/* Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the Universite de Sherbrooke nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include #include #include #include #include #include #include #include #include #ifdef RTABMAP_OCTOMAP #include #endif #include namespace rtabmap { LocalGridMaker::LocalGridMaker(const ParametersMap & parameters) : parameters_(parameters), cloudDecimation_(Parameters::defaultGridDepthDecimation()), rangeMax_(Parameters::defaultGridRangeMax()), rangeMin_(Parameters::defaultGridRangeMin()), //roiRatios_(Parameters::defaultGridDepthRoiRatios()), // initialized in parseParameters() footprintLength_(Parameters::defaultGridFootprintLength()), footprintWidth_(Parameters::defaultGridFootprintWidth()), footprintHeight_(Parameters::defaultGridFootprintHeight()), scanDecimation_(Parameters::defaultGridScanDecimation()), cellSize_(Parameters::defaultGridCellSize()), preVoxelFiltering_(Parameters::defaultGridPreVoxelFiltering()), occupancySensor_(Parameters::defaultGridSensor()), projMapFrame_(Parameters::defaultGridMapFrameProjection()), maxObstacleHeight_(Parameters::defaultGridMaxObstacleHeight()), normalKSearch_(Parameters::defaultGridNormalK()), groundNormalsUp_(Parameters::defaultIcpPointToPlaneGroundNormalsUp()), maxGroundAngle_(Parameters::defaultGridMaxGroundAngle()*M_PI/180.0f), clusterRadius_(Parameters::defaultGridClusterRadius()), minClusterSize_(Parameters::defaultGridMinClusterSize()), flatObstaclesDetected_(Parameters::defaultGridFlatObstacleDetected()), minGroundHeight_(Parameters::defaultGridMinGroundHeight()), maxGroundHeight_(Parameters::defaultGridMaxGroundHeight()), normalsSegmentation_(Parameters::defaultGridNormalsSegmentation()), grid3D_(Parameters::defaultGrid3D()), groundIsObstacle_(Parameters::defaultGridGroundIsObstacle()), noiseFilteringRadius_(Parameters::defaultGridNoiseFilteringRadius()), noiseFilteringMinNeighbors_(Parameters::defaultGridNoiseFilteringMinNeighbors()), scan2dUnknownSpaceFilled_(Parameters::defaultGridScan2dUnknownSpaceFilled()), rayTracing_(Parameters::defaultGridRayTracing()) { this->parseParameters(parameters); } LocalGridMaker::~LocalGridMaker() { } void LocalGridMaker::parseParameters(const ParametersMap & parameters) { uInsert(parameters_, parameters); Parameters::parse(parameters, Parameters::kGridSensor(), occupancySensor_); Parameters::parse(parameters, Parameters::kGridDepthDecimation(), cloudDecimation_); if(cloudDecimation_ == 0) { cloudDecimation_ = 1; } Parameters::parse(parameters, Parameters::kGridRangeMin(), rangeMin_); Parameters::parse(parameters, Parameters::kGridRangeMax(), rangeMax_); Parameters::parse(parameters, Parameters::kGridFootprintLength(), footprintLength_); Parameters::parse(parameters, Parameters::kGridFootprintWidth(), footprintWidth_); Parameters::parse(parameters, Parameters::kGridFootprintHeight(), footprintHeight_); Parameters::parse(parameters, Parameters::kGridScanDecimation(), scanDecimation_); Parameters::parse(parameters, Parameters::kGridCellSize(), cellSize_); UASSERT(cellSize_>0.0f); Parameters::parse(parameters, Parameters::kGridPreVoxelFiltering(), preVoxelFiltering_); Parameters::parse(parameters, Parameters::kGridMapFrameProjection(), projMapFrame_); Parameters::parse(parameters, Parameters::kGridMaxObstacleHeight(), maxObstacleHeight_); Parameters::parse(parameters, Parameters::kGridMinGroundHeight(), minGroundHeight_); Parameters::parse(parameters, Parameters::kGridMaxGroundHeight(), maxGroundHeight_); Parameters::parse(parameters, Parameters::kGridNormalK(), normalKSearch_); Parameters::parse(parameters, Parameters::kIcpPointToPlaneGroundNormalsUp(), groundNormalsUp_); if(Parameters::parse(parameters, Parameters::kGridMaxGroundAngle(), maxGroundAngle_)) { maxGroundAngle_ *= M_PI/180.0f; } Parameters::parse(parameters, Parameters::kGridClusterRadius(), clusterRadius_); UASSERT_MSG(clusterRadius_ > 0.0f, uFormat("Param