/rtabmap/core/global_map/OccupancyGrid.h Normal file
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@@ -0,0 +1,69 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CORELIB_SRC_OCCUPANCYGRID_H_
#define CORELIB_SRC_OCCUPANCYGRID_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <rtabmap/core/GlobalMap.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
namespace rtabmap {
class RTABMAP_CORE_EXPORT OccupancyGrid : public GlobalMap
{
public:
OccupancyGrid(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
float getMinMapSize() const {return minMapSize_;}
virtual void clear();
cv::Mat getMap(float & xMin, float & yMin) const;
cv::Mat getProbMap(float & xMin, float & yMin) const;
unsigned long getMemoryUsed() const;
protected:
virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
private:
cv::Mat map_;
cv::Mat mapInfo_;
std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
float minMapSize_;
bool erode_;
float footprintRadius_;
};
}
#endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */

227
corelib/include/rtabmap/core/global_map/OctoMap.h Normal file
View File

@@ -0,0 +1,227 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SRC_OCTOMAP_H_
#define SRC_OCTOMAP_H_
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <octomap/ColorOcTree.h>
#include <octomap/OcTreeKey.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/GlobalMap.h>
#include <map>
#include <unordered_set>
#include <string>
#include <queue>
namespace rtabmap {
// forward declaraton for "friend"
class RtabmapColorOcTree;
class RtabmapColorOcTreeNode : public octomap::ColorOcTreeNode
{
public:
enum OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};
public:
friend class RtabmapColorOcTree; // needs access to node children (inherited)
RtabmapColorOcTreeNode() : ColorOcTreeNode(), nodeRefId_(0), type_(kTypeUnknown) {}
RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode& rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}
void setNodeRefId(int nodeRefId) {nodeRefId_ = nodeRefId;}
void setOccupancyType(char type) {type_=type;}
void setPointRef(const octomap::point3d & point) {pointRef_ = point;}
int getNodeRefId() const {return nodeRefId_;}
int getOccupancyType() const {return type_;}
const octomap::point3d & getPointRef() const {return pointRef_;}
// following methods defined for octomap < 1.8 compatibility
RtabmapColorOcTreeNode* getChild(unsigned int i);
const RtabmapColorOcTreeNode* getChild(unsigned int i) const;
bool pruneNode();
void expandNode();
bool createChild(unsigned int i);
void updateOccupancyTypeChildren();
private:
int nodeRefId_;
int type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
octomap::point3d pointRef_;
};
// Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode
class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTreeNode> {
public:
/// Default constructor, sets resolution of leafs
RtabmapColorOcTree(double resolution);
virtual ~RtabmapColorOcTree() {}
/// virtual constructor: creates a new object of same type
/// (Covariant return type requires an up-to-date compiler)
RtabmapColorOcTree* create() const {return new RtabmapColorOcTree(resolution); }
std::string getTreeType() const {return "ColorOcTree";} // same type as ColorOcTree to be compatible with ROS OctoMap msg
/**
* Prunes a node when it is collapsible. This overloaded
* version only considers the node occupancy for pruning,
* different colors of child nodes are ignored.
* @return true if pruning was successful
*/
virtual bool pruneNode(RtabmapColorOcTreeNode* node);
virtual bool isNodeCollapsible(const RtabmapColorOcTreeNode* node) const;
// set node color at given key or coordinate. Replaces previous color.
RtabmapColorOcTreeNode* setNodeColor(const octomap::OcTreeKey& key, uint8_t r,
uint8_t g, uint8_t b);
RtabmapColorOcTreeNode* setNodeColor(float x, float y,
float z, uint8_t r,
uint8_t g, uint8_t b) {
octomap::OcTreeKey key;
if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
return setNodeColor(key,r,g,b);
}
// integrate color measurement at given key or coordinate. Average with previous color
RtabmapColorOcTreeNode* averageNodeColor(const octomap::OcTreeKey& key, uint8_t r,
