i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.

Browse Source
This commit is contained in:
matlabbe
2018-02-08 21:40:17 -05:00
parent e7ceacc215
commit fced2c521c
32 changed files with 1642 additions and 600 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/OccupancyGrid.h
+27 -5
View File
@@ -48,6 +48,7 @@ public:
float getMinMapSize() const {return minMapSize_;}
bool isGridFromDepth() const {return occupancyFromCloud_;}
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();}
@@ -64,19 +65,38 @@ public:
void createLocalMap(
const Signature & node,
cv::Mat & ground,
cv::Mat & obstacles,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPoint) const;
void createLocalMap(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, // in base_link frame
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPointInOut) const;
void createLocalMap(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, // in base_link frame
const pcl::IndicesPtr & indices,
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 & obstacles,
const cv::Mat & empty);
void update(const std::map<int, Transform> & poses);
cv::Mat getMap(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_;}
private:
ParametersMap parameters_;
@@ -106,13 +126,14 @@ private:
int noiseFilteringMinNeighbors_;
bool scan2dUnknownSpaceFilled_;
double scan2dMaxUnknownSpaceFilledRange_;
bool projRayTracing_;
bool rayTracing_;
bool fullUpdate_;
float minMapSize_;
bool erode_;
float footprintRadius_;
float updateError_;
std::map<int, std::pair<cv::Mat, cv::Mat> > cache_; //<node id, <ground, obstacles> >
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>
@@ -123,6 +144,7 @@ private:
bool cloudAssembling_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledEmptyCells_;
};
}