Abstract base for assembling per-node LocalGrid data into a global map. More...

#include <GlobalMap.h>

Inheritance diagram for rtabmap::GlobalMap:

[legend]

Public Member Functions
bool	fullUpdateNeeded (const std::map< int, Transform > &poses) const
	True if the map should be rebuilt from cache (loop closure or disjoint graph).

bool	update (const std::map< int, Transform > &poses)
	Incrementally assemble new nodes from `poses`.

virtual void	clear ()
	Clears assembled nodes and grid bounds; does not clear LocalGridCache.

float	getCellSize () const

float	getUpdateError () const

const std::map< int, Transform > &	addedNodes () const

void	getGridMin (double &x, double &y) const
	2D grid minimum (x, y) in meters.

void	getGridMax (double &x, double &y) const
	2D grid maximum (x, y) in meters.

void	getGridMin (double &x, double &y, double &z) const
	3D grid minimum (x, y, z) in meters.

void	getGridMax (double &x, double &y, double &z) const
	3D grid maximum (x, y, z) in meters.

virtual unsigned long	getMemoryUsed () const
	Approximate memory used by assembled-node bookkeeping (bytes).

Static Public Member Functions
static float	logodds (double probability)
	Converts probability in (0, 1) to log-odds.

static double	probability (double logodds)
	Converts log-odds back to probability in (0, 1).

Protected Member Functions
	GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
	Constructs the base map; subclasses call from their constructor.

virtual void	assemble (const std::list< std::pair< int, Transform > > &newPoses)=0
	Subclass hook: merge `newPoses` into the global map; call addAssembledNode().

const std::map< int, LocalGrid > &	cache () const

const std::map< int, Transform > &	assembledNodes () const

bool	isNodeAssembled (int id)

void	addAssembledNode (int id, const Transform &pose)
	Records a successfully assembled node (ids <= 0 are ignored).

Protected Attributes
float	cellSize_

float	updateError_

float	occupancyThr_

float	logOddsHit_

float	logOddsMiss_

float	logOddsClampingMin_

float	logOddsClampingMax_

double	minValues_ [3]

double	maxValues_ [3]

Detailed Description

Abstract base for assembling per-node LocalGrid data into a global map.

Subclasses (OccupancyGrid, OctoMap, GridMap, CloudMap) implement assemble() to merge new node poses from LocalGridCache into their representation.

update() decides which poses need assembly (not yet in addedNodes(), present in cache, id > 0) and may call clear() when fullUpdateNeeded() detects graph optimization or a disjoint pose set (see kGridGlobalUpdateError).

Log-odds helpers logodds() and probability() convert between occupancy probability and the internal log-odds representation used for global hit/miss/clamping parameters (GridGlobal/Prob*).

Definition at line 55 of file GlobalMap.h.

Constructor & Destructor Documentation

◆ GlobalMap()

rtabmap::GlobalMap::GlobalMap	(	const LocalGridCache *	cache,
		const ParametersMap &	parameters = `ParametersMap()`
	)

protected

Constructs the base map; subclasses call from their constructor.

Parameters

cache	Non-null cache of per-node local grids.
parameters	Optional Grid/ and GridGlobal/ parameter overrides.

Member Function Documentation

◆ logodds()

static float rtabmap::GlobalMap::logodds ( double probability )

inlinestatic

Converts probability in (0, 1) to log-odds.

Definition at line 59 of file GlobalMap.h.

◆ probability()

static double rtabmap::GlobalMap::probability ( double logodds )

inlinestatic

Converts log-odds back to probability in (0, 1).

Definition at line 65 of file GlobalMap.h.

◆ fullUpdateNeeded()

bool rtabmap::GlobalMap::fullUpdateNeeded ( const std::map< int, Transform > & poses ) const

True if the map should be rebuilt from cache (loop closure or disjoint graph).

Compares poses to addedNodes() using getUpdateError(), which is set from Grid/GlobalUpdateError (Parameters::kGridGlobalUpdateError()): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in poses, returns true and update() will call clear() first.

Parameters

poses Current graph poses (node id → transform).

◆ update()

bool rtabmap::GlobalMap::update ( const std::map< int, Transform > & poses )

Incrementally assemble new nodes from poses.

Parameters

poses Graph poses; ids > 0 with a cached LocalGrid are candidates.

Returns: True if assemble() was called (at least one new pose processed).

◆ clear()

virtual void rtabmap::GlobalMap::clear ( )

virtual

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

Reimplemented in rtabmap::CloudMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::OctoMap.

◆ getCellSize()

float rtabmap::GlobalMap::getCellSize ( ) const

inline

Returns: Grid cell size in meters (Grid/CellSize).

Definition at line 96 of file GlobalMap.h.