uint8_t g, uint8_t b);
RtabmapColorOcTreeNode* averageNodeColor(float x, float y,
float z, uint8_t r,
uint8_t g, uint8_t b) {
octomap:: OcTreeKey key;
if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
return averageNodeColor(key,r,g,b);
}
// integrate color measurement at given key or coordinate. Average with previous color
RtabmapColorOcTreeNode* integrateNodeColor(const octomap::OcTreeKey& key, uint8_t r,
uint8_t g, uint8_t b);
RtabmapColorOcTreeNode* integrateNodeColor(float x, float y,
float z, uint8_t r,
uint8_t g, uint8_t b) {
octomap::OcTreeKey key;
if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
return integrateNodeColor(key,r,g,b);
}
// update inner nodes, sets color to average child color
void updateInnerOccupancy();
protected:
void updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, unsigned int depth);
/**
* Static member object which ensures that this OcTree's prototype
* ends up in the classIDMapping only once. You need this as a
* static member in any derived octree class in order to read .ot
* files through the AbstractOcTree factory. You should also call
* ensureLinking() once from the constructor.
*/
class StaticMemberInitializer{
public:
StaticMemberInitializer();
/**
* Dummy function to ensure that MSVC does not drop the
* StaticMemberInitializer, causing this tree failing to register.
* Needs to be called from the constructor of this octree.
*/
void ensureLinking() {};
};
/// static member to ensure static initialization (only once)
static StaticMemberInitializer RtabmapColorOcTreeMemberInit;
};
class RTABMAP_CORE_EXPORT OctoMap : public GlobalMap {
public:
OctoMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
const RtabmapColorOcTree * octree() const {return octree_;}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
unsigned int treeDepth = 0,
std::vector<int> * obstacleIndices = 0,
std::vector<int> * emptyIndices = 0,
std::vector<int> * groundIndices = 0,
bool originalRefPoints = true,
std::vector<int> * frontierIndices = 0,
std::vector<double> * cloudProb = 0) const;
cv::Mat createProjectionMap(
float & xMin,
float & yMin,
float & gridCellSize,
float minGridSize = 0.0f,
unsigned int treeDepth = 0);
bool writeBinary(const std::string & path);
virtual ~OctoMap();
virtual void clear();
virtual unsigned long getMemoryUsed() const;
bool hasColor() const {return hasColor_;}
static std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> findEmptyNode(RtabmapColorOcTree* octree_, unsigned int treeDepth, octomap::point3d startPosition);
static void floodFill(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition, std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> & EmptyNodes,std::queue<octomap::point3d>& positionToExplore);
static bool isNodeVisited(std::unordered_set<octomap::OcTreeKey,octomap::OcTreeKey::KeyHash> const & EmptyNodes,octomap::OcTreeKey const key);
static octomap::point3d findCloseEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
static bool isValidEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
protected:
virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
private:
void updateMinMax(const octomap::point3d & point);
private:
RtabmapColorOcTree * octree_;
bool hasColor_;
float rangeMax_;
bool rayTracing_;
unsigned int emptyFloodFillDepth_;
};
} /* namespace rtabmap */
#endif /* SRC_OCTOMAP_H_ */

8
corelib/include/rtabmap/core/impl/OccupancyGrid.hpp → corelib/include/rtabmap/core/impl/LocalMapMaker.hpp
View File

@@ -25,8 +25,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_
#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_
#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_
#include <rtabmap/core/util3d_mapping.h>
#include <rtabmap/core/util3d_transforms.h>
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
typename pcl::PointCloud<PointT>::Ptr LocalGridMaker::segmentCloud(
const typename pcl::PointCloud<PointT>::Ptr & cloudIn,
const pcl::IndicesPtr & indicesIn,
const Transform & pose,
@@ -205,4 +205,4 @@ typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
}
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_ */
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_ */