#include <navigability_map.h>

Public Member Functions
void	calcGrid_data (void)
	Function that calculates mean values and confidence of the x,y,z points and normals of the PointCloud. More...

std::vector< grid_nodePtr >	cell_neighbours (int row_pos, int col_pos, int &empty_neighbours, int &number_neighbours)
	Function that gets the neighbours data from a cell. More...

void	dataCell_inpolygon (void)

void	fill_data_cells (void)
	Function that interpolates data to empty cells. More...

void	Filter_PointCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud_in, pcl::PointCloud< pcl::PointXYZ >::Ptr &pc_filter)
	Function that filters the PointCloud. Filters the point cloud receiveid, the filtered PointCloud is set in pc_filter. More...

void	getCell_inpolygon (void)

void	inicialize_grid (void)
	Function that inicialize the Grid with default data. More...

	Navigability_Map ()

void	Normal_Estimation (pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
	Computes the normal estimation for a PointCloud. More...

void	polygon_groundtruth (void)

void	set_Cells_accessibility (void)
	Function that sets the accessibility of the cells. More...

void	setGrid_data (pcl::PointCloud< pcl::PointXYZ > &cloud)
	Function that sets the data to the grid based on the PointCloud information. Saves the x,y,z points and normals of the PointCloud to a cell in the grid. More...

void	setGrid_parameter (double max_Xval, double max_Yval)
	Function that sets the parameters to generate the grid. Grid Parameter: Total of row, cols and the center col. More...

	~Navigability_Map ()

Public Attributes
double	angleX_max_difference
	Threshold for the Angle X difference between cells. More...

double	angleY_max_difference
	Threshold for the Angle Y difference between cells. More...

double	angleZ_max_difference
	Threshold for the Angle Z difference between cells. More...

int	CARaxis_col
	Center col of the grid. More...

int	colorrange
	Color to represent the maps. More...

int	debug_accessibility
	Which accessibility map should be draw. More...

double	default_confidence
	Default confidence for a cell with one point. More...

double	fator_confidence_neighbour_limit
	Limit of the max difference between a cell and a neighbour cell. More...

Grid	grid
	The two-dimensional grid with the cells. More...

int	K_neighbors
	The number of neighbours search to estimate the normals in the PointCloud. More...

MatrixXd	Matrix_Cell_inpolygon_rowcol

MatrixXd	Matrix_obstacle_inpolygon_rowcol

pcl::PointCloud< pcl::Normal >::Ptr	normals
	PointCloud that contains the normals. More...

std::vector< geometry_msgs::Point >	obstacle_points

std::vector< cv::Point2f >	obstacle_polygon

std::vector< geometry_msgs::Point >	polygon_points

double	Radius_neighbors
	The radius of the neighbours search to estimate the normals in the PointCloud. More...

double	Standard_Deviation_anglex_max_confidence
	Normalization constant for the Angle X confidence value. More...

double	Standard_Deviation_angley_max_confidence
	Normalization constant for the Angle Y confidence value. More...

double	Standard_Deviation_anglez_max_confidence
	Normalization constant for the Angle Z confidence value. More...

double	Standard_Deviation_max
	Normalization constant for the Z confidence value. More...

double	Sx
	The X dimension of the cell. More...

double	Sy
	The Y dimension of the cell. More...

int	total_col
	Total cols of the grid. More...

int	total_row
	Total rows of the grid. More...

int	Use_Radius_Search
	1 - to use the radius search ; 0 - to use the number of neighbours search More...

double	Xmax_filter
	Max distance to be consider in the X direction of the PointCloud. More...

double	Xmin_filter
	Min distance to be consider in the X direction of the PointCloud. More...

std::vector< cv::Point2f >	xy_polygon

double	Ymax_filter
	Max distance to be consider in the Y direction of the PointCloud. More...

double	Ymin_filter
	Min distance to be consider in the Y direction of the PointCloud. More...

double	Zmax_filter
	Min distance to be consider in the Z direction of the PointCloud. More...

double	Zmax_heigh_difference
	Threshold for the Z difference between cells. More...

double	Zmin_filter
	Max distance to be consider in the Z direction of the PointCloud. More...

Detailed Description

Class for a accessibility map

Date: April 2013

Author: Diogo Matos

Definition at line 221 of file navigability_map.h.

Constructor & Destructor Documentation

Navigability_Map::Navigability_Map ( )

inline

Definition at line 322 of file navigability_map.h.

Navigability_Map::~Navigability_Map ( )

inline

Definition at line 354 of file navigability_map.h.

Member Function Documentation

void Navigability_Map::calcGrid_data ( void )

Function that calculates mean values and confidence of the x,y,z points and normals of the PointCloud.

Definition at line 228 of file navigability_map.cpp.

std::vector< grid_nodePtr > Navigability_Map::cell_neighbours	(	int	row_pos,
		int	col_pos,
		int &	empty_neighbours,
		int &	number_neighbours
	)

Function that gets the neighbours data from a cell.

Parameters

row_pos	cell row
col_pos	cell col
empty_neighbours	0 - if a cell as neighbours; 1- if a cells does not have neighbours
number_neighbours	Number of neighbours with full data

Returns: std::vector<grid_nodePtr> - Data of the neighbours

Definition at line 873 of file navigability_map.cpp.

void Navigability_Map::dataCell_inpolygon ( void )

Definition at line 1602 of file navigability_map.cpp.

void Navigability_Map::fill_data_cells ( void )

Function that interpolates data to empty cells.

