i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-11 03:59:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg: added minimum grid map size parameters ("occupancy_map_size" for map_assembler and "map_size" for grid_map_assembler)

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1963 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-03 21:44:48 +00:00
parent 29e6e2805a
commit 9e522fbd5c
2 changed files with 11 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/GridMapAssemblerNode.cpp
+7 -3
View File
@@ -44,18 +44,21 @@ class GridMapAssembler
public: public:
GridMapAssembler() : GridMapAssembler() :
gridCellSize_(0.05), gridCellSize_(0.05), // meters
mapSize_(0), // meters
gridUnknownSpaceFilled_(true), gridUnknownSpaceFilled_(true),
filterRadius_(0.5), filterRadius_(0.5),
filterAngle_(30.0) // degrees filterAngle_(30.0) // degrees
{ {
ros::NodeHandle pnh("~"); ros::NodeHandle pnh("~");
pnh.param("cell_size", gridCellSize_, gridCellSize_); pnh.param("cell_size", gridCellSize_, gridCellSize_); // m
pnh.param("map_size", mapSize_, mapSize_); // m
pnh.param("unknown_space_filled", gridUnknownSpaceFilled_, gridUnknownSpaceFilled_); pnh.param("unknown_space_filled", gridUnknownSpaceFilled_, gridUnknownSpaceFilled_);
pnh.param("filter_radius", filterRadius_, filterRadius_); pnh.param("filter_radius", filterRadius_, filterRadius_);
pnh.param("filter_angle", filterAngle_, filterAngle_); pnh.param("filter_angle", filterAngle_, filterAngle_);
UASSERT(gridCellSize_ > 0.0); UASSERT(gridCellSize_ > 0.0);
UASSERT(mapSize_ >= 0.0);
ros::NodeHandle nh; ros::NodeHandle nh;
mapDataTopic_ = nh.subscribe("mapData", 1, &GridMapAssembler::mapDataReceivedCallback, this); mapDataTopic_ = nh.subscribe("mapData", 1, &GridMapAssembler::mapDataReceivedCallback, this);
@@ -97,7 +100,7 @@ public:
{ {
// create the map // create the map
float xMin=0.0f, yMin=0.0f; float xMin=0.0f, yMin=0.0f;
cv::Mat pixels = util3d::create2DMap(poses, scans_, gridCellSize_, gridUnknownSpaceFilled_, xMin, yMin); cv::Mat pixels = util3d::create2DMap(poses, scans_, gridCellSize_, gridUnknownSpaceFilled_, xMin, yMin, mapSize_);
if(!pixels.empty()) if(!pixels.empty())
{ {
@@ -147,6 +150,7 @@ public:
private: private:
double gridCellSize_; double gridCellSize_;
double mapSize_;
bool gridUnknownSpaceFilled_; bool gridUnknownSpaceFilled_;
double filterRadius_; double filterRadius_;
double filterAngle_; double filterAngle_;
src/MapAssemblerNode.cpp
+4 -1
View File
@@ -71,10 +71,12 @@ public:
pnh.param("occupancy_cluster_min_size", clusterMinSize_, clusterMinSize_); pnh.param("occupancy_cluster_min_size", clusterMinSize_, clusterMinSize_);
pnh.param("occupancy_empty_filling_radius", emptyCellFillingRadius_, emptyCellFillingRadius_); pnh.param("occupancy_empty_filling_radius", emptyCellFillingRadius_, emptyCellFillingRadius_);
pnh.param("occupancy_max_height", maxHeight_, maxHeight_); pnh.param("occupancy_max_height", maxHeight_, maxHeight_);
pnh.param("occupancy_map_size", occupancyMapSize_, occupancyMapSize_);
UASSERT(gridCellSize_ > 0); UASSERT(gridCellSize_ > 0);
UASSERT(emptyCellFillingRadius_ >= 0); UASSERT(emptyCellFillingRadius_ >= 0);
UASSERT(maxHeight_ >= 0); UASSERT(maxHeight_ >= 0);
UASSERT(occupancyMapSize_ >=0.0);
ros::NodeHandle nh; ros::NodeHandle nh;
mapDataTopic_ = nh.subscribe("mapData", 1, &MapAssembler::mapDataReceivedCallback, this); mapDataTopic_ = nh.subscribe("mapData", 1, &MapAssembler::mapDataReceivedCallback, this);
@@ -253,7 +255,7 @@ public:
{ {
// create the map // create the map
float xMin=0.0f, yMin=0.0f; float xMin=0.0f, yMin=0.0f;
cv::Mat pixels = util3d::create2DMapFromOccupancyLocalMaps(poses, occupancyLocalMaps_, gridCellSize_, xMin, yMin, emptyCellFillingRadius_); cv::Mat pixels = util3d::create2DMapFromOccupancyLocalMaps(poses, occupancyLocalMaps_, gridCellSize_, xMin, yMin, emptyCellFillingRadius_, occupancyMapSize_);
if(!pixels.empty()) if(!pixels.empty())
{ {
@@ -308,6 +310,7 @@ private:
int clusterMinSize_; int clusterMinSize_;
int emptyCellFillingRadius_; int emptyCellFillingRadius_;
double maxHeight_; double maxHeight_;
double occupancyMapSize_;
std::map<int, std::pair<cv::Mat, cv::Mat> > occupancyLocalMaps_; // <ground, obstacles> std::map<int, std::pair<cv::Mat, cv::Mat> > occupancyLocalMaps_; // <ground, obstacles>