A costmap layer that extracts ground plane and clears it. More...

#include <depth_layer.h>

Inheritance diagram for costmap_2d::FetchDepthLayer:

[legend]

Public Member Functions
	FetchDepthLayer ()
	Constructor. More...

virtual void	onInitialize ()
	Initialization function for the DepthLayer. More...

virtual	~FetchDepthLayer ()
	Destructor for the depth costmap layer. More...

Public Member Functions inherited from costmap_2d::VoxelLayer
bool	isDiscretized ()

virtual void	matchSize ()

virtual void	reset ()

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

void	updateOrigin (double new_origin_x, double new_origin_y)

	VoxelLayer ()

virtual	~VoxelLayer ()

Public Member Functions inherited from costmap_2d::ObstacleLayer
virtual void	activate ()

void	addStaticObservation (costmap_2d::Observation &obs, bool marking, bool clearing)

void	clearStaticObservations (bool marking, bool clearing)

virtual void	deactivate ()

void	laserScanCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)

void	laserScanValidInfCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< ObservationBuffer > &buffer)

	ObstacleLayer ()

void	pointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)

void	pointCloudCallback (const sensor_msgs::PointCloudConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

virtual	~ObstacleLayer ()

Public Member Functions inherited from costmap_2d::CostmapLayer
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

virtual void	clearArea (int start_x, int start_y, int end_x, int end_y)

	CostmapLayer ()

bool	isDiscretized ()

Public Member Functions inherited from costmap_2d::Layer
const std::vector< geometry_msgs::Point > &	getFootprint () const

std::string	getName () const

void	initialize (LayeredCostmap parent, std::string name, tf2_ros::Buffer tf)

bool	isCurrent () const

	Layer ()

virtual void	onFootprintChanged ()

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)

	Costmap2D (const Costmap2D &map)

	Costmap2D ()

unsigned char *	getCharMap () const

unsigned char	getCost (unsigned int mx, unsigned int my) const

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const

mutex_t *	getMutex ()

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getSizeInCellsX () const

unsigned int	getSizeInCellsY () const

double	getSizeInMetersX () const

double	getSizeInMetersY () const

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

Costmap2D &	operator= (const Costmap2D &map)

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)

void	setDefaultValue (unsigned char c)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const

virtual	~Costmap2D ()

Private Member Functions
void	cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)

void	depthImageCallback (const sensor_msgs::Image::ConstPtr &msg)

Private Attributes
ros::Subscriber	camera_info_sub_

bool	clear_nans_

bool	clear_with_skipped_rays_

boost::shared_ptr< costmap_2d::ObservationBuffer >	clearing_buf_

ros::Publisher	clearing_pub_

cv::Ptr< DepthCleaner >	depth_cleaner_

boost::shared_ptr< tf2_ros::MessageFilter< sensor_msgs::Image > >	depth_image_filter_

boost::shared_ptr< message_filters::Subscriber< sensor_msgs::Image > >	depth_image_sub_

bool	find_ground_plane_

double	ground_threshold_

cv::Mat	K_

boost::shared_ptr< costmap_2d::ObservationBuffer >	marking_buf_

ros::Publisher	marking_pub_

boost::mutex	mutex_K_

cv::Ptr< RgbdNormals >	normals_estimator_

double	observations_threshold_

cv::Ptr< RgbdPlane >	plane_estimator_

bool	publish_observations_

int	skip_rays_bottom_

int	skip_rays_left_

int	skip_rays_right_

int	skip_rays_top_

Additional Inherited Members
Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Protected Member Functions inherited from costmap_2d::VoxelLayer
virtual void	resetMaps ()

virtual void	setupDynamicReconfigure (ros::NodeHandle &nh)

Protected Member Functions inherited from costmap_2d::ObstacleLayer
bool	getClearingObservations (std::vector< costmap_2d::Observation > &clearing_observations) const

bool	getMarkingObservations (std::vector< costmap_2d::Observation > &marking_observations) const

void	updateFootprint (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

void	updateRaytraceBounds (double ox, double oy, double wx, double wy, double range, double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::CostmapLayer
void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

void	updateWithAddition (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMax (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithTrueOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::Costmap2D
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)

virtual void	deleteMaps ()

virtual void	initMaps (unsigned int size_x, unsigned int size_y)

void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)

Protected Attributes inherited from costmap_2d::ObstacleLayer
std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	clearing_buffers_

int	combination_method_

dynamic_reconfigure::Server< costmap_2d::ObstaclePluginConfig > *	dsrv_

bool	footprint_clearing_enabled_

std::string	global_frame_

std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	marking_buffers_

double	max_obstacle_height_

std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	observation_buffers_

std::vector< boost::shared_ptr< tf2_ros::MessageFilterBase > >	observation_notifiers_

std::vector< boost::shared_ptr< message_filters::SubscriberBase > >	observation_subscribers_

laser_geometry::LaserProjection	projector_

bool	rolling_window_

std::vector< costmap_2d::Observation >	static_clearing_observations_

std::vector< costmap_2d::Observation >	static_marking_observations_

std::vector< geometry_msgs::Point >	transformed_footprint_

Protected Attributes inherited from costmap_2d::CostmapLayer
bool	has_extra_bounds_

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_

LayeredCostmap *	layered_costmap_

std::string	name_

tf2_ros::Buffer *	tf_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Detailed Description

A costmap layer that extracts ground plane and clears it.

Definition at line 56 of file depth_layer.h.

Constructor & Destructor Documentation

◆ FetchDepthLayer()

costmap_2d::FetchDepthLayer::FetchDepthLayer ( )

Constructor.