name is \"%s\"", Parameters::kGridClusterRadius().c_str()).c_str()); Parameters::parse(parameters, Parameters::kGridMinClusterSize(), minClusterSize_); Parameters::parse(parameters, Parameters::kGridFlatObstacleDetected(), flatObstaclesDetected_); Parameters::parse(parameters, Parameters::kGridNormalsSegmentation(), normalsSegmentation_); Parameters::parse(parameters, Parameters::kGrid3D(), grid3D_); Parameters::parse(parameters, Parameters::kGridGroundIsObstacle(), groundIsObstacle_); Parameters::parse(parameters, Parameters::kGridNoiseFilteringRadius(), noiseFilteringRadius_); Parameters::parse(parameters, Parameters::kGridNoiseFilteringMinNeighbors(), noiseFilteringMinNeighbors_); Parameters::parse(parameters, Parameters::kGridScan2dUnknownSpaceFilled(), scan2dUnknownSpaceFilled_); Parameters::parse(parameters, Parameters::kGridRayTracing(), rayTracing_); // convert ROI from string to vector ParametersMap::const_iterator iter; if((iter=parameters.find(Parameters::kGridDepthRoiRatios())) != parameters.end()) { std::list strValues = uSplit(iter->second, ' '); if(strValues.size() != 4) { ULOGGER_ERROR("The number of values must be 4 (%s=\"%s\")", iter->first.c_str(), iter->second.c_str()); } else { std::vector tmpValues(4); unsigned int i=0; for(std::list::iterator jter = strValues.begin(); jter!=strValues.end(); ++jter) { tmpValues[i] = uStr2Float(*jter); ++i; } if(tmpValues[0] >= 0 && tmpValues[0] < 1 && tmpValues[0] < 1.0f-tmpValues[1] && tmpValues[1] >= 0 && tmpValues[1] < 1 && tmpValues[1] < 1.0f-tmpValues[0] && tmpValues[2] >= 0 && tmpValues[2] < 1 && tmpValues[2] < 1.0f-tmpValues[3] && tmpValues[3] >= 0 && tmpValues[3] < 1 && tmpValues[3] < 1.0f-tmpValues[2]) { roiRatios_ = tmpValues; } else { ULOGGER_ERROR("The roi ratios are not valid (%s=\"%s\")", iter->first.c_str(), iter->second.c_str()); } } } if(maxGroundHeight_ == 0.0f && !normalsSegmentation_) { UWARN("\"%s\" should be not equal to 0 if not using normals " "segmentation approach. Setting it to cell size (%f).", Parameters::kGridMaxGroundHeight().c_str(), cellSize_); maxGroundHeight_ = cellSize_; } if(maxGroundHeight_ != 0.0f && maxObstacleHeight_ != 0.0f && maxObstacleHeight_ < maxGroundHeight_) { UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).", Parameters::kGridMaxGroundHeight().c_str(), Parameters::kGridMaxObstacleHeight().c_str(), Parameters::kGridMaxObstacleHeight().c_str()); maxObstacleHeight_ = 0; } if(maxGroundHeight_ != 0.0f && minGroundHeight_ != 0.0f && maxGroundHeight_ < minGroundHeight_) { UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).", Parameters::kGridMinGroundHeight().c_str(), Parameters::kGridMaxGroundHeight().c_str(), Parameters::kGridMinGroundHeight().c_str()); minGroundHeight_ = 0; } } void LocalGridMaker::createLocalMap( const Signature & node, cv::Mat & groundCells, cv::Mat & obstacleCells, cv::Mat & emptyCells, cv::Point3f & viewPoint) { UDEBUG("scan format=%s, occupancySensor_=%d normalsSegmentation_=%d grid3D_=%d", node.sensorData().laserScanRaw().isEmpty()?"NA":node.sensorData().laserScanRaw().formatName().c_str(), occupancySensor_, normalsSegmentation_?1:0, grid3D_?1:0); if((node.sensorData().laserScanRaw().is2d()) && occupancySensor_ == 0) { UDEBUG("2D laser scan"); //2D viewPoint = cv::Point3f( node.sensorData().laserScanRaw().localTransform().x(), node.sensorData().laserScanRaw().localTransform().y(), node.sensorData().laserScanRaw().localTransform().z()); LaserScan scan = node.sensorData().laserScanRaw(); if(rangeMin_ > 0.0f) { scan = util3d::rangeFiltering(scan, rangeMin_, 0.0f); } float maxRange = rangeMax_; if(rangeMax_>0.0f && node.sensorData().laserScanRaw().rangeMax()>0.0f) { maxRange = rangeMax_ < node.sensorData().laserScanRaw().rangeMax()?rangeMax_:node.sensorData().laserScanRaw().rangeMax(); } else if(scan2dUnknownSpaceFilled_ && node.sensorData().laserScanRaw().rangeMax()>0.0f) { maxRange = node.sensorData().laserScanRaw().rangeMax(); } util3d::occupancy2DFromLaserScan( util3d::transformLaserScan(scan, node.sensorData().laserScanRaw().localTransform()).data(), cv::Mat(), viewPoint, emptyCells, obstacleCells, cellSize_, scan2dUnknownSpaceFilled_, maxRange); UDEBUG("ground=%d obstacles=%d channels=%d", emptyCells.cols, obstacleCells.cols, obstacleCells.cols?obstacleCells.channels():emptyCells.channels()); } else { // 3D if(occupancySensor_ == 0 || occupancySensor_ == 2) { if(!node.sensorData().laserScanRaw().isEmpty()) { UDEBUG("3D laser scan"); const Transform & t = node.sensorData().laserScanRaw().localTransform(); LaserScan scan = util3d::downsample(node.sensorData().laserScanRaw(), scanDecimation_); #ifdef RTABMAP_OCTOMAP // If ray tracing enabled, clipping will be done in OctoMap or in occupancy2DFromLaserScan() float maxRange = rayTracing_?0.0f:rangeMax_; #else // If ray tracing enabled, clipping will be done in occupancy2DFromLaserScan() float maxRange = !grid3D_ && rayTracing_?0.0f:rangeMax_; #endif if(rangeMin_ > 0.0f || maxRange > 0.0f) { scan = util3d::rangeFiltering(scan, rangeMin_, maxRange); } // update viewpoint viewPoint = cv::Point3f(t.x(), t.y(), t.z()); UDEBUG("scan format=%d", scan.format()); bool normalSegmentationTmp = normalsSegmentation_; float minGroundHeightTmp = minGroundHeight_; float maxGroundHeightTmp = maxGroundHeight_; if(scan.is2d()) { // if 2D, assume the whole scan is obstacle normalsSegmentation_ = false; minGroundHeight_ = std::numeric_limits::min(); maxGroundHeight_ = std::numeric_limits::min()+100; } createLocalMap(scan, node.getPose(), groundCells, obstacleCells, emptyCells, viewPoint); if(scan.is2d()) { // restore normalsSegmentation_ = normalSegmentationTmp; minGroundHeight_ = minGroundHeightTmp; maxGroundHeight_ = maxGroundHeightTmp; } } else { UWARN("Cannot create local map from scan: scan is empty (node=%d, %s=%d).", node.id(), Parameters::kGridSensor().c_str(), occupancySensor_); } } if(occupancySensor_ >= 1) { pcl::IndicesPtr indices(new std::vector); pcl::PointCloud::Ptr cloud; UDEBUG("Depth image : decimation=%d max=%f min=%f", cloudDecimation_, rangeMax_, rangeMin_); cloud = util3d::cloudRGBFromSensorData( node.sensorData(), cloudDecimation_, #ifdef RTABMAP_OCTOMAP // If ray tracing enabled, clipping will be done in OctoMap or in occupancy2DFromLaserScan() rayTracing_?0.0f:rangeMax_, #else // If ray tracing enabled, clipping will be done in occupancy2DFromLaserScan() !grid3D_&&rayTracing_?0.0f:rangeMax_, #endif rangeMin_, indices.get(), parameters_, roiRatios_); // update viewpoint viewPoint = cv::Point3f(0,0,0); if(node.sensorData().cameraModels().size()) { // average of all local transforms float sum = 0; for(unsigned int i=0; i 0.0f) { viewPoint.x /= sum; viewPoint.y /= sum; viewPoint.z /= sum; } } else { // average of all local transforms float sum = 0; for(unsigned int i=0; i 0.0f) { viewPoint.x /= sum; viewPoint.y /= sum; viewPoint.z /= sum; } } cv::Mat scanGroundCells; cv::Mat scanObstacleCells; cv::Mat scanEmptyCells; if(occupancySensor_ == 2) { // backup scanGroundCells = groundCells; scanObstacleCells = obstacleCells; scanEmptyCells = emptyCells; groundCells = cv::Mat(); obstacleCells = cv::Mat(); emptyCells = cv::Mat(); } createLocalMap(LaserScan(util3d::laserScanFromPointCloud(*cloud, indices), 0, 0.0f), node.getPose(), groundCells, obstacleCells, emptyCells, viewPoint); if(occupancySensor_ == 2) { if(grid3D_) { // We should convert scans to 4 channels (XYZRGB) to be compatible scanGroundCells = util3d::laserScanFromPointCloud(*util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(scanGroundCells), Transform::getIdentity(), 255, 255, 255)).data(); scanObstacleCells = util3d::laserScanFromPointCloud(*util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(scanObstacleCells), Transform::getIdentity(), 255, 255, 255)).data(); scanEmptyCells = util3d::laserScanFromPointCloud(*util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(scanEmptyCells), Transform::getIdentity(), 255, 255, 255)).data(); } UDEBUG("groundCells, depth: size=%d channels=%d vs scan: size=%d channels=%d", groundCells.cols, groundCells.channels(), scanGroundCells.cols, scanGroundCells.channels()); UDEBUG("obstacleCells, depth: size=%d channels=%d vs scan: size=%d channels=%d", obstacleCells.cols, obstacleCells.channels(), scanObstacleCells.cols, scanObstacleCells.channels()); UDEBUG("emptyCells, depth: size=%d channels=%d vs scan: size=%d channels=%d", emptyCells.cols, emptyCells.channels(), scanEmptyCells.cols, scanEmptyCells.channels()); if(!groundCells.empty() && !scanGroundCells.empty()) cv::hconcat(groundCells, scanGroundCells, groundCells); else if(!scanGroundCells.empty()) groundCells = scanGroundCells; if(!obstacleCells.empty() && !scanObstacleCells.empty()) cv::hconcat(obstacleCells, scanObstacleCells, obstacleCells); else if(!scanObstacleCells.empty()) obstacleCells = scanObstacleCells; if(!emptyCells.empty() && !scanEmptyCells.empty()) cv::hconcat(emptyCells, scanEmptyCells, emptyCells); else if(!scanEmptyCells.empty()) emptyCells = scanEmptyCells; } } } } void LocalGridMaker::createLocalMap( const LaserScan & scan, const Transform & pose, cv::Mat & groundCells, cv::Mat & obstacleCells, cv::Mat & emptyCells, cv::Point3f & viewPointInOut) const { if(projMapFrame_) { //we should rotate viewPoint in /map frame float roll, pitch, yaw; pose.getEulerAngles(roll, pitch, yaw); Transform viewpointRotated = Transform(0,0,0,roll,pitch,0) * Transform(viewPointInOut.x, viewPointInOut.y, viewPointInOut.z, 0,0,0); viewPointInOut.x = viewpointRotated.x(); viewPointInOut.y = viewpointRotated.y(); viewPointInOut.z = viewpointRotated.z(); } if(scan.size()) { pcl::IndicesPtr groundIndices(new std::vector); pcl::IndicesPtr obstaclesIndices(new std::vector); cv::Mat groundCloud; cv::Mat obstaclesCloud; if(scan.hasRGB() && scan.hasNormals()) { pcl::PointCloud::Ptr cloud = util3d::laserScanToPointCloudRGBNormal(scan, scan.localTransform()); pcl::PointCloud::Ptr cloudSegmented = segmentCloud(cloud, pcl::IndicesPtr(new std::vector), pose, viewPointInOut, groundIndices, obstaclesIndices); UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size()); if(grid3D_) { groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data(); obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data(); } else { util3d::occupancy2DFromGroundObstacles(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_); } } else if(scan.hasRGB()) { pcl::PointCloud::Ptr cloud = util3d::laserScanToPointCloudRGB(scan, scan.localTransform()); pcl::PointCloud::Ptr cloudSegmented = segmentCloud(cloud, pcl::IndicesPtr(new std::vector), pose, viewPointInOut, groundIndices, obstaclesIndices); UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size()); if(grid3D_) { groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data(); obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data(); } else { util3d::occupancy2DFromGroundObstacles(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_); } } else if(scan.hasNormals()) { pcl::PointCloud::Ptr cloud = util3d::laserScanToPointCloudNormal(scan, scan.localTransform()); pcl::PointCloud::Ptr cloudSegmented = segmentCloud(cloud, pcl::IndicesPtr(new std::vector), pose, viewPointInOut, groundIndices, obstaclesIndices); UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size()); if(grid3D_) { groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data(); obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data(); } else { util3d::occupancy2DFromGroundObstacles(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_); } } else { pcl::PointCloud::Ptr cloud = util3d::laserScanToPointCloud(scan, scan.localTransform()); pcl::PointCloud::Ptr cloudSegmented = segmentCloud(cloud, pcl::IndicesPtr(new