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Improved occupancy grid map construction performance

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Mathieu Labbe
2015-02-11 17:03:46 -05:00
parent 530fd5d2c1
commit 7c65dbf6bb
11 changed files with 324 additions and 205 deletions
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3
guilib/include/rtabmap/gui/MainWindow.h
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@@ -275,7 +275,8 @@ private:
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _occupancyLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _lastOdometryProcessed;

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -147,9 +147,7 @@ public:
bool getGridMapShown() const;
double getGridMapResolution() const;
bool getGridMapFillEmptySpace() const;
bool isGridMapFrom3DCloud() const;
int getGridMapFillEmptyRadius() const;
double getGridMapOpacity() const;
QString getWorkingDirectory() const;