Builds per-node local occupancy grids from laser scans or depth clouds. More...

#include <LocalGridMaker.h>

Public Member Functions
	LocalGridMaker (const ParametersMap &parameters=ParametersMap())
	Constructs with parseParameters() on `parameters` (or defaults).

virtual void	parseParameters (const ParametersMap &parameters)
	Updates grid settings from `Grid/` entries in `parameters`.

float	getCellSize () const

bool	isGridFromDepth () const

bool	isMapFrameProjection () const

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
	Segments a point cloud into ground and obstacle indices.

void	createLocalMap (const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint)
	Creates a local grid from a Signature's laser scan or depth data.

void	createLocalMap (const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const
	Creates a local grid from a 3D (or organized) LaserScan.

Protected Attributes
ParametersMap	parameters_

unsigned int	cloudDecimation_

float	rangeMax_

float	rangeMin_

std::vector< float >	roiRatios_

float	footprintLength_

float	footprintWidth_

float	footprintHeight_

int	scanDecimation_

float	cellSize_

bool	preVoxelFiltering_

int	occupancySensor_

bool	projMapFrame_

float	maxObstacleHeight_

int	normalKSearch_

float	groundNormalsUp_

float	maxGroundAngle_

float	clusterRadius_

int	minClusterSize_

bool	flatObstaclesDetected_

float	minGroundHeight_

float	maxGroundHeight_

bool	normalsSegmentation_

bool	grid3D_

bool	groundIsObstacle_

float	noiseFilteringRadius_

int	noiseFilteringMinNeighbors_

bool	scan2dUnknownSpaceFilled_

bool	rayTracing_

Detailed Description

Builds per-node local occupancy grids from laser scans or depth clouds.

Configured via Grid/ parameters (parseParameters()). Used by Memory to populate LocalGrid cells (ground / obstacles / empty) stored on SensorData and cached in LocalGridCache for global maps (OccupancyGrid, OctoMap, GridMap).

Sensor source (Grid/Sensor, isGridFromDepth()):

0 — laser scan only
1 — depth image(s) only (default)
2 — laser scan and depth

2D laser path: projects a 2D LaserScan with util3d::occupancy2DFromLaserScan().

3D path: segments the scan/cloud into ground and obstacles (segmentCloud()), then outputs LocalGrid cell matrices (2D projection or 3D cells per Grid/3D).

See also: LocalGrid; Memory

Definition at line 64 of file LocalGridMaker.h.

Member Function Documentation

◆ getCellSize()

float rtabmap::LocalGridMaker::getCellSize ( ) const

inline

Returns: Current Grid/CellSize (m).

Definition at line 75 of file LocalGridMaker.h.

◆ isGridFromDepth()

bool rtabmap::LocalGridMaker::isGridFromDepth ( ) const

inline

Returns: True if occupancy is built from depth (Grid/Sensor is 1 or 2).

Definition at line 77 of file LocalGridMaker.h.

◆ isMapFrameProjection()

bool rtabmap::LocalGridMaker::isMapFrameProjection ( ) const

inline

Returns: True if Grid/MapFrameProjection is enabled.

Definition at line 79 of file LocalGridMaker.h.

◆ 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

Segments a point cloud into ground and obstacle indices.

Applies optional voxel filtering (Grid/PreVoxelFiltering, leaf size Grid/CellSize), footprint crop, height filtering, then either normal-based ground segmentation (Grid/NormalsSegmentation) or Z passthrough.

Parameters

cloud	Input cloud (sensor frame, transformed internally using `pose`). Must be non-null; an empty cloud is allowed and returns empty outputs.
indices	Subset of `cloud` to process (must be non-null; empty = all points when the cloud is dense).
pose	Node pose (used for map-frame projection and footprint).
viewPoint	Sensor origin for segmentation / ray tracing.
groundIndices	Output indices of ground points.
obstaclesIndices	Output indices of obstacle points.
flatObstacles	Optional output for flat obstacle clusters.

