Public Member Functions | Protected Attributes | List of all members
rtabmap::LocalGridMaker Class Reference

#include <LocalGridMaker.h>

Public Member Functions

void createLocalMap (const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const
 
void createLocalMap (const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint)
 
float getCellSize () const
 
bool isGridFromDepth () const
 
bool isMapFrameProjection () const
 
 LocalGridMaker (const ParametersMap &parameters=ParametersMap())
 
virtual 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
 
virtual ~LocalGridMaker ()
 

Protected Attributes

float cellSize_
 
unsigned int cloudDecimation_
 
float clusterRadius_
 
bool flatObstaclesDetected_
 
float footprintHeight_
 
float footprintLength_
 
float footprintWidth_
 
bool grid3D_
 
bool groundIsObstacle_
 
float groundNormalsUp_
 
float maxGroundAngle_
 
float maxGroundHeight_
 
float maxObstacleHeight_
 
int minClusterSize_
 
float minGroundHeight_
 
int noiseFilteringMinNeighbors_
 
float noiseFilteringRadius_
 
int normalKSearch_
 
bool normalsSegmentation_
 
int occupancySensor_
 
ParametersMap parameters_
 
bool preVoxelFiltering_
 
bool projMapFrame_
 
float rangeMax_
 
float rangeMin_
 
bool rayTracing_
 
std::vector< floatroiRatios_
 
bool scan2dUnknownSpaceFilled_
 
int scanDecimation_
 

Detailed Description

Definition at line 42 of file LocalGridMaker.h.

Constructor & Destructor Documentation

◆ LocalGridMaker()

rtabmap::LocalGridMaker::LocalGridMaker ( const ParametersMap parameters = ParametersMap())

Definition at line 46 of file LocalGridMaker.cpp.

◆ ~LocalGridMaker()

rtabmap::LocalGridMaker::~LocalGridMaker ( )
virtual

Definition at line 80 of file LocalGridMaker.cpp.

Member Function Documentation

◆ createLocalMap() [1/2]

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

Definition at line 407 of file LocalGridMaker.cpp.

◆ createLocalMap() [2/2]

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

Definition at line 188 of file LocalGridMaker.cpp.

◆ getCellSize()

float rtabmap::LocalGridMaker::getCellSize ( ) const
inline

Definition at line 49 of file LocalGridMaker.h.

◆ isGridFromDepth()

bool rtabmap::LocalGridMaker::isGridFromDepth ( ) const
inline

Definition at line 50 of file LocalGridMaker.h.

◆ isMapFrameProjection()

bool rtabmap::LocalGridMaker::isMapFrameProjection ( ) const
inline

Definition at line 51 of file LocalGridMaker.h.

◆ parseParameters()

void rtabmap::LocalGridMaker::parseParameters ( const ParametersMap parameters)
virtual

Definition at line 84 of file LocalGridMaker.cpp.

◆ segmentCloud()

template<typename PointT >
pcl::PointCloud< PointT >::Ptr rtabmap::LocalGridMaker::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 LocalMapMaker.hpp.

Member Data Documentation

◆ cellSize_

float rtabmap::LocalGridMaker::cellSize_
protected

Definition at line 89 of file LocalGridMaker.h.

◆ cloudDecimation_

unsigned int rtabmap::LocalGridMaker::cloudDecimation_
protected

Definition at line 81 of file LocalGridMaker.h.

◆ clusterRadius_

float rtabmap::LocalGridMaker::clusterRadius_
protected

Definition at line 97 of file LocalGridMaker.h.

◆ flatObstaclesDetected_

bool rtabmap::LocalGridMaker::flatObstaclesDetected_
protected

Definition at line 99 of file LocalGridMaker.h.

◆ footprintHeight_

float rtabmap::LocalGridMaker::footprintHeight_
protected

Definition at line 87 of file LocalGridMaker.h.

◆ footprintLength_

float rtabmap::LocalGridMaker::footprintLength_
protected

Definition at line 85 of file LocalGridMaker.h.

◆ footprintWidth_

float rtabmap::LocalGridMaker::footprintWidth_
protected

Definition at line 86 of file LocalGridMaker.h.

◆ grid3D_

bool rtabmap::LocalGridMaker::grid3D_
protected

Definition at line 103 of file LocalGridMaker.h.

◆ groundIsObstacle_

bool rtabmap::LocalGridMaker::groundIsObstacle_
protected

Definition at line 104 of file LocalGridMaker.h.

◆ groundNormalsUp_

float rtabmap::LocalGridMaker::groundNormalsUp_
protected

Definition at line 95 of file LocalGridMaker.h.

◆ maxGroundAngle_

float rtabmap::LocalGridMaker::maxGroundAngle_
protected

Definition at line 96 of file LocalGridMaker.h.

◆ maxGroundHeight_

float rtabmap::LocalGridMaker::maxGroundHeight_
protected

Definition at line 101 of file LocalGridMaker.h.

◆ maxObstacleHeight_

float rtabmap::LocalGridMaker::maxObstacleHeight_
protected

Definition at line 93 of file LocalGridMaker.h.

◆ minClusterSize_

int rtabmap::LocalGridMaker::minClusterSize_
protected

Definition at line 98 of file LocalGridMaker.h.

◆ minGroundHeight_

float rtabmap::LocalGridMaker::minGroundHeight_
protected

Definition at line 100 of file LocalGridMaker.h.

◆ noiseFilteringMinNeighbors_

int rtabmap::LocalGridMaker::noiseFilteringMinNeighbors_
protected

Definition at line 106 of file LocalGridMaker.h.

◆ noiseFilteringRadius_

float rtabmap::LocalGridMaker::noiseFilteringRadius_
protected

Definition at line 105 of file LocalGridMaker.h.

◆ normalKSearch_

int rtabmap::LocalGridMaker::normalKSearch_
protected

Definition at line 94 of file LocalGridMaker.h.

◆ normalsSegmentation_

bool rtabmap::LocalGridMaker::normalsSegmentation_
protected

Definition at line 102 of file LocalGridMaker.h.

◆ occupancySensor_

int rtabmap::LocalGridMaker::occupancySensor_
protected

Definition at line 91 of file LocalGridMaker.h.

◆ parameters_

ParametersMap rtabmap::LocalGridMaker::parameters_
protected

Definition at line 79 of file LocalGridMaker.h.

◆ preVoxelFiltering_

bool rtabmap::LocalGridMaker::preVoxelFiltering_
protected

Definition at line 90 of file LocalGridMaker.h.

◆ projMapFrame_

bool rtabmap::LocalGridMaker::projMapFrame_
protected

Definition at line 92 of file LocalGridMaker.h.

◆ rangeMax_

float rtabmap::LocalGridMaker::rangeMax_
protected

Definition at line 82 of file LocalGridMaker.h.

◆ rangeMin_

float rtabmap::LocalGridMaker::rangeMin_
protected

Definition at line 83 of file LocalGridMaker.h.

◆ rayTracing_

bool rtabmap::LocalGridMaker::rayTracing_
protected

Definition at line 108 of file LocalGridMaker.h.

◆ roiRatios_

std::vector<float> rtabmap::LocalGridMaker::roiRatios_
protected

Definition at line 84 of file LocalGridMaker.h.

◆ scan2dUnknownSpaceFilled_

bool rtabmap::LocalGridMaker::scan2dUnknownSpaceFilled_
protected

Definition at line 107 of file LocalGridMaker.h.

◆ scanDecimation_

int rtabmap::LocalGridMaker::scanDecimation_
protected

Definition at line 88 of file LocalGridMaker.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27