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* GridMap integration * Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap. * UI: Added elevation map visualization * Added LocalGridCache class to share cache between global maps * Fixed OctoMap nans. DbViewer: Added frontiers visualization. * convenient functions for ros * Small fix * fixed build without GridMap * CI disabled fail-fast * CI updated checkout action to v4
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| /* | ||
| Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke | ||
| All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
| * Redistributions of source code must retain the above copyright | ||
| notice, this list of conditions and the following disclaimer. | ||
| * Redistributions in binary form must reproduce the above copyright | ||
| notice, this list of conditions and the following disclaimer in the | ||
| documentation and/or other materials provided with the distribution. | ||
| * Neither the name of the Universite de Sherbrooke nor the | ||
| names of its contributors may be used to endorse or promote products | ||
| derived from this software without specific prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | ||
| ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY | ||
| DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef SRC_MAP_H_ | ||
| #define SRC_MAP_H_ | ||
|
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| #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines | ||
|
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| #include <rtabmap/core/LocalGrid.h> | ||
| #include <rtabmap/core/Parameters.h> | ||
| #include <rtabmap/core/Transform.h> | ||
| #include <list> | ||
|
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| namespace rtabmap { | ||
|
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| class RTABMAP_CORE_EXPORT GlobalMap | ||
| { | ||
| public: | ||
| inline static float logodds(double probability) | ||
| { | ||
| return (float) log(probability/(1-probability)); | ||
| } | ||
|
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| inline static double probability(double logodds) | ||
| { | ||
| return 1. - ( 1. / (1. + exp(logodds))); | ||
| } | ||
|
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| public: | ||
| virtual ~GlobalMap(); | ||
|
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| bool update(const std::map<int, Transform> & poses); // return true if map has changed | ||
|
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| virtual void clear(); | ||
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| float getCellSize() const {return cellSize_;} | ||
| float getUpdateError() const {return updateError_;} | ||
| const std::map<int, Transform> & addedNodes() const {return addedNodes_;} | ||
|
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| void getGridMin(double & x, double & y) const {x=minValues_[0];y=minValues_[1];} | ||
| void getGridMax(double & x, double & y) const {x=maxValues_[0];y=maxValues_[1];} | ||
| void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];} | ||
| void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];} | ||
|
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| virtual unsigned long getMemoryUsed() const; | ||
|
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| protected: | ||
| GlobalMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap()); | ||
|
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| virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses) = 0; | ||
|
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| const std::map<int, LocalGrid> & cache() const {return cache_->localGrids();} | ||
|
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| const std::map<int, Transform> & assembledNodes() const {return addedNodes_;} | ||
| bool isNodeAssembled(int id) {return addedNodes_.find(id) != addedNodes_.end();} | ||
| void addAssembledNode(int id, const Transform & pose); | ||
|
|
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| protected: | ||
| float cellSize_; | ||
| float updateError_; | ||
|
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| float occupancyThr_; | ||
| float logOddsHit_; | ||
| float logOddsMiss_; | ||
| float logOddsClampingMin_; | ||
| float logOddsClampingMax_; | ||
|
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| double minValues_[3]; | ||
| double maxValues_[3]; | ||
|
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| private: | ||
| const LocalGridCache * cache_; | ||
| std::map<int, Transform> addedNodes_; | ||
| }; | ||
|
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| } /* namespace rtabmap */ | ||
|
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| #endif /* SRC_MAP_H_ */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,90 @@ | ||
| /* | ||
| Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke | ||
| All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
| * Redistributions of source code must retain the above copyright | ||
| notice, this list of conditions and the following disclaimer. | ||
| * Redistributions in binary form must reproduce the above copyright | ||
| notice, this list of conditions and the following disclaimer in the | ||
| documentation and/or other materials provided with the distribution. | ||
| * Neither the name of the Universite de Sherbrooke nor the | ||
| names of its contributors may be used to endorse or promote products | ||
| derived from this software without specific prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | ||
| ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY | ||
| DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
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| #ifndef SRC_LOCALGRID_H_ | ||
| #define SRC_LOCALGRID_H_ | ||
|
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| #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines | ||
|
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| #include <opencv2/core.hpp> | ||
| #include <map> | ||
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| namespace rtabmap { | ||
|
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| class RTABMAP_CORE_EXPORT LocalGrid | ||
| { | ||
| public: | ||
| LocalGrid(const cv::Mat & ground, | ||
| const cv::Mat & obstacles, | ||
| const cv::Mat & empty, | ||
| float cellSize, | ||
| const cv::Point3f & viewPoint = cv::Point3f(0,0,0)); | ||
| virtual ~LocalGrid() {} | ||
| bool is3D() const; | ||
| public: | ||
| cv::Mat groundCells; | ||
| cv::Mat obstacleCells; | ||
| cv::Mat emptyCells; | ||
| float cellSize; | ||
| cv::Point3f viewPoint; | ||
| }; | ||
|
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| class RTABMAP_CORE_EXPORT LocalGridCache | ||
| { | ||
| public: | ||
| LocalGridCache() {} | ||
| virtual ~LocalGridCache() {} | ||
|
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| void add(int nodeId, | ||
| const cv::Mat & ground, | ||
| const cv::Mat & obstacles, | ||
| const cv::Mat & empty, | ||
| float cellSize, | ||
| const cv::Point3f & viewPoint = cv::Point3f(0,0,0)); | ||
|
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| void add(int nodeId, const LocalGrid & localGrid); | ||
|
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| bool shareTo(int nodeId, LocalGridCache & anotherCache) const; | ||
|
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| unsigned long getMemoryUsed() const; | ||
| void clear(bool temporaryOnly = false); | ||
|
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| size_t size() const {return localGrids_.size();} | ||
| bool empty() const {return localGrids_.empty();} | ||
| const std::map<int, LocalGrid> & localGrids() const {return localGrids_;} | ||
|
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| std::map<int, LocalGrid>::const_iterator find(int nodeId) const {return localGrids_.find(nodeId);} | ||
| std::map<int, LocalGrid>::const_iterator begin() const {return localGrids_.begin();} | ||
| std::map<int, LocalGrid>::const_iterator end() const {return localGrids_.end();} | ||
|
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| private: | ||
| std::map<int, LocalGrid> localGrids_; | ||
| }; | ||
|
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| } /* namespace rtabmap */ | ||
|
|
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| #endif /* SRC_LOCALGRID_H_ */ |
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