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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.

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matlabbe
2018-02-08 21:40:17 -05:00
parent e7ceacc215
commit fced2c521c
32 changed files with 1642 additions and 600 deletions
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corelib/src/Memory.cpp
+3 -3
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@@ -4043,19 +4043,19 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
// Occupancy grid map stuff
cv::Mat ground, obstacles;
cv::Mat ground, obstacles, empty;
float cellSize = 0.0f;
cv::Point3f viewPoint(0,0,0);
if(_createOccupancyGrid && !data.depthOrRightRaw().empty() && !isIntermediateNode)
{
_occupancy->createLocalMap(*s, ground, obstacles, viewPoint);
_occupancy->createLocalMap(*s, ground, obstacles, empty, viewPoint);
cellSize = _occupancy->getCellSize();
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemOccupancy_grid(), t*1000.0f);
UDEBUG("time grid map = %fs", t);
}
s->sensorData().setOccupancyGrid(ground, obstacles, cellSize, viewPoint);
s->sensorData().setOccupancyGrid(ground, obstacles, empty, cellSize, viewPoint);
// prior
if(!isIntermediateNode)