#include <OccupancyGrid.h>

Public Member Functions
const std::map< int, Transform > &	addedNodes () const

void	addToCache (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty)

int	cacheSize () const

void	clear ()

void	createLocalMap (const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint) const

void	createLocalMap (const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const

const std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > > &	getCache () const

float	getCellSize () const

cv::Mat	getMap (float &xMin, float &yMin) const

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapEmptyCells () const

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapGround () const

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapObstacles () const

unsigned long	getMemoryUsed () const

float	getMinMapSize () const

cv::Mat	getProbMap (float &xMin, float &yMin) const

float	getUpdateError () const

bool	isFullUpdate () const

bool	isGridFromDepth () const

bool	isMapFrameProjection () const

	OccupancyGrid (const ParametersMap &parameters=ParametersMap())

void	parseParameters (const ParametersMap &parameters)

template<typename PointT >
pcl::PointCloud< PointT >::Ptr	segmentCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const

void	setCellSize (float cellSize)

void	setCloudAssembling (bool enabled)

void	setMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses)

bool	update (const std::map< int, Transform > &poses)

Static Public Member Functions
static float	logodds (double probability)

static double	probability (double logodds)

Private Attributes
std::map< int, Transform >	addedNodes_

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledEmptyCells_

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledGround_

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledObstacles_

std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > >	cache_

std::map< int, std::pair< int, int > >	cellCount_

float	cellSize_

bool	cloudAssembling_

int	cloudDecimation_

float	cloudMaxDepth_

float	cloudMinDepth_

float	clusterRadius_

bool	erode_

bool	flatObstaclesDetected_

float	footprintHeight_

float	footprintLength_

float	footprintRadius_

float	footprintWidth_

bool	fullUpdate_

bool	grid3D_

bool	groundIsObstacle_

cv::Mat	map_

cv::Mat	mapInfo_

float	maxGroundAngle_

float	maxGroundHeight_

float	maxObstacleHeight_

int	minClusterSize_

float	minGroundHeight_

float	minMapSize_

int	noiseFilteringMinNeighbors_

float	noiseFilteringRadius_

int	normalKSearch_

bool	normalsSegmentation_

bool	occupancyFromDepth_

float	occupancyThr_

ParametersMap	parameters_

bool	preVoxelFiltering_

float	probClampingMax_

float	probClampingMin_

float	probHit_

float	probMiss_

bool	projMapFrame_

bool	rayTracing_

std::vector< float >	roiRatios_

bool	scan2dUnknownSpaceFilled_

int	scanDecimation_

float	updateError_

float	xMin_

float	yMin_

Detailed Description

Definition at line 40 of file OccupancyGrid.h.

Constructor & Destructor Documentation

rtabmap::OccupancyGrid::OccupancyGrid ( const ParametersMap & parameters = ParametersMap() )

Definition at line 43 of file OccupancyGrid.cpp.

Member Function Documentation

const std::map<int, Transform>& rtabmap::OccupancyGrid::addedNodes ( ) const

inline

Definition at line 65 of file OccupancyGrid.h.

void rtabmap::OccupancyGrid::addToCache	(	int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty
	)

Definition at line 675 of file OccupancyGrid.cpp.

int rtabmap::OccupancyGrid::cacheSize ( ) const

inline

Definition at line 66 of file OccupancyGrid.h.

void rtabmap::OccupancyGrid::clear ( )

Definition at line 591 of file OccupancyGrid.cpp.

void rtabmap::OccupancyGrid::createLocalMap	(	const Signature &	node,
		cv::Mat &	groundCells,
		cv::Mat &	obstacleCells,
		cv::Mat &	emptyCells,
		cv::Point3f &	viewPoint
	)		const

Definition at line 282 of file OccupancyGrid.cpp.

void rtabmap::OccupancyGrid::createLocalMap	(	const LaserScan &	cloud,
		const Transform &	pose,
		cv::Mat &	groundCells,
		cv::Mat &	obstacleCells,
		cv::Mat &	emptyCells,
		cv::Point3f &	viewPointInOut
	)		const

Definition at line 415 of file OccupancyGrid.cpp.

const std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >& rtabmap::OccupancyGrid::getCache ( ) const

inline

Definition at line 67 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::getCellSize ( ) const

inline

Definition at line 58 of file OccupancyGrid.h.

cv::Mat rtabmap::OccupancyGrid::getMap	(	float &	xMin,
		float &	yMin
	)		const

Definition at line 604 of file OccupancyGrid.cpp.

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::OccupancyGrid::getMapEmptyCells ( ) const

inline

Definition at line 105 of file OccupancyGrid.h.

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::OccupancyGrid::getMapGround ( ) const

inline

Definition at line 103 of file OccupancyGrid.h.

