global_map/OccupancyGrid.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef CORELIB_SRC_OCCUPANCYGRID_H_
29 #define CORELIB_SRC_OCCUPANCYGRID_H_
30 
31 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32 
33 #include <rtabmap/core/GlobalMap.h>
34 
35 #include <pcl/point_cloud.h>
36 #include <pcl/point_types.h>
37 
38 namespace rtabmap {
39 
40 class RTABMAP_CORE_EXPORT OccupancyGrid : public GlobalMap
41 {
42 public:
43  OccupancyGrid(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
44  void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
45  float getMinMapSize() const {return minMapSize_;}
46 
47  virtual void clear();
48 
49  cv::Mat getMap(float & xMin, float & yMin) const;
50  cv::Mat getProbMap(float & xMin, float & yMin) const;
51 
52  unsigned long getMemoryUsed() const;
53 
54 protected:
55  virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
56 
57 private:
58  cv::Mat map_;
59  cv::Mat mapInfo_;
60  std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
61 
62  float minMapSize_;
63  bool erode_;
65 };
66 
67 }
68 
69 #endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */
rtabmap::OccupancyGrid::map_
cv::Mat map_
Definition: global_map/OccupancyGrid.h:58
rtabmap::LocalGridCache
Definition: LocalGrid.h:56
rtabmap::OccupancyGrid::footprintRadius_
float footprintRadius_
Definition: global_map/OccupancyGrid.h:64
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OccupancyGrid
Definition: global_map/OccupancyGrid.h:40
GlobalMap.h
rtabmap::GlobalMap
Definition: GlobalMap.h:40
rtabmap::OccupancyGrid::erode_
bool erode_
Definition: global_map/OccupancyGrid.h:63
rtabmap::OccupancyGrid::minMapSize_
float minMapSize_
Definition: global_map/OccupancyGrid.h:62
rtabmap::OccupancyGrid::getMinMapSize
float getMinMapSize() const
Definition: global_map/OccupancyGrid.h:45
rtabmap::OccupancyGrid::mapInfo_
cv::Mat mapInfo_
Definition: global_map/OccupancyGrid.h:59
rtabmap::OccupancyGrid::cellCount_
std::map< int, std::pair< int, int > > cellCount_
Definition: global_map/OccupancyGrid.h:60
rtabmap
Definition: CameraARCore.cpp:35


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13