Returns: Segmented cloud (voxel-downsampled when Grid/PreVoxelFiltering is true, using Grid/CellSize).

Definition at line 38 of file LocalMapMaker.hpp.

◆ createLocalMap() [1/2]

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

Creates a local grid from a Signature's laser scan or depth data.

Parameters

node	Signature with sensor data (pose used for 3D scans).
groundCells	Output ground cells (LocalGrid format).
obstacleCells	Output obstacle cells.
emptyCells	Output empty/free cells. Behavior depends on the sensor path: 2D laser, laser-only mode (`Grid/Sensor`=0 and a 2D LaserScan): uses util3d::occupancy2DFromLaserScan() / util3d::create2DMap(). Free space along each hit beam is always ray-traced (sensor → obstacle). `Grid/Scan2dUnknownSpaceFilled` is separate: when true, it additionally sweeps unknown angular gaps between the first and last hit (sparse FOV / “holes” in coverage) out to `Grid/RangeMax` or scan max range. Other cases (3D scan, depth, `Grid/Sensor`=2, etc.): see the LaserScan overload of createLocalMap().
viewPoint	Output view point used for the grid.

◆ createLocalMap() [2/2]

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

Creates a local grid from a 3D (or organized) LaserScan.

Parameters

cloud	Input scan in sensor frame.
pose	Node pose in map/odom frame.
groundCells	Output ground cells.
obstacleCells	Output obstacle cells.
emptyCells	Output empty/free cells. Filled when `Grid/RayTracing` is true: 3D via OctoMap if `Grid/3D` and OctoMap support are enabled (`Grid/RangeMax`, `Grid/CellSize`); otherwise 2D ray fill via `occupancy2DFromLaserScan` when `Grid/3D` is false (`Grid/RangeMax`, `Grid/CellSize`).
viewPointInOut	View point (may be rotated if isMapFrameProjection()).

Member Data Documentation

◆ parameters_

ParametersMap rtabmap::LocalGridMaker::parameters_

protected

Definition at line 152 of file LocalGridMaker.h.

◆ cloudDecimation_

unsigned int rtabmap::LocalGridMaker::cloudDecimation_

protected

Definition at line 154 of file LocalGridMaker.h.

◆ rangeMax_

float rtabmap::LocalGridMaker::rangeMax_

protected

Definition at line 155 of file LocalGridMaker.h.

◆ rangeMin_

float rtabmap::LocalGridMaker::rangeMin_

protected

Definition at line 156 of file LocalGridMaker.h.

◆ roiRatios_

std::vector<float> rtabmap::LocalGridMaker::roiRatios_

protected

Definition at line 157 of file LocalGridMaker.h.

◆ footprintLength_

float rtabmap::LocalGridMaker::footprintLength_

protected

Definition at line 158 of file LocalGridMaker.h.

◆ footprintWidth_

float rtabmap::LocalGridMaker::footprintWidth_

protected

Definition at line 159 of file LocalGridMaker.h.

◆ footprintHeight_

float rtabmap::LocalGridMaker::footprintHeight_

protected

Definition at line 160 of file LocalGridMaker.h.

◆ scanDecimation_

int rtabmap::LocalGridMaker::scanDecimation_

protected

Definition at line 161 of file LocalGridMaker.h.

◆ cellSize_

float rtabmap::LocalGridMaker::cellSize_

protected

Definition at line 162 of file LocalGridMaker.h.

◆ preVoxelFiltering_

bool rtabmap::LocalGridMaker::preVoxelFiltering_

protected

Definition at line 163 of file LocalGridMaker.h.

◆ occupancySensor_

int rtabmap::LocalGridMaker::occupancySensor_

protected

Definition at line 164 of file LocalGridMaker.h.

◆ projMapFrame_

bool rtabmap::LocalGridMaker::projMapFrame_

protected

Definition at line 165 of file LocalGridMaker.h.