Definition at line 41 of file depth_layer.cpp.

◆ ~FetchDepthLayer()

costmap_2d::FetchDepthLayer::~FetchDepthLayer ( )

virtual

Destructor for the depth costmap layer.

Definition at line 155 of file depth_layer.cpp.

Member Function Documentation

◆ cameraInfoCallback()

void costmap_2d::FetchDepthLayer::cameraInfoCallback ( const sensor_msgs::CameraInfo::ConstPtr & msg )

private

Definition at line 159 of file depth_layer.cpp.

◆ depthImageCallback()

void costmap_2d::FetchDepthLayer::depthImageCallback ( const sensor_msgs::Image::ConstPtr & msg )

private

Definition at line 192 of file depth_layer.cpp.

◆ onInitialize()

void costmap_2d::FetchDepthLayer::onInitialize ( )

virtual

Initialization function for the DepthLayer.

Reimplemented from costmap_2d::VoxelLayer.

Definition at line 45 of file depth_layer.cpp.

Member Data Documentation

◆ camera_info_sub_

ros::Subscriber costmap_2d::FetchDepthLayer::camera_info_sub_

private

Definition at line 116 of file depth_layer.h.

◆ clear_nans_

bool costmap_2d::FetchDepthLayer::clear_nans_

private

Definition at line 98 of file depth_layer.h.

◆ clear_with_skipped_rays_

bool costmap_2d::FetchDepthLayer::clear_with_skipped_rays_

private

Definition at line 107 of file depth_layer.h.

◆ clearing_buf_

boost::shared_ptr<costmap_2d::ObservationBuffer> costmap_2d::FetchDepthLayer::clearing_buf_

private

Definition at line 81 of file depth_layer.h.

◆ clearing_pub_

ros::Publisher costmap_2d::FetchDepthLayer::clearing_pub_

private

Definition at line 119 of file depth_layer.h.

◆ depth_cleaner_

cv::Ptr<DepthCleaner> costmap_2d::FetchDepthLayer::depth_cleaner_

private

Definition at line 129 of file depth_layer.h.

◆ depth_image_filter_

boost::shared_ptr< tf2_ros::MessageFilter<sensor_msgs::Image> > costmap_2d::FetchDepthLayer::depth_image_filter_

private

Definition at line 112 of file depth_layer.h.

◆ depth_image_sub_

boost::shared_ptr< message_filters::Subscriber<sensor_msgs::Image> > costmap_2d::FetchDepthLayer::depth_image_sub_

private

Definition at line 111 of file depth_layer.h.

◆ find_ground_plane_

bool costmap_2d::FetchDepthLayer::find_ground_plane_

private

Definition at line 91 of file depth_layer.h.

◆ ground_threshold_

double costmap_2d::FetchDepthLayer::ground_threshold_

private

Definition at line 95 of file depth_layer.h.

◆ K_

cv::Mat costmap_2d::FetchDepthLayer::K_

private

Definition at line 126 of file depth_layer.h.

◆ marking_buf_

boost::shared_ptr<costmap_2d::ObservationBuffer> costmap_2d::FetchDepthLayer::marking_buf_

private

Definition at line 80 of file depth_layer.h.

◆ marking_pub_

ros::Publisher costmap_2d::FetchDepthLayer::marking_pub_

private

Definition at line 122 of file depth_layer.h.

◆ mutex_K_

boost::mutex costmap_2d::FetchDepthLayer::mutex_K_

private

Definition at line 125 of file depth_layer.h.

◆ normals_estimator_

cv::Ptr<RgbdNormals> costmap_2d::FetchDepthLayer::normals_estimator_

private

Definition at line 132 of file depth_layer.h.

◆ observations_threshold_

double costmap_2d::FetchDepthLayer::observations_threshold_

private

Definition at line 88 of file depth_layer.h.

◆ plane_estimator_

cv::Ptr<RgbdPlane> costmap_2d::FetchDepthLayer::plane_estimator_

private

Definition at line 133 of file depth_layer.h.

◆ publish_observations_

bool costmap_2d::FetchDepthLayer::publish_observations_

private

Definition at line 84 of file depth_layer.h.

◆ skip_rays_bottom_

int costmap_2d::FetchDepthLayer::skip_rays_bottom_

private

Definition at line 101 of file depth_layer.h.

◆ skip_rays_left_

int costmap_2d::FetchDepthLayer::skip_rays_left_

private

Definition at line 103 of file depth_layer.h.

◆ skip_rays_right_

int costmap_2d::FetchDepthLayer::skip_rays_right_

private

Definition at line 104 of file depth_layer.h.

◆ skip_rays_top_

int costmap_2d::FetchDepthLayer::skip_rays_top_

private

Definition at line 102 of file depth_layer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FetchDepthLayer()

◆ ~FetchDepthLayer()

Member Function Documentation

◆ cameraInfoCallback()

◆ depthImageCallback()

◆ onInitialize()

Member Data Documentation

◆ camera_info_sub_

◆ clear_nans_

◆ clear_with_skipped_rays_

◆ clearing_buf_

◆ clearing_pub_

◆ depth_cleaner_

◆ depth_image_filter_

◆ depth_image_sub_

◆ find_ground_plane_

◆ ground_threshold_

◆ K_

◆ marking_buf_

◆ marking_pub_

◆ mutex_K_

◆ normals_estimator_

◆ observations_threshold_

◆ plane_estimator_

◆ publish_observations_

◆ skip_rays_bottom_

◆ skip_rays_left_

◆ skip_rays_right_

◆ skip_rays_top_