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

Added viewpoint to laser scan 2D ray tracing

Browse Source
This commit is contained in:
matlabbe
2017-03-06 12:07:59 -05:00
parent 9f65ef199b
commit d1e9525052
5 changed files with 134 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/util3d_mapping.h
+21 -2
View File
@@ -43,8 +43,17 @@ namespace rtabmap
namespace util3d
{
RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
const cv::Mat & scan, // in /base_link frame
cv::Mat & ground,
cv::Mat & obstacles,
float cellSize,
bool unknownSpaceFilled = false,
float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
void RTABMAP_EXP occupancy2DFromLaserScan(
const cv::Mat & scan,
const cv::Mat & scan, // in /base_link frame
const cv::Point3f & viewpoint, // /base_link -> /base_scan
cv::Mat & ground,
cv::Mat & obstacles,
float cellSize,
@@ -61,8 +70,18 @@ cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
bool erode = false,
float footprintRadius = 0.0f);
RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
float cellSize,
bool unknownSpaceFilled,
float & xMin,
float & yMin,
float minMapSize = 0.0f,
float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans,
const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
float cellSize,
bool unknownSpaceFilled,
float & xMin,