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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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corelib/src/Memory.cpp
+10 -10
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@@ -60,9 +60,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/optimizer/OptimizerG2O.h"
#include <pcl/io/pcd_io.h>
#include <pcl/common/common.h>
#include <rtabmap/core/OccupancyGrid.h>
#include <rtabmap/core/MarkerDetector.h>
#include <opencv2/imgproc/types_c.h>
#include <rtabmap/core/LocalGridMaker.h>
namespace rtabmap {
@@ -153,7 +153,7 @@ Memory::Memory(const ParametersMap & parameters) :
}
_registrationIcpMulti = new RegistrationIcp(paramsMulti);
_occupancy = new OccupancyGrid(parameters);
_localMapMaker = new LocalGridMaker(parameters);
_markerDetector = new MarkerDetector(parameters);
this->parseParameters(parameters);
}
@@ -545,7 +545,7 @@ Memory::~Memory()
delete _registrationPipeline;
delete _registrationIcpMulti;
delete _registrationVis;
delete _occupancy;
delete _localMapMaker;
}
void Memory::parseParameters(const ParametersMap & parameters)
@@ -749,9 +749,9 @@ void Memory::parseParameters(const ParametersMap & parameters)
}
}
if(_occupancy)
if(_localMapMaker)
{
_occupancy->parseParameters(params);
_localMapMaker->parseParameters(params);
}
if(_markerDetector)
@@ -3706,7 +3706,7 @@ unsigned long Memory::getMemoryUsed() const
memoryUsage += sizeof(Feature2D) + _feature2D->getParameters().size()*(sizeof(std::string)*2+sizeof(ParametersMap::iterator)) + sizeof(ParametersMap);
memoryUsage += sizeof(Registration);
memoryUsage += sizeof(RegistrationIcp);
memoryUsage += _occupancy->getMemoryUsed();
memoryUsage += sizeof(LocalGridMaker);
memoryUsage += sizeof(MarkerDetector);
memoryUsage += sizeof(DBDriver);
@@ -5842,14 +5842,14 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// Occupancy grid map stuff
if(_createOccupancyGrid && !isIntermediateNode)
{
if( (_occupancy->isGridFromDepth() && !data.depthOrRightRaw().empty()) ||
(!_occupancy->isGridFromDepth() && !data.laserScanRaw().empty()))
if( (_localMapMaker->isGridFromDepth() && !data.depthOrRightRaw().empty()) ||
(!_localMapMaker->isGridFromDepth() && !data.laserScanRaw().empty()))
{
cv::Mat ground, obstacles, empty;
float cellSize = 0.0f;
cv::Point3f viewPoint(0,0,0);
_occupancy->createLocalMap(*s, ground, obstacles, empty, viewPoint);
cellSize = _occupancy->getCellSize();
_localMapMaker->createLocalMap(*s, ground, obstacles, empty, viewPoint);
cellSize = _localMapMaker->getCellSize();
s->sensorData().setOccupancyGrid(ground, obstacles, empty, cellSize, viewPoint);
t = timer.ticks();