#include <MapsManager.h>

Public Member Functions
void	clear ()
cv::Mat	generateGridMap (const std::map< int, rtabmap::Transform > &filteredPoses, float &xMin, float &yMin, float &gridCellSize)
cv::Mat	generateProjMap (const std::map< int, rtabmap::Transform > &filteredPoses, float &xMin, float &yMin, float &gridCellSize)
std::map< int, rtabmap::Transform >	getFilteredPoses (const std::map< int, rtabmap::Transform > &poses)
rtabmap::OctoMap *	getOctomap () const
bool	hasSubscribers () const
	MapsManager (bool usePublicNamespace)
void	publishMaps (const std::map< int, rtabmap::Transform > &poses, const ros::Time &stamp, const std::string &mapFrameId)
std::map< int, rtabmap::Transform >	updateMapCaches (const std::map< int, rtabmap::Transform > &poses, const rtabmap::Memory *memory, bool updateCloud, bool updateProj, bool updateGrid, bool updateScan, bool updateOctomap, const std::map< int, rtabmap::Signature > &signatures=std::map< int, rtabmap::Signature >())
virtual	~MapsManager ()
Private Attributes
std::map< int, std::vector < rtabmap::CameraModel > >	cameraModels_
double	cloudCeilingCullingHeight_
int	cloudDecimation_
double	cloudFloorCullingHeight_
bool	cloudFrustumCulling_
ros::Publisher	cloudMapPub_
double	cloudMaxDepth_
double	cloudMinDepth_
int	cloudNoiseFilteringMinNeighbors_
double	cloudNoiseFilteringRadius_
bool	cloudOutputVoxelized_
std::map< int, pcl::PointCloud < pcl::PointXYZRGB >::Ptr >	clouds_
double	cloudVoxelSize_
double	gridCellSize_
bool	gridEroded_
ros::Publisher	gridMapPub_
std::map< int, std::pair < cv::Mat, cv::Mat > >	gridMaps_
double	gridMaxUnknownSpaceFilledRange_
double	gridSize_
bool	gridUnknownSpaceFilled_
bool	mapCacheCleanup_
double	mapFilterAngle_
double	mapFilterRadius_
bool	negativePosesIgnored_
rtabmap::OctoMap *	octomap_
ros::Publisher	octoMapCloud_
ros::Publisher	octoMapEmptySpace_
bool	octomapGroundIsObstacle_
ros::Publisher	octoMapProj_
ros::Publisher	octoMapPubBin_
ros::Publisher	octoMapPubFull_
int	octomapTreeDepth_
bool	projDetectFlatObstacles_
bool	projMapFrame_
ros::Publisher	projMapPub_
std::map< int, std::pair < cv::Mat, cv::Mat > >	projMaps_
double	projMaxGroundAngle_
double	projMaxGroundHeight_
double	projMaxObstaclesHeight_
int	projMinClusterSize_
int	scanDecimation_
ros::Publisher	scanMapPub_
bool	scanOutputVoxelized_
std::map< int, pcl::PointCloud < pcl::PointXYZ >::Ptr >	scans_
double	scanVoxelSize_

Detailed Description

Definition at line 43 of file MapsManager.h.

Constructor & Destructor Documentation

MapsManager::MapsManager ( bool usePublicNamespace )

Definition at line 56 of file MapsManager.cpp.

MapsManager::~MapsManager ( ) [virtual]

Definition at line 211 of file MapsManager.cpp.

Member Function Documentation

void MapsManager::clear ( )

Definition at line 225 of file MapsManager.cpp.

cv::Mat MapsManager::generateGridMap	(	const std::map< int, rtabmap::Transform > &	filteredPoses,
		float &	xMin,
		float &	yMin,
		float &	gridCellSize
	)

Definition at line 1131 of file MapsManager.cpp.

cv::Mat MapsManager::generateProjMap	(	const std::map< int, rtabmap::Transform > &	filteredPoses,
		float &	xMin,
		float &	yMin,
		float &	gridCellSize
	)

Definition at line 1115 of file MapsManager.cpp.

std::map< int, Transform > MapsManager::getFilteredPoses ( const std::map< int, rtabmap::Transform > & poses )

Definition at line 251 of file MapsManager.cpp.

rtabmap::OctoMap* MapsManager::getOctomap ( ) const [inline]

Definition at line 80 of file MapsManager.h.

bool MapsManager::hasSubscribers ( ) const

Definition at line 238 of file MapsManager.cpp.

void MapsManager::publishMaps	(	const std::map< int, rtabmap::Transform > &	poses,
		const ros::Time &	stamp,
		const std::string &	mapFrameId
	)

Definition at line 777 of file MapsManager.cpp.

std::map< int, rtabmap::Transform > MapsManager::updateMapCaches	(	const std::map< int, rtabmap::Transform > &	poses,
		const rtabmap::Memory *	memory,
		bool	updateCloud,
		bool	updateProj,
		bool	updateGrid,
		bool	updateScan,
		bool	updateOctomap,
		const std::map< int, rtabmap::Signature > &	signatures = `std::map<int, rtabmap::Signature>()`
	)