i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated how maps are built (the last sensor data are always integrated to maps, with unknown cells filled for laser scan)

Browse Source
This commit is contained in:
matlabbe
2015-09-16 11:26:08 -04:00
parent 990e506972
commit 01e73256c4
3 changed files with 39 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.cpp
+13 -17
View File
@@ -888,13 +888,6 @@ void CoreWrapper::commonDepthCallback(
return;
}
// set maps manager laser scan range parameter
mapsManager_.setLaserScanParameters(
scanMsg->range_max,
scanMsg->angle_min,
scanMsg->angle_max,
scanMsg->angle_increment);
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
@@ -1000,13 +993,6 @@ void CoreWrapper::commonStereoCallback(
return;
}
// set maps manager laser scan range parameter
mapsManager_.setLaserScanParameters(
scanMsg->range_max,
scanMsg->angle_min,
scanMsg->angle_max,
scanMsg->angle_increment);
//transform in frameId_ frame
sensor_msgs::PointCloud2 scanOut;
laser_geometry::LaserProjection projection;
@@ -1233,14 +1219,24 @@ void CoreWrapper::process(
// Publish local graph, info
this->publishStats(stamp);
std::map<int, rtabmap::Transform> filteredPoses;
std::map<int, rtabmap::Transform> filteredPoses = rtabmap_.getLocalOptimizedPoses();
// create a tmp signature with latest sensory data
std::map<int, rtabmap::Signature> tmpSignature;
SensorData tmpData = data;
tmpData.setId(-1);
tmpSignature.insert(std::make_pair(-1, Signature(-1, -1, 0, data.stamp(), "", odom, tmpData)));
filteredPoses.insert(std::make_pair(-1, odom));
// Update maps
filteredPoses = mapsManager_.updateMapCaches(
rtabmap_.getLocalOptimizedPoses(),
filteredPoses,
rtabmap_.getMemory(),
false,
false,
false);
false,
tmpSignature);
mapsManager_.publishMaps(filteredPoses, stamp, mapFrameId_);
// update goal if planning is enabled
src/MapsManager.cpp
+26 -83
View File
@@ -43,11 +43,7 @@ MapsManager::MapsManager() :
gridUnknownSpaceFilled_(false),
mapFilterRadius_(0.5),
mapFilterAngle_(30.0), // degrees
mapCacheCleanup_(true),
laserScanMaxRange_(0),
laserScanMinAngle_(0),
laserScanMaxAngle_(0),
laserScanIncrement_(0)
mapCacheCleanup_(true)
{
ros::NodeHandle nh;
@@ -90,10 +86,6 @@ void MapsManager::clear()
clouds_.clear();
projMaps_.clear();
gridMaps_.clear();
laserScanMaxRange_ = 0;
laserScanMinAngle_ = 0;
laserScanMaxAngle_ = 0;
laserScanIncrement_ = 0;
}
bool MapsManager::hasSubscribers() const
@@ -103,18 +95,6 @@ bool MapsManager::hasSubscribers() const
gridMapPub_.getNumSubscribers() != 0;
}
void MapsManager::setLaserScanParameters(
float maxRange,
float minAngle,
float maxAngle,
float increment)
{
laserScanMaxRange_ = maxRange;
laserScanMinAngle_ = minAngle;
laserScanMaxAngle_ = maxAngle;
laserScanIncrement_ = increment;
}
std::map<int, Transform> MapsManager::getFilteredPoses(const std::map<int, Transform> & poses)
{
if(mapFilterRadius_ > 0.0)
@@ -160,43 +140,45 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
{
double angle = mapFilterAngle_ == 0.0?CV_PI+0.1:mapFilterAngle_*CV_PI/180.0;
filteredPoses = rtabmap::graph::radiusPosesFiltering(poses, mapFilterRadius_, angle);
if(poses.size() && poses.begin()->first < 0)
{
// make sure to keep latest data
filteredPoses.insert(*poses.begin());
}
}
else
{
filteredPoses = poses;
}
for(std::map<int, rtabmap::Transform>::iterator iter=filteredPoses.begin(); iter!=filteredPoses.end(); ++iter)
{
if(!iter->second.isNull())
{
rtabmap::SensorData data;
bool rgbDepthRequired = updateCloud && !uContains(clouds_, iter->first);
bool depthRequired = updateProj && !uContains(projMaps_, iter->first);
bool scanRequired = updateGrid && !uContains(gridMaps_, iter->first);
bool rgbDepthRequired = updateCloud && (iter->first < 0 || !uContains(clouds_, iter->first));
bool depthRequired = updateProj && (iter->first < 0 || !uContains(projMaps_, iter->first));
bool scanRequired = updateGrid && (iter->first < 0 || !uContains(gridMaps_, iter->first));
if(rgbDepthRequired ||
depthRequired ||
scanRequired)
{
if(signatures.size())
std::map<int, rtabmap::Signature>::const_iterator findIter = signatures.find(iter->first);
if(findIter != signatures.end())
{
std::map<int, rtabmap::Signature>::const_iterator findIter = signatures.find(iter->first);
if(findIter != signatures.end())
{
data = findIter->second.sensorData();
}
data = findIter->second.sensorData();
}
else
else if(memory)
{
data = memory->getSignatureDataConst(iter->first);
}
}
if(data.id() > 0)
if(data.id() != 0)
{
if(!data.imageCompressed().empty() &&
!data.depthOrRightCompressed().empty() &&
if(!(data.imageCompressed().empty() && data.imageRaw().empty()) &&
!(data.depthOrRightCompressed().empty() && data.depthOrRightRaw().empty()) &&
(data.cameraModels().size() || data.stereoCameraModel().isValid()))
{
// Which data should we decompress?
