i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

updated util3d::create2dMap() with filling unknown space option (default true)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1453 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-03 20:16:39 +00:00
parent 99fbca5ffe
commit 87d1e4b52a
8 changed files with 290 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Parameters.h
View File

@@ -224,7 +224,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ScanMatchingSize, int, 0, "Laser scan matching history for odometry correction (laser scans are required). Set to 0 to disable odometry correction.");
RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.0, "Min linear displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.0, "Min angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 1, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
RTABMAP_PARAM(RGBD, ToroIterations, int, 100, "TORO graph optimization iterations");
RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, true, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node).");

14
corelib/include/rtabmap/core/Transform.h
View File

@@ -27,6 +27,20 @@ public:
// x,y,z, roll,pitch,yaw
Transform(float x, float y, float z, float roll, float pitch, float yaw);
float r11() const {return data_[0];}
float r12() const {return data_[1];}
float r13() const {return data_[2];}
float r21() const {return data_[4];}
float r22() const {return data_[5];}
float r23() const {return data_[6];}
float r31() const {return data_[8];}
float r32() const {return data_[9];}
float r33() const {return data_[10];}
float o14() const {return data_[3];}
float o24() const {return data_[7];}
float o34() const {return data_[11];}
float & operator[](int index) {return data_[index];}
const float & operator[](int index) const {return data_[index];}

11
corelib/include/rtabmap/core/util3d.h
View File

@@ -390,15 +390,22 @@ bool RTABMAP_EXP loadTOROGraph(const std::string & fileName,
std::map<int, Transform> & poses,
std::multimap<int, std::pair<int, Transform> > & edgeConstraints);
std::map<int, Transform> RTABMAP_EXP radiusPosesFiltering(
const std::map<int, Transform> & poses,
float radius,
float angle);
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
float delta,
float cellSize,
bool unknownSpaceFilled,
float & xMin,
float & yMin);
void RTABMAP_EXP rayTrace(const cv::Point2i & start,
const cv::Point2i & end,
cv::Mat & grid);
cv::Mat & grid,
bool stopOnObstacle);
} // namespace util3d
} // namespace rtabmap