MapsManager Class Reference

#include <MapsManager.h>

Public Member Functions
void	backwardCompatibilityParameters (ros::NodeHandle &pnh, rtabmap::ParametersMap &parameters) const
void	clear ()
std::map< int, rtabmap::Transform >	getFilteredPoses (const std::map< int, rtabmap::Transform > &poses)
cv::Mat	getGridMap (float &xMin, float &yMin, float &gridCellSize)
cv::Mat	getGridProbMap (float &xMin, float &yMin, float &gridCellSize)
const rtabmap::OccupancyGrid *	getOccupancyGrid () const
const rtabmap::OctoMap *	getOctomap () const
bool	hasSubscribers () const
void	init (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name, bool usePublicNamespace)
	MapsManager ()
void	publishMaps (const std::map< int, rtabmap::Transform > &poses, const ros::Time &stamp, const std::string &mapFrameId)
void	set2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, rtabmap::Transform > &poses, const rtabmap::Memory *memory=0)
void	setParameters (const rtabmap::ParametersMap &parameters)
std::map< int, rtabmap::Transform >	updateMapCaches (const std::map< int, rtabmap::Transform > &poses, const rtabmap::Memory *memory, bool updateGrid, bool updateOctomap, const std::map< int, rtabmap::Signature > &signatures=std::map< int, rtabmap::Signature >())
virtual	~MapsManager ()

Private Attributes
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledGround_
rtabmap::FlannIndex	assembledGroundIndex_
std::map< int, rtabmap::Transform >	assembledGroundPoses_
rtabmap::FlannIndex	assembledObstacleIndex_
std::map< int, rtabmap::Transform >	assembledObstaclePoses_
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledObstacles_
ros::Publisher	cloudGroundPub_
ros::Publisher	cloudMapPub_
ros::Publisher	cloudObstaclesPub_
bool	cloudOutputVoxelized_
bool	cloudSubtractFiltering_
int	cloudSubtractFilteringMinNeighbors_
cv::Mat	gridMap_
ros::Publisher	gridMapPub_
std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > >	gridMaps_
std::map< int, cv::Point3f >	gridMapsViewpoints_
std::map< int, rtabmap::Transform >	gridPoses_
ros::Publisher	gridProbMapPub_
std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	groundClouds_
bool	mapCacheCleanup_
double	mapFilterAngle_
double	mapFilterRadius_
bool	negativePosesIgnored_
bool	negativeScanEmptyRayTracing_
std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	obstacleClouds_
rtabmap::OccupancyGrid *	occupancyGrid_
rtabmap::OctoMap *	octomap_
ros::Publisher	octoMapCloud_
ros::Publisher	octoMapEmptySpace_
ros::Publisher	octoMapGroundCloud_
ros::Publisher	octoMapObstacleCloud_
ros::Publisher	octoMapProj_
ros::Publisher	octoMapPubBin_
ros::Publisher	octoMapPubFull_
int	octomapTreeDepth_
rtabmap::ParametersMap	parameters_
ros::Publisher	projMapPub_
ros::Publisher	scanMapPub_

Detailed Description

Definition at line 46 of file MapsManager.h.

Constructor & Destructor Documentation

MapsManager::MapsManager

(

)

Definition at line 59 of file MapsManager.cpp.

MapsManager::~MapsManager ( )

virtual

Definition at line 164 of file MapsManager.cpp.

Member Function Documentation

void MapsManager::backwardCompatibilityParameters	(	ros::NodeHandle &	pnh,
		rtabmap::ParametersMap &	parameters
	)		const

Definition at line 233 of file MapsManager.cpp.

void MapsManager::clear

(

)

Definition at line 341 of file MapsManager.cpp.

std::map< int, Transform > MapsManager::getFilteredPoses

(

const std::map< int, rtabmap::Transform > &

poses

)

Definition at line 379 of file MapsManager.cpp.

cv::Mat MapsManager::getGridMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize
	)

Definition at line 1346 of file MapsManager.cpp.

cv::Mat MapsManager::getGridProbMap	(	float &	xMin,
		float &	yMin,
		float &	gridCellSize
	)

Definition at line 1355 of file MapsManager.cpp.

const rtabmap::OccupancyGrid* MapsManager::getOccupancyGrid ( ) const

inline

Definition at line 83 of file MapsManager.h.

const rtabmap::OctoMap* MapsManager::getOctomap ( ) const

inline

Definition at line 82 of file MapsManager.h.

bool MapsManager::hasSubscribers

(

)

const

Definition at line 361 of file MapsManager.cpp.

void MapsManager::init	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh,
		const std::string &	name,
		bool	usePublicNamespace
	)

Definition at line 76 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 769 of file MapsManager.cpp.

void MapsManager::set2DMap	(	const cv::Mat &	map,
		float	xMin,
		float	yMin,
		float	cellSize,
		const std::map< int, rtabmap::Transform > &	poses,
		const rtabmap::Memory *	memory = 0
	)

Definition at line 293 of file MapsManager.cpp.

void MapsManager::setParameters

(

const rtabmap::ParametersMap &

parameters

)

Definition at line 276 of file MapsManager.cpp.