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::OccupancyGrid::getMapObstacles ( ) const

inline

Definition at line 104 of file OccupancyGrid.h.

unsigned long rtabmap::OccupancyGrid::getMemoryUsed ( ) const

Definition at line 1535 of file OccupancyGrid.cpp.

float rtabmap::OccupancyGrid::getMinMapSize ( ) const

inline

Definition at line 60 of file OccupancyGrid.h.

cv::Mat rtabmap::OccupancyGrid::getProbMap	(	float &	xMin,
		float &	yMin
	)		const

Definition at line 647 of file OccupancyGrid.cpp.

float rtabmap::OccupancyGrid::getUpdateError ( ) const

inline

Definition at line 63 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::isFullUpdate ( ) const

inline

Definition at line 62 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::isGridFromDepth ( ) const

inline

Definition at line 61 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::isMapFrameProjection ( ) const

inline

Definition at line 64 of file OccupancyGrid.h.

static float rtabmap::OccupancyGrid::logodds ( double probability )

inlinestatic

Definition at line 43 of file OccupancyGrid.h.

void rtabmap::OccupancyGrid::parseParameters ( const ParametersMap & parameters )

Definition at line 92 of file OccupancyGrid.cpp.

static double rtabmap::OccupancyGrid::probability ( double logodds )

inlinestatic

Definition at line 48 of file OccupancyGrid.h.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::OccupancyGrid::segmentCloud	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const Transform &	pose,
		const cv::Point3f &	viewPoint,
		pcl::IndicesPtr &	groundIndices,
		pcl::IndicesPtr &	obstaclesIndices,
		pcl::IndicesPtr *	flatObstacles = `0`
	)		const

Definition at line 38 of file OccupancyGrid.hpp.

void rtabmap::OccupancyGrid::setCellSize ( float cellSize )

Definition at line 258 of file OccupancyGrid.cpp.

void rtabmap::OccupancyGrid::setCloudAssembling ( bool enabled )

Definition at line 272 of file OccupancyGrid.cpp.

void rtabmap::OccupancyGrid::setMap	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize,
		const std::map< int, Transform > &	poses
	)

Definition at line 224 of file OccupancyGrid.cpp.

bool rtabmap::OccupancyGrid::update ( const std::map< int, Transform > & poses )

Definition at line 690 of file OccupancyGrid.cpp.

Member Data Documentation

std::map<int, Transform> rtabmap::OccupancyGrid::addedNodes_

private

Definition at line 155 of file OccupancyGrid.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::OccupancyGrid::assembledEmptyCells_

private

Definition at line 160 of file OccupancyGrid.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::OccupancyGrid::assembledGround_

private

Definition at line 158 of file OccupancyGrid.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::OccupancyGrid::assembledObstacles_

private

Definition at line 159 of file OccupancyGrid.h.

std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > rtabmap::OccupancyGrid::cache_

private

Definition at line 149 of file OccupancyGrid.h.

std::map<int, std::pair<int, int> > rtabmap::OccupancyGrid::cellCount_

private

Definition at line 152 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::cellSize_

private

Definition at line 119 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::cloudAssembling_

private

Definition at line 157 of file OccupancyGrid.h.

int rtabmap::OccupancyGrid::cloudDecimation_

private

Definition at line 111 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::cloudMaxDepth_

private

Definition at line 112 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::cloudMinDepth_

private

Definition at line 113 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::clusterRadius_

private

Definition at line 126 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::erode_

private

Definition at line 140 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::flatObstaclesDetected_

private

Definition at line 128 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::footprintHeight_

private

Definition at line 117 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::footprintLength_

private

Definition at line 115 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::footprintRadius_

private

Definition at line 141 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::footprintWidth_

private

Definition at line 116 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::fullUpdate_

private

Definition at line 138 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::grid3D_

private

Definition at line 132 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::groundIsObstacle_

private

Definition at line 133 of file OccupancyGrid.h.

cv::Mat rtabmap::OccupancyGrid::map_

private

Definition at line 150 of file OccupancyGrid.h.

cv::Mat rtabmap::OccupancyGrid::mapInfo_

private

Definition at line 151 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::maxGroundAngle_

private

Definition at line 125 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::maxGroundHeight_

private

Definition at line 130 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::maxObstacleHeight_

private

Definition at line 123 of file OccupancyGrid.h.

int rtabmap::OccupancyGrid::minClusterSize_

private

Definition at line 127 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::minGroundHeight_

private

Definition at line 129 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::minMapSize_

private

Definition at line 139 of file OccupancyGrid.h.

int rtabmap::OccupancyGrid::noiseFilteringMinNeighbors_

private

Definition at line 135 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::noiseFilteringRadius_

private

Definition at line 134 of file OccupancyGrid.h.

int rtabmap::OccupancyGrid::normalKSearch_

private

Definition at line 124 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::normalsSegmentation_

private

Definition at line 131 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::occupancyFromDepth_

private

Definition at line 121 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::occupancyThr_

private

Definition at line 143 of file OccupancyGrid.h.

ParametersMap rtabmap::OccupancyGrid::parameters_

private

Definition at line 110 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::preVoxelFiltering_

private

Definition at line 120 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::probClampingMax_

private

Definition at line 147 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::probClampingMin_

private

Definition at line 146 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::probHit_

private

Definition at line 144 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::probMiss_

private

Definition at line 145 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::projMapFrame_

private

Definition at line 122 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::rayTracing_

private

Definition at line 137 of file OccupancyGrid.h.

std::vector<float> rtabmap::OccupancyGrid::roiRatios_

private

Definition at line 114 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::scan2dUnknownSpaceFilled_

private

Definition at line 136 of file OccupancyGrid.h.

int rtabmap::OccupancyGrid::scanDecimation_

private

Definition at line 118 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::updateError_

private

Definition at line 142 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::xMin_

private

Definition at line 153 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::yMin_

private

Definition at line 154 of file OccupancyGrid.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation