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37 #include <pcl/io/pcd_io.h>
43 assembledGround_(new
pcl::PointCloud<
pcl::PointXYZRGB>),
44 assembledObstacles_(new
pcl::PointCloud<
pcl::PointXYZRGB>),
45 assembledEmptyCells_(new
pcl::PointCloud<
pcl::PointXYZ>)
61 bool assembledGroundUpdated =
false;
62 bool assembledObstaclesUpdated =
false;
63 bool assembledEmptyCellsUpdated =
false;
67 UDEBUG(
"Updating from cache");
68 for(std::list<std::pair<int, Transform> >::const_iterator
iter = newPoses.begin();
iter!=newPoses.end(); ++
iter)
87 assembledGroundUpdated =
true;
95 UFATAL(
"Occupancy local maps should be 1 row and X cols! (rows=%d cols=%d)", localGrid.
emptyCells.rows, localGrid.
emptyCells.cols);
99 assembledEmptyCellsUpdated =
true;
111 assembledObstaclesUpdated =
true;
131 UDEBUG(
"Occupancy Grid update time = %f s",
timer.ticks());
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledGround_
static LaserScan backwardCompatibility(const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
virtual unsigned long getMemoryUsed() const
std::map< std::string, std::string > ParametersMap
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
CloudMap(const LocalGridCache *cache, const ParametersMap ¶meters=ParametersMap())
bool uContains(const std::list< V > &list, const V &value)
Some conversion functions.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
void addAssembledNode(int id, const Transform &pose)
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledObstacles_
ULogger class and convenient macros.
iterator iter(handle obj)
Wrappers of STL for convenient functions.
unsigned long getMemoryUsed() const
const std::map< int, LocalGrid > & cache() const
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan &laserScan, const Transform &transform=Transform())
pcl::PointCloud< pcl::PointXYZ >::Ptr assembledEmptyCells_
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07