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

Definition at line 390 of file MapsManager.cpp.

Member Data Documentation

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

private

Definition at line 114 of file MapsManager.h.

rtabmap::FlannIndex MapsManager::assembledGroundIndex_

private

Definition at line 115 of file MapsManager.h.

std::map<int, rtabmap::Transform> MapsManager::assembledGroundPoses_

private

Definition at line 111 of file MapsManager.h.

rtabmap::FlannIndex MapsManager::assembledObstacleIndex_

private

Definition at line 116 of file MapsManager.h.

std::map<int, rtabmap::Transform> MapsManager::assembledObstaclePoses_

private

Definition at line 112 of file MapsManager.h.

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

private

Definition at line 113 of file MapsManager.h.

ros::Publisher MapsManager::cloudGroundPub_

private

Definition at line 97 of file MapsManager.h.

ros::Publisher MapsManager::cloudMapPub_

private

Definition at line 96 of file MapsManager.h.

ros::Publisher MapsManager::cloudObstaclesPub_

private

Definition at line 98 of file MapsManager.h.

bool MapsManager::cloudOutputVoxelized_

private

Definition at line 87 of file MapsManager.h.

bool MapsManager::cloudSubtractFiltering_

private

Definition at line 88 of file MapsManager.h.

int MapsManager::cloudSubtractFilteringMinNeighbors_

private

Definition at line 89 of file MapsManager.h.

cv::Mat MapsManager::gridMap_

private

Definition at line 121 of file MapsManager.h.

ros::Publisher MapsManager::gridMapPub_

private

Definition at line 100 of file MapsManager.h.

std::map<int, std::pair< std::pair<cv::Mat, cv::Mat>, cv::Mat> > MapsManager::gridMaps_

private

Definition at line 122 of file MapsManager.h.

std::map<int, cv::Point3f> MapsManager::gridMapsViewpoints_

private

Definition at line 123 of file MapsManager.h.

std::map<int, rtabmap::Transform> MapsManager::gridPoses_

private

Definition at line 120 of file MapsManager.h.

ros::Publisher MapsManager::gridProbMapPub_

private

Definition at line 101 of file MapsManager.h.

std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MapsManager::groundClouds_

private

Definition at line 117 of file MapsManager.h.

bool MapsManager::mapCacheCleanup_

private

Definition at line 92 of file MapsManager.h.

double MapsManager::mapFilterAngle_

private

Definition at line 91 of file MapsManager.h.

double MapsManager::mapFilterRadius_

private

Definition at line 90 of file MapsManager.h.

bool MapsManager::negativePosesIgnored_

private

Definition at line 93 of file MapsManager.h.

bool MapsManager::negativeScanEmptyRayTracing_

private

Definition at line 94 of file MapsManager.h.

std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MapsManager::obstacleClouds_

private

Definition at line 118 of file MapsManager.h.

rtabmap::OccupancyGrid* MapsManager::occupancyGrid_

private

Definition at line 125 of file MapsManager.h.

rtabmap::OctoMap* MapsManager::octomap_

private

Definition at line 127 of file MapsManager.h.

ros::Publisher MapsManager::octoMapCloud_

private

Definition at line 105 of file MapsManager.h.

ros::Publisher MapsManager::octoMapEmptySpace_

private

Definition at line 108 of file MapsManager.h.

ros::Publisher MapsManager::octoMapGroundCloud_

private

Definition at line 106 of file MapsManager.h.

ros::Publisher MapsManager::octoMapObstacleCloud_

private

Definition at line 107 of file MapsManager.h.

ros::Publisher MapsManager::octoMapProj_

private

Definition at line 109 of file MapsManager.h.

ros::Publisher MapsManager::octoMapPubBin_

private

Definition at line 103 of file MapsManager.h.

ros::Publisher MapsManager::octoMapPubFull_

private

Definition at line 104 of file MapsManager.h.

int MapsManager::octomapTreeDepth_

private

Definition at line 128 of file MapsManager.h.

rtabmap::ParametersMap MapsManager::parameters_

private

Definition at line 130 of file MapsManager.h.

ros::Publisher MapsManager::projMapPub_

private

Definition at line 99 of file MapsManager.h.

ros::Publisher MapsManager::scanMapPub_

private

Definition at line 102 of file MapsManager.h.

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

• MapsManager.h
• MapsManager.cpp