MapsManager.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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26 */
27 
28 #ifndef MAPSMANAGER_H_
29 #define MAPSMANAGER_H_
30 
31 #include <rtabmap/core/Signature.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
36 #include <ros/time.h>
37 #include <ros/publisher.h>
38 
39 namespace rtabmap {
40 class OctoMap;
41 class Memory;
42 class OccupancyGrid;
43 
44 } // namespace rtabmap
45 
46 class MapsManager {
47 public:
48  MapsManager();
49  virtual ~MapsManager();
50  void init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name, bool usePublicNamespace);
51  void clear();
52  bool hasSubscribers() const;
53  void backwardCompatibilityParameters(ros::NodeHandle & pnh, rtabmap::ParametersMap & parameters) const;
54  void setParameters(const rtabmap::ParametersMap & parameters);
55  void set2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, rtabmap::Transform> & poses, const rtabmap::Memory * memory = 0);
56 
57  std::map<int, rtabmap::Transform> getFilteredPoses(
58  const std::map<int, rtabmap::Transform> & poses);
59 
60  std::map<int, rtabmap::Transform> updateMapCaches(
61  const std::map<int, rtabmap::Transform> & poses,
62  const rtabmap::Memory * memory,
63  bool updateGrid,
64  bool updateOctomap,
65  const std::map<int, rtabmap::Signature> & signatures = std::map<int, rtabmap::Signature>());
66 
67  void publishMaps(
68  const std::map<int, rtabmap::Transform> & poses,
69  const ros::Time & stamp,
70  const std::string & mapFrameId);
71 
72  cv::Mat getGridMap(
73  float & xMin,
74  float & yMin,
75  float & gridCellSize);
76 
77  cv::Mat getGridProbMap(
78  float & xMin,
79  float & yMin,
80  float & gridCellSize);
81 
82  const rtabmap::OctoMap * getOctomap() const {return octomap_;}
83  const rtabmap::OccupancyGrid * getOccupancyGrid() const {return occupancyGrid_;}
84 
85 private:
86  // mapping stuff
95 
111 
112  std::map<int, rtabmap::Transform> assembledGroundPoses_;
113  std::map<int, rtabmap::Transform> assembledObstaclePoses_;
114  pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
115  pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
118  std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > groundClouds_;
119  std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > obstacleClouds_;
120 
121  std::map<int, rtabmap::Transform> gridPoses_;
122  cv::Mat gridMap_;
123  std::map<int, std::pair< std::pair<cv::Mat, cv::Mat>, cv::Mat> > gridMaps_; // < <ground, obstacles>, empty cells >
124  std::map<int, cv::Point3f> gridMapsViewpoints_;
125 
128 
132 
134 
135  bool latching_;
136  std::map<void*, bool> latched_;
137 };
138 
139 #endif /* MAPSMANAGER_H_ */
std::map< int, cv::Point3f > gridMapsViewpoints_
Definition: MapsManager.h:124
int cloudSubtractFilteringMinNeighbors_
Definition: MapsManager.h:89
const rtabmap::OccupancyGrid * getOccupancyGrid() const
Definition: MapsManager.h:83
ros::Publisher octoMapObstacleCloud_
Definition: MapsManager.h:108
std::map< int, rtabmap::Transform > gridPoses_
Definition: MapsManager.h:121
ros::Publisher cloudGroundPub_
Definition: MapsManager.h:97
const rtabmap::OctoMap * getOctomap() const
Definition: MapsManager.h:82
cv::Mat gridMap_
Definition: MapsManager.h:122
ros::Publisher gridMapPub_
Definition: MapsManager.h:100
rtabmap::OccupancyGrid * occupancyGrid_
Definition: MapsManager.h:126
ros::Publisher scanMapPub_
Definition: MapsManager.h:102
bool cloudOutputVoxelized_
Definition: MapsManager.h:87
std::map< void *, bool > latched_
Definition: MapsManager.h:136
ros::Publisher octoMapCloud_
Definition: MapsManager.h:105
std::map< std::string, std::string > ParametersMap
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledObstacles_
Definition: MapsManager.h:114
bool alwaysUpdateMap_
Definition: MapsManager.h:93
std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > groundClouds_
Definition: MapsManager.h:118
rtabmap::OctoMap * octomap_
Definition: MapsManager.h:129
bool cloudSubtractFiltering_
Definition: MapsManager.h:88
rtabmap::ParametersMap parameters_
Definition: MapsManager.h:133
ros::Publisher octoMapPubFull_
Definition: MapsManager.h:104
ros::Publisher cloudMapPub_
Definition: MapsManager.h:96
ros::Publisher octoMapPubBin_
Definition: MapsManager.h:103
string name
std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > > gridMaps_
Definition: MapsManager.h:123
bool latching_
Definition: MapsManager.h:135
rtabmap::FlannIndex assembledGroundIndex_
Definition: MapsManager.h:116
ros::Publisher projMapPub_
Definition: MapsManager.h:99
double mapFilterAngle_
Definition: MapsManager.h:91
rtabmap::FlannIndex assembledObstacleIndex_
Definition: MapsManager.h:117
bool mapCacheCleanup_
Definition: MapsManager.h:92
bool scanEmptyRayTracing_
Definition: MapsManager.h:94
double mapFilterRadius_
Definition: MapsManager.h:90
int octomapTreeDepth_
Definition: MapsManager.h:130
ros::Publisher octoMapEmptySpace_
Definition: MapsManager.h:109
ros::Publisher octoMapFrontierCloud_
Definition: MapsManager.h:106
ros::Publisher octoMapGroundCloud_
Definition: MapsManager.h:107
bool octomapUpdated_
Definition: MapsManager.h:131
std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > obstacleClouds_
Definition: MapsManager.h:119
ros::Publisher octoMapProj_
Definition: MapsManager.h:110
bool gridUpdated_
Definition: MapsManager.h:127
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledGround_
Definition: MapsManager.h:115
ros::Publisher cloudObstaclesPub_
Definition: MapsManager.h:98
ros::Publisher gridProbMapPub_
Definition: MapsManager.h:101
std::map< int, rtabmap::Transform > assembledGroundPoses_
Definition: MapsManager.h:112
std::map< int, rtabmap::Transform > assembledObstaclePoses_
Definition: MapsManager.h:113


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40