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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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tools/DetectMoreLoopClosures/main.cpp
+4 -4
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@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/OccupancyGrid.h>
#include <rtabmap/core/global_map/OccupancyGrid.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
@@ -244,14 +244,14 @@ int main(int argc, char * argv[])
else if(detected > 0 && haveOptimizedMap)
{
printf("The database has a global occupancy grid, regenerating one with new optimized graph!\n");
OccupancyGrid grid(parameters);
LocalGridCache cache;
OccupancyGrid grid(&cache, parameters);
std::map<int, Transform> optimizedPoses = rtabmap.getLocalOptimizedPoses();
for(std::map<int, Transform>::iterator iter=optimizedPoses.lower_bound(0); iter!=optimizedPoses.end(); ++iter)
{
cv::Mat occupancyGrid;
SensorData data = rtabmap.getMemory()->getNodeData(iter->first, false, false, false, true);
data.uncompressData();
grid.addToCache(iter->first, data.gridGroundCellsRaw(), data.gridObstacleCellsRaw(), data.gridEmptyCellsRaw());
cache.add(iter->first, data.gridGroundCellsRaw(), data.gridObstacleCellsRaw(), data.gridEmptyCellsRaw(), data.gridCellSize(), data.gridViewPoint());
}
grid.update(optimizedPoses);
cv::Mat map = grid.getMap(xMin, yMin);