std::vector), pose, viewPointInOut, groundIndices, obstaclesIndices); UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size()); if(grid3D_) { groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data(); obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data(); } else { util3d::occupancy2DFromGroundObstacles(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_); } } if(grid3D_ && (!obstaclesCloud.empty() || !groundCloud.empty())) { UDEBUG("ground=%d obstacles=%d", groundCloud.cols, obstaclesCloud.cols); if(groundIsObstacle_ && !groundCloud.empty()) { if(obstaclesCloud.empty()) { obstaclesCloud = groundCloud; groundCloud = cv::Mat(); } else { UASSERT(obstaclesCloud.type() == groundCloud.type()); cv::Mat merged(1,obstaclesCloud.cols+groundCloud.cols, obstaclesCloud.type()); obstaclesCloud.copyTo(merged(cv::Range::all(), cv::Range(0, obstaclesCloud.cols))); groundCloud.copyTo(merged(cv::Range::all(), cv::Range(obstaclesCloud.cols, obstaclesCloud.cols+groundCloud.cols))); } } // transform back in base frame float roll, pitch, yaw; pose.getEulerAngles(roll, pitch, yaw); Transform tinv = Transform(0,0, projMapFrame_?pose.z():0, roll, pitch, 0).inverse(); if(rayTracing_) { #ifdef RTABMAP_OCTOMAP if(!groundCloud.empty() || !obstaclesCloud.empty()) { //create local octomap ParametersMap params; params.insert(ParametersPair(Parameters::kGridCellSize(), uNumber2Str(cellSize_))); params.insert(ParametersPair(Parameters::kGridRangeMax(), uNumber2Str(rangeMax_))); params.insert(ParametersPair(Parameters::kGridRayTracing(), uNumber2Str(rayTracing_))); LocalGridCache cache; OctoMap octomap(&cache, params); cache.add(1, groundCloud, obstaclesCloud, cv::Mat(), cellSize_, cv::Point3f(viewPointInOut.x, viewPointInOut.y, viewPointInOut.z)); std::map poses; poses.insert(std::make_pair(1, Transform::getIdentity())); octomap.update(poses); pcl::IndicesPtr groundIndices(new std::vector); pcl::IndicesPtr obstaclesIndices(new std::vector); pcl::IndicesPtr emptyIndices(new std::vector); pcl::PointCloud::Ptr cloudWithRayTracing = octomap.createCloud(0, obstaclesIndices.get(), emptyIndices.get(), groundIndices.get()); UDEBUG("ground=%d obstacles=%d empty=%d", (int)groundIndices->size(), (int)obstaclesIndices->size(), (int)emptyIndices->size()); if(scan.hasRGB()) { groundCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing, groundIndices, tinv).data(); obstacleCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing, obstaclesIndices, tinv).data(); emptyCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing, emptyIndices, tinv).data(); } else { pcl::PointCloud::Ptr cloudWithRayTracing2(new pcl::PointCloud); pcl::copyPointCloud(*cloudWithRayTracing, *cloudWithRayTracing2); groundCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing2, groundIndices, tinv).data(); obstacleCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing2, obstaclesIndices, tinv).data(); emptyCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing2, emptyIndices, tinv).data(); } } } else #else UWARN("RTAB-Map is not built with OctoMap dependency, 3D ray tracing is ignored. Set \"%s\" to false to avoid this warning.", Parameters::kGridRayTracing().c_str()); } #endif { groundCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(groundCloud), tinv).data(); obstacleCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(obstaclesCloud), tinv).data(); } } else if(!grid3D_ && rayTracing_ && (!obstacleCells.empty() || !groundCells.empty())) { cv::Mat laserScan = obstacleCells; cv::Mat laserScanNoHit = groundCells; obstacleCells = cv::Mat(); groundCells = cv::Mat(); util3d::occupancy2DFromLaserScan( laserScan, laserScanNoHit, viewPointInOut, emptyCells, obstacleCells, cellSize_, false, // don't fill unknown space rangeMax_); } } UDEBUG("ground=%d obstacles=%d empty=%d, channels=%d", groundCells.cols, obstacleCells.cols, emptyCells.cols, obstacleCells.cols?obstacleCells.channels():groundCells.channels()); } } // namespace rtabmap