mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
20c5211143
rgbd_sync and rtabmap.launch: added depth_scale parameter. Updated OdomInfo msg with memoryUsage field. CoreWrapper: supporting GridGlobal/MaxNodes parameter, added "RtabmapROS" statistics. MapsManager: updated when occupancy grid is updated.
127 lines
4.5 KiB
C++
127 lines
4.5 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MAPSMANAGER_H_
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#define MAPSMANAGER_H_
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#include <rtabmap/core/Signature.h>
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/core/FlannIndex.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <ros/time.h>
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#include <ros/publisher.h>
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namespace rtabmap {
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class OctoMap;
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class Memory;
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class OccupancyGrid;
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} // namespace rtabmap
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class MapsManager {
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public:
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MapsManager();
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virtual ~MapsManager();
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void init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name, bool usePublicNamespace);
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void clear();
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bool hasSubscribers() const;
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void backwardCompatibilityParameters(ros::NodeHandle & pnh, rtabmap::ParametersMap & parameters) const;
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void setParameters(const rtabmap::ParametersMap & parameters);
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std::map<int, rtabmap::Transform> getFilteredPoses(
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const std::map<int, rtabmap::Transform> & poses);
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std::map<int, rtabmap::Transform> updateMapCaches(
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const std::map<int, rtabmap::Transform> & poses,
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const rtabmap::Memory * memory,
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bool updateGrid,
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bool updateOctomap,
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const std::map<int, rtabmap::Signature> & signatures = std::map<int, rtabmap::Signature>());
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void publishMaps(
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const std::map<int, rtabmap::Transform> & poses,
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const ros::Time & stamp,
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const std::string & mapFrameId);
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cv::Mat getGridMap(
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const std::map<int, rtabmap::Transform> & filteredPoses,
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float & xMin,
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float & yMin,
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float & gridCellSize);
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const rtabmap::OctoMap * getOctomap() const {return octomap_;}
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const rtabmap::OccupancyGrid * getOccupancyGrid() const {return occupancyGrid_;}
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private:
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// mapping stuff
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bool cloudOutputVoxelized_;
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bool cloudSubtractFiltering_;
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int cloudSubtractFilteringMinNeighbors_;
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double mapFilterRadius_;
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double mapFilterAngle_;
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bool mapCacheCleanup_;
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bool negativePosesIgnored_;
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bool negativeScanEmptyRayTracing_;
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ros::Publisher cloudMapPub_;
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ros::Publisher cloudGroundPub_;
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ros::Publisher cloudObstaclesPub_;
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ros::Publisher projMapPub_;
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ros::Publisher gridMapPub_;
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ros::Publisher scanMapPub_;
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ros::Publisher octoMapPubBin_;
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ros::Publisher octoMapPubFull_;
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ros::Publisher octoMapCloud_;
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ros::Publisher octoMapEmptySpace_;
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ros::Publisher octoMapProj_;
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std::map<int, rtabmap::Transform> assembledGroundPoses_;
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std::map<int, rtabmap::Transform> assembledObstaclePoses_;
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
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rtabmap::FlannIndex assembledGroundIndex_;
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rtabmap::FlannIndex assembledObstacleIndex_;
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std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > groundClouds_;
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std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > obstacleClouds_;
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std::map<int, rtabmap::Transform> gridPoses_;
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cv::Mat gridMap_;
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std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
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std::map<int, cv::Point3f> gridMapsViewpoints_;
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rtabmap::OccupancyGrid * occupancyGrid_;
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rtabmap::OctoMap * octomap_;
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int octomapTreeDepth_;
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double octomapOccupancyThr_;
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rtabmap::ParametersMap parameters_;
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};
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#endif /* MAPSMANAGER_H_ */
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