◆ maxObstacleHeight_

float rtabmap::LocalGridMaker::maxObstacleHeight_

protected

Definition at line 166 of file LocalGridMaker.h.

◆ normalKSearch_

int rtabmap::LocalGridMaker::normalKSearch_

protected

Definition at line 167 of file LocalGridMaker.h.

◆ groundNormalsUp_

float rtabmap::LocalGridMaker::groundNormalsUp_

protected

Definition at line 168 of file LocalGridMaker.h.

◆ maxGroundAngle_

float rtabmap::LocalGridMaker::maxGroundAngle_

protected

Definition at line 169 of file LocalGridMaker.h.

◆ clusterRadius_

float rtabmap::LocalGridMaker::clusterRadius_

protected

Definition at line 170 of file LocalGridMaker.h.

◆ minClusterSize_

int rtabmap::LocalGridMaker::minClusterSize_

protected

Definition at line 171 of file LocalGridMaker.h.

◆ flatObstaclesDetected_

bool rtabmap::LocalGridMaker::flatObstaclesDetected_

protected

Definition at line 172 of file LocalGridMaker.h.

◆ minGroundHeight_

float rtabmap::LocalGridMaker::minGroundHeight_

protected

Definition at line 173 of file LocalGridMaker.h.

◆ maxGroundHeight_

float rtabmap::LocalGridMaker::maxGroundHeight_

protected

Definition at line 174 of file LocalGridMaker.h.

◆ normalsSegmentation_

bool rtabmap::LocalGridMaker::normalsSegmentation_

protected

Definition at line 175 of file LocalGridMaker.h.

◆ grid3D_

bool rtabmap::LocalGridMaker::grid3D_

protected

Definition at line 176 of file LocalGridMaker.h.

◆ groundIsObstacle_

bool rtabmap::LocalGridMaker::groundIsObstacle_

protected

Definition at line 177 of file LocalGridMaker.h.

◆ noiseFilteringRadius_

float rtabmap::LocalGridMaker::noiseFilteringRadius_

protected

Definition at line 178 of file LocalGridMaker.h.

◆ noiseFilteringMinNeighbors_

int rtabmap::LocalGridMaker::noiseFilteringMinNeighbors_

protected

Definition at line 179 of file LocalGridMaker.h.

◆ scan2dUnknownSpaceFilled_

bool rtabmap::LocalGridMaker::scan2dUnknownSpaceFilled_

protected

Definition at line 180 of file LocalGridMaker.h.

◆ rayTracing_

bool rtabmap::LocalGridMaker::rayTracing_

protected

Definition at line 181 of file LocalGridMaker.h.

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

corelib/include/rtabmap/core/LocalGridMaker.h
corelib/include/rtabmap/core/impl/LocalMapMaker.hpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ getCellSize()

◆ isGridFromDepth()

◆ isMapFrameProjection()

◆ segmentCloud()

◆ createLocalMap() [1/2]

◆ createLocalMap() [2/2]

Member Data Documentation

◆ parameters_

◆ cloudDecimation_

◆ rangeMax_

◆ rangeMin_

◆ roiRatios_

◆ footprintLength_

◆ footprintWidth_

◆ footprintHeight_

◆ scanDecimation_

◆ cellSize_

◆ preVoxelFiltering_

◆ occupancySensor_

◆ projMapFrame_

◆ maxObstacleHeight_

◆ normalKSearch_

◆ groundNormalsUp_

◆ maxGroundAngle_

◆ clusterRadius_

◆ minClusterSize_

◆ flatObstaclesDetected_

◆ minGroundHeight_

◆ maxGroundHeight_

◆ normalsSegmentation_

◆ grid3D_

◆ groundIsObstacle_

◆ noiseFilteringRadius_

◆ noiseFilteringMinNeighbors_

◆ scan2dUnknownSpaceFilled_

◆ rayTracing_