@@ -241,7 +223,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(cloudRGB.get())
{
clouds_.insert(std::make_pair(iter->first, cloudRGB));
uInsert(clouds_, std::make_pair(iter->first, cloudRGB));
}
if(depthRequired)
@@ -272,19 +254,23 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
util3d::occupancy2DFromCloud3D<pcl::PointXYZ>(cloudClipped, ground, obstacles, gridCellSize_, projMaxGroundAngle_*M_PI/180.0, projMinClusterSize_);
}
}
projMaps_.insert(std::make_pair(iter->first, std::make_pair(ground, obstacles)));
uInsert(projMaps_, std::make_pair(iter->first, std::make_pair(ground, obstacles)));
}
if(scanRequired)
{
cv::Mat ground, obstacles;
util3d::occupancy2DFromLaserScan(scan, ground, obstacles, gridCellSize_, gridUnknownSpaceFilled_);
gridMaps_.insert(std::make_pair(iter->first, std::make_pair(ground, obstacles)));
util3d::occupancy2DFromLaserScan(scan, ground, obstacles, gridCellSize_, data.id() < 0 || gridUnknownSpaceFilled_);
uInsert(gridMaps_, std::make_pair(iter->first, std::make_pair(ground, obstacles)));
}
}
else
{
ROS_ERROR("Local transform detected for node %d", iter->first);
ROS_ERROR("Some data missing for node %d to update the maps (image=%d, depth=%d, camera=%d)",
iter->first,
!(data.imageCompressed().empty() && data.imageRaw().empty())?1:0,
!(data.depthOrRightCompressed().empty() && data.depthOrRightRaw().empty())?1:0,
(data.cameraModels().size() || data.stereoCameraModel().isValid())?1:0);
}
}
}
@@ -500,49 +486,6 @@ cv::Mat MapsManager::generateGridMap(
xMin, yMin,
gridSize_,
gridEroded_);
// Fill unknown space around the last pose
if(!map.empty() &&
laserScanMaxRange_ &&
laserScanMinAngle_ < laserScanMaxAngle_ &&
laserScanIncrement_ &&
poses.size())
{
const Transform & pose = poses.rbegin()->second;
float roll, pitch, yaw;
pose.getEulerAngles(roll, pitch, yaw);
cv::Point2i start((pose.x()-xMin)/gridCellSize_ + 0.5f, (pose.y()-yMin)/gridCellSize_ + 0.5f);
//rotate counterclockwise 180 degrees at the computed step "a" degrees
cv::Mat rotation = (cv::Mat_<float>(2,2) << cos(laserScanIncrement_), -sin(laserScanIncrement_),
sin(laserScanIncrement_), cos(laserScanIncrement_));
cv::Mat origin(2,1,CV_32F), endFirst(2,1,CV_32F);
origin.at<float>(0) = pose.x();
origin.at<float>(1) = pose.y();
endFirst.at<float>(0) = laserScanMaxRange_;
endFirst.at<float>(1) = 0;
yaw += laserScanMinAngle_;
cv::Mat initRotation = (cv::Mat_<float>(2,2) << cos(yaw), -sin(yaw),
sin(yaw), cos(yaw));
cv::Mat endCurrent = initRotation*endFirst + origin;
for(float a=laserScanMinAngle_; a<=laserScanMaxAngle_; a+=laserScanIncrement_)
{
cv::Point2i end((endCurrent.at<float>(0)-xMin)/gridCellSize_ + 0.5f, (endCurrent.at<float>(1)-yMin)/gridCellSize_ + 0.5f);
//end must be inside the grid
end.x = end.x < 0?0:end.x;
end.x = end.x >= map.cols?map.cols-1:end.x;
end.y = end.y < 0?0:end.y;
end.y = end.y >= map.rows?map.rows-1:end.y;
util3d::rayTrace(start, end, map, true); // trace free space
// next point
endCurrent = rotation*(endCurrent - origin) + origin;
}
}
return map;
}
src/MapsManager.h
-7
View File
@@ -59,8 +59,6 @@ public:
float & yMin,
float & gridCellSize);
void setLaserScanParameters(float maxRange, float minAngle, float maxAngle, float increment);
#ifdef WITH_OCTOMAP
octomap::OcTree * createOctomap(const std::map<int, rtabmap::Transform> & poses);
#endif
@@ -82,11 +80,6 @@ private:
double mapFilterAngle_;
bool mapCacheCleanup_;
float laserScanMaxRange_;
float laserScanMinAngle_;
float laserScanMaxAngle_;
float laserScanIncrement_;
ros::Publisher cloudMapPub_;
ros::Publisher projMapPub_;
ros::Publisher gridMapPub_;