OccupancyGrid.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef CORELIB_SRC_OCCUPANCYGRID_H_
29 #define CORELIB_SRC_OCCUPANCYGRID_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
33 #include <pcl/point_cloud.h>
34 #include <pcl/pcl_base.h>
36 #include <rtabmap/core/Signature.h>
37 
38 namespace rtabmap {
39 
41 {
42 public:
43  inline static float logodds(double probability)
44  {
45  return (float) log(probability/(1-probability));
46  }
47 
48  inline static double probability(double logodds)
49  {
50  return 1. - ( 1. / (1. + exp(logodds)));
51  }
52 
53 public:
54  OccupancyGrid(const ParametersMap & parameters = ParametersMap());
55  void parseParameters(const ParametersMap & parameters);
56  void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
57  void setCellSize(float cellSize);
58  float getCellSize() const {return cellSize_;}
59  void setCloudAssembling(bool enabled);
60  float getMinMapSize() const {return minMapSize_;}
61  bool isGridFromDepth() const {return occupancyFromDepth_;}
62  bool isFullUpdate() const {return fullUpdate_;}
63  float getUpdateError() const {return updateError_;}
64  bool isMapFrameProjection() const {return projMapFrame_;}
65  const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
66  int cacheSize() const {return (int)cache_.size();}
67  const std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > & getCache() const {return cache_;}
68 
69  template<typename PointT>
70  typename pcl::PointCloud<PointT>::Ptr segmentCloud(
71  const typename pcl::PointCloud<PointT>::Ptr & cloud,
72  const pcl::IndicesPtr & indices,
73  const Transform & pose,
74  const cv::Point3f & viewPoint,
75  pcl::IndicesPtr & groundIndices, // output cloud indices
76  pcl::IndicesPtr & obstaclesIndices, // output cloud indices
77  pcl::IndicesPtr * flatObstacles = 0) const; // output cloud indices
78 
79  void createLocalMap(
80  const Signature & node,
81  cv::Mat & groundCells,
82  cv::Mat & obstacleCells,
83  cv::Mat & emptyCells,
84  cv::Point3f & viewPoint) const;
85 
86  void createLocalMap(
87  const LaserScan & cloud,
88  const Transform & pose,
89  cv::Mat & groundCells,
90  cv::Mat & obstacleCells,
91  cv::Mat & emptyCells,
92  cv::Point3f & viewPointInOut) const;
93 
94  void clear();
95  void addToCache(
96  int nodeId,
97  const cv::Mat & ground,
98  const cv::Mat & obstacles,
99  const cv::Mat & empty);
100  bool update(const std::map<int, Transform> & poses); // return true if map has changed
101  cv::Mat getMap(float & xMin, float & yMin) const;
102  cv::Mat getProbMap(float & xMin, float & yMin) const;
103  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}
104  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
105  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
106 
107  unsigned long getMemoryUsed() const;
108 
109 private:
114  std::vector<float> roiRatios_;
119  float cellSize_;
132  bool grid3D_;
139  float minMapSize_;
140  bool erode_;
144  float probHit_;
145  float probMiss_;
148 
149  std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; //<node id, < <ground, obstacles>, empty> >
150  cv::Mat map_;
151  cv::Mat mapInfo_;
152  std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
153  float xMin_;
154  float yMin_;
155  std::map<int, Transform> addedNodes_;
156 
158  pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
159  pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
160  pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledEmptyCells_;
161 };
162 
163 }
164 
166 
167 #endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */
const std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > > & getCache() const
Definition: OccupancyGrid.h:67
GLM_FUNC_DECL genType log(genType const &x)
float getMinMapSize() const
Definition: OccupancyGrid.h:60
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapEmptyCells() const
float getCellSize() const
Definition: OccupancyGrid.h:58
std::vector< float > roiRatios_
static double probability(double logodds)
Definition: OccupancyGrid.h:48
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
std::map< int, Transform > addedNodes_
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
static float logodds(double probability)
Definition: OccupancyGrid.h:43
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledGround_
std::map< int, std::pair< int, int > > cellCount_
int cacheSize() const
Definition: OccupancyGrid.h:66
std::map< int, std::pair< std::pair< cv::Mat, cv::Mat >, cv::Mat > > cache_
bool isFullUpdate() const
Definition: OccupancyGrid.h:62
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapGround() const
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledEmptyCells_
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledObstacles_
GLM_FUNC_DECL genType exp(genType const &x)
ParametersMap parameters_
float getUpdateError() const
Definition: OccupancyGrid.h:63
bool isMapFrameProjection() const
Definition: OccupancyGrid.h:64
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapObstacles() const
bool isGridFromDepth() const
Definition: OccupancyGrid.h:61
const std::map< int, Transform > & addedNodes() const
Definition: OccupancyGrid.h:65


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59