#include <OccupancyGrid.h>

Public Member Functions
const std::map< int, Transform > &	addedNodes () const
void	addToCache (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty)
int	cacheSize () const
void	clear ()
void	createLocalMap (const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint) const
void	createLocalMap (const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const
const std::map< int, std::pair < std::pair< cv::Mat, cv::Mat > , cv::Mat > > &	getCache () const
float	getCellSize () const
cv::Mat	getMap (float &xMin, float &yMin) const
const pcl::PointCloud < pcl::PointXYZRGB >::Ptr &	getMapEmptyCells () const
const pcl::PointCloud < pcl::PointXYZRGB >::Ptr &	getMapGround () const
const pcl::PointCloud < pcl::PointXYZRGB >::Ptr &	getMapObstacles () const
float	getMinMapSize () const
cv::Mat	getProbMap (float &xMin, float &yMin) const
float	getUpdateError () const
bool	isFullUpdate () const
bool	isGridFromDepth () const
bool	isMapFrameProjection () const
	OccupancyGrid (const ParametersMap &parameters=ParametersMap())
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
void	setCellSize (float cellSize)
void	setCloudAssembling (bool enabled)
void	setMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses)
void	update (const std::map< int, Transform > &poses)
Static Public Member Functions
static float	logodds (double probability)
static double	probability (double logodds)
Private Attributes
std::map< int, Transform >	addedNodes_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	assembledEmptyCells_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	assembledGround_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	assembledObstacles_
std::map< int, std::pair < std::pair< cv::Mat, cv::Mat > , cv::Mat > >	cache_
std::map< int, std::pair< int, int > >	cellCount_
float	cellSize_
bool	cloudAssembling_
int	cloudDecimation_
float	cloudMaxDepth_
float	cloudMinDepth_
float	clusterRadius_
bool	erode_
bool	flatObstaclesDetected_
float	footprintHeight_
float	footprintLength_
float	footprintRadius_
float	footprintWidth_
bool	fullUpdate_
bool	grid3D_
bool	groundIsObstacle_
cv::Mat	map_
cv::Mat	mapInfo_
float	maxGroundAngle_
float	maxGroundHeight_
float	maxObstacleHeight_
int	minClusterSize_
float	minGroundHeight_
float	minMapSize_
int	noiseFilteringMinNeighbors_
float	noiseFilteringRadius_
int	normalKSearch_
bool	normalsSegmentation_
bool	occupancyFromDepth_
float	occupancyThr_
ParametersMap	parameters_
bool	preVoxelFiltering_
float	probClampingMax_
float	probClampingMin_
float	probHit_
float	probMiss_
bool	projMapFrame_
bool	rayTracing_
std::vector< float >	roiRatios_
bool	scan2dUnknownSpaceFilled_
int	scanDecimation_
float	updateError_
float	xMin_
float	yMin_

Detailed Description

Definition at line 40 of file OccupancyGrid.h.

Constructor & Destructor Documentation

rtabmap::OccupancyGrid::OccupancyGrid ( const ParametersMap & parameters = ParametersMap() )

Definition at line 43 of file OccupancyGrid.cpp.

Member Function Documentation

const std::map<int, Transform>& rtabmap::OccupancyGrid::addedNodes ( ) const [inline]

Definition at line 65 of file OccupancyGrid.h.

void rtabmap::OccupancyGrid::addToCache	(	int	nodeId,
		const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty
	)

Definition at line 675 of file OccupancyGrid.cpp.

int rtabmap::OccupancyGrid::cacheSize ( ) const [inline]

Definition at line 66 of file OccupancyGrid.h.

void rtabmap::OccupancyGrid::clear ( )

Definition at line 591 of file OccupancyGrid.cpp.

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

Definition at line 282 of file OccupancyGrid.cpp.

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

Definition at line 415 of file OccupancyGrid.cpp.

const std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >& rtabmap::OccupancyGrid::getCache ( ) const [inline]

Definition at line 67 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::getCellSize ( ) const [inline]

Definition at line 58 of file OccupancyGrid.h.

cv::Mat rtabmap::OccupancyGrid::getMap	(	float &	xMin,
		float &	yMin
	)		const

Definition at line 604 of file OccupancyGrid.cpp.

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::OccupancyGrid::getMapEmptyCells ( ) const [inline]

Definition at line 105 of file OccupancyGrid.h.

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::OccupancyGrid::getMapGround ( ) const [inline]

Definition at line 103 of file OccupancyGrid.h.

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::OccupancyGrid::getMapObstacles ( ) const [inline]

Definition at line 104 of file OccupancyGrid.h.

float rtabmap::OccupancyGrid::getMinMapSize ( ) const [inline]

Definition at line 60 of file OccupancyGrid.h.

cv::Mat rtabmap::OccupancyGrid::getProbMap	(	float &	xMin,
		float &	yMin
	)		const

Definition at line 647 of file OccupancyGrid.cpp.

float rtabmap::OccupancyGrid::getUpdateError ( ) const [inline]

Definition at line 63 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::isFullUpdate ( ) const [inline]

Definition at line 62 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::isGridFromDepth ( ) const [inline]

Definition at line 61 of file OccupancyGrid.h.

bool rtabmap::OccupancyGrid::isMapFrameProjection ( ) const [inline]

Definition at line 64 of file OccupancyGrid.h.

static float rtabmap::OccupancyGrid::logodds ( double probability ) [inline, static]

Definition at line 43 of file OccupancyGrid.h.

void rtabmap::OccupancyGrid::parseParameters ( const ParametersMap & parameters )

Definition at line 92 of file OccupancyGrid.cpp.

static double rtabmap::OccupancyGrid::probability ( double logodds ) [inline, static]

Definition at line 48 of file OccupancyGrid.h.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::OccupancyGrid::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