◆ getUpdateError()

float rtabmap::GlobalMap::getUpdateError ( ) const

inline

Returns: Pose change threshold for full rebuild (Grid/GlobalUpdateError).

Definition at line 98 of file GlobalMap.h.

◆ addedNodes()

const std::map< int, Transform > & rtabmap::GlobalMap::addedNodes ( ) const

inline

Returns: Poses of nodes already assembled into the global map.

Definition at line 100 of file GlobalMap.h.

◆ getGridMin() [1/2]

void rtabmap::GlobalMap::getGridMin	(	double &	x,
		double &	y
	)		const

inline

2D grid minimum (x, y) in meters.

Definition at line 103 of file GlobalMap.h.

◆ getGridMax() [1/2]

void rtabmap::GlobalMap::getGridMax	(	double &	x,
		double &	y
	)		const

inline

2D grid maximum (x, y) in meters.

Definition at line 105 of file GlobalMap.h.

◆ getGridMin() [2/2]

void rtabmap::GlobalMap::getGridMin	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

3D grid minimum (x, y, z) in meters.

Definition at line 107 of file GlobalMap.h.

◆ getGridMax() [2/2]

void rtabmap::GlobalMap::getGridMax	(	double &	x,
		double &	y,
		double &	z
	)		const

inline

3D grid maximum (x, y, z) in meters.

Definition at line 109 of file GlobalMap.h.

◆ getMemoryUsed()

virtual unsigned long rtabmap::GlobalMap::getMemoryUsed ( ) const

virtual

Approximate memory used by assembled-node bookkeeping (bytes).

Reimplemented in rtabmap::CloudMap, rtabmap::OccupancyGrid, and rtabmap::OctoMap.

◆ assemble()

virtual void rtabmap::GlobalMap::assemble ( const std::list< std::pair< int, Transform > > & newPoses )

protectedpure virtual

Subclass hook: merge newPoses into the global map; call addAssembledNode().

Implemented in rtabmap::CloudMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::OctoMap.

◆ cache()

const std::map< int, LocalGrid > & rtabmap::GlobalMap::cache ( ) const

inlineprotected

Returns: Cached local grids keyed by node id.

Definition at line 126 of file GlobalMap.h.

◆ assembledNodes()

const std::map< int, Transform > & rtabmap::GlobalMap::assembledNodes ( ) const

inlineprotected

Returns: Poses of nodes already assembled (same as addedNodes()).

Definition at line 129 of file GlobalMap.h.

◆ isNodeAssembled()

bool rtabmap::GlobalMap::isNodeAssembled ( int id )

inlineprotected

Returns: True if id is already in the assembled set.

Definition at line 131 of file GlobalMap.h.

Member Data Documentation

◆ cellSize_

float rtabmap::GlobalMap::cellSize_

protected

Definition at line 136 of file GlobalMap.h.

◆ updateError_

float rtabmap::GlobalMap::updateError_

protected

Definition at line 137 of file GlobalMap.h.

◆ occupancyThr_

float rtabmap::GlobalMap::occupancyThr_

protected

Definition at line 139 of file GlobalMap.h.

◆ logOddsHit_

float rtabmap::GlobalMap::logOddsHit_

protected

Definition at line 140 of file GlobalMap.h.

◆ logOddsMiss_

float rtabmap::GlobalMap::logOddsMiss_

protected

Definition at line 141 of file GlobalMap.h.

◆ logOddsClampingMin_

float rtabmap::GlobalMap::logOddsClampingMin_

protected

Definition at line 142 of file GlobalMap.h.

◆ logOddsClampingMax_

float rtabmap::GlobalMap::logOddsClampingMax_

protected

Definition at line 143 of file GlobalMap.h.

◆ minValues_

double rtabmap::GlobalMap::minValues_[3]

protected

Definition at line 145 of file GlobalMap.h.

◆ maxValues_

double rtabmap::GlobalMap::maxValues_[3]

protected

Definition at line 146 of file GlobalMap.h.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/GlobalMap.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GlobalMap()

Member Function Documentation

◆ logodds()

◆ probability()

◆ fullUpdateNeeded()

◆ update()

◆ clear()

◆ getCellSize()

◆ getUpdateError()

◆ addedNodes()

◆ getGridMin() [1/2]

◆ getGridMax() [1/2]

◆ getGridMin() [2/2]

◆ getGridMax() [2/2]

◆ getMemoryUsed()

◆ assemble()

◆ cache()

◆ assembledNodes()

◆ isNodeAssembled()

Member Data Documentation

◆ cellSize_

◆ updateError_

◆ occupancyThr_

◆ logOddsHit_

◆ logOddsMiss_

◆ logOddsClampingMin_

◆ logOddsClampingMax_

◆ minValues_

◆ maxValues_