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< float >	roiRatios_
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.

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

• LocalGridMaker.h
• LocalMapMaker.hpp
• LocalGridMaker.cpp