Definition at line 360 of file navigability_map.cpp.

void Navigability_Map::Filter_PointCloud	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud_in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pc_filter
	)

Function that filters the PointCloud. Filters the point cloud receiveid, the filtered PointCloud is set in pc_filter.

Parameters

cloud_in	PointCloud to be filtered
pc_filter	Output variable for the filtered PointCloud

Definition at line 40 of file navigability_map.cpp.

void Navigability_Map::getCell_inpolygon ( void )

Definition at line 1539 of file navigability_map.cpp.

void Navigability_Map::inicialize_grid ( void )

Function that inicialize the Grid with default data.

Definition at line 157 of file navigability_map.cpp.

void Navigability_Map::Normal_Estimation ( pcl::PointCloud< pcl::PointXYZ >::Ptr & cloud )

Computes the normal estimation for a PointCloud.

Parameters

cloud Input PointCloud

Definition at line 90 of file navigability_map.cpp.

void Navigability_Map::polygon_groundtruth ( void )

| Ground truth functions | ________________________|

Definition at line 1022 of file navigability_map.cpp.

void Navigability_Map::set_Cells_accessibility ( void )

Function that sets the accessibility of the cells.

Definition at line 707 of file navigability_map.cpp.

void Navigability_Map::setGrid_data ( pcl::PointCloud< pcl::PointXYZ > & cloud )

Function that sets the data to the grid based on the PointCloud information. Saves the x,y,z points and normals of the PointCloud to a cell in the grid.

Parameters

cloud Input PointCloud

Definition at line 174 of file navigability_map.cpp.

void Navigability_Map::setGrid_parameter	(	double	max_Xval,
		double	max_Yval
	)

Function that sets the parameters to generate the grid. Grid Parameter: Total of row, cols and the center col.

Parameters

max_Xval	X max range of the pointcloud
max_Yval	Y max range of the pointcloud

Definition at line 128 of file navigability_map.cpp.

Member Data Documentation

double Navigability_Map::angleX_max_difference

Threshold for the Angle X difference between cells.

Definition at line 289 of file navigability_map.h.

double Navigability_Map::angleY_max_difference

Threshold for the Angle Y difference between cells.

Definition at line 292 of file navigability_map.h.

double Navigability_Map::angleZ_max_difference

Threshold for the Angle Z difference between cells.

Definition at line 295 of file navigability_map.h.

int Navigability_Map::CARaxis_col

Center col of the grid.

Definition at line 280 of file navigability_map.h.

int Navigability_Map::colorrange

Color to represent the maps.

Definition at line 256 of file navigability_map.h.

int Navigability_Map::debug_accessibility

Which accessibility map should be draw.

Definition at line 307 of file navigability_map.h.

double Navigability_Map::default_confidence

Default confidence for a cell with one point.

Definition at line 274 of file navigability_map.h.

double Navigability_Map::fator_confidence_neighbour_limit

Limit of the max difference between a cell and a neighbour cell.

Definition at line 277 of file navigability_map.h.

Grid Navigability_Map::grid

The two-dimensional grid with the cells.

Definition at line 259 of file navigability_map.h.

int Navigability_Map::K_neighbors

The number of neighbours search to estimate the normals in the PointCloud.

Definition at line 250 of file navigability_map.h.

MatrixXd Navigability_Map::Matrix_Cell_inpolygon_rowcol

Definition at line 319 of file navigability_map.h.

MatrixXd Navigability_Map::Matrix_obstacle_inpolygon_rowcol

Definition at line 320 of file navigability_map.h.

pcl::PointCloud<pcl::Normal>::Ptr Navigability_Map::normals

PointCloud that contains the normals.

Definition at line 226 of file navigability_map.h.

std::vector<geometry_msgs::Point> Navigability_Map::obstacle_points

Definition at line 315 of file navigability_map.h.

std::vector<cv::Point2f> Navigability_Map::obstacle_polygon

Definition at line 317 of file navigability_map.h.

std::vector<geometry_msgs::Point> Navigability_Map::polygon_points

| Ground truth variables | ________________________|

Definition at line 314 of file navigability_map.h.

double Navigability_Map::Radius_neighbors

The radius of the neighbours search to estimate the normals in the PointCloud.

Definition at line 247 of file navigability_map.h.

double Navigability_Map::Standard_Deviation_anglex_max_confidence

Normalization constant for the Angle X confidence value.

Definition at line 298 of file navigability_map.h.

double Navigability_Map::Standard_Deviation_angley_max_confidence

Normalization constant for the Angle Y confidence value.

Definition at line 301 of file navigability_map.h.

double Navigability_Map::Standard_Deviation_anglez_max_confidence

Normalization constant for the Angle Z confidence value.

Definition at line 304 of file navigability_map.h.

double Navigability_Map::Standard_Deviation_max

Normalization constant for the Z confidence value.

Definition at line 286 of file navigability_map.h.

double Navigability_Map::Sx

The X dimension of the cell.

Definition at line 262 of file navigability_map.h.

double Navigability_Map::Sy

The Y dimension of the cell.

Definition at line 265 of file navigability_map.h.

int Navigability_Map::total_col

Total cols of the grid.

Definition at line 271 of file navigability_map.h.

int Navigability_Map::total_row

Total rows of the grid.

Definition at line 268 of file navigability_map.h.

int Navigability_Map::Use_Radius_Search

1 - to use the radius search ; 0 - to use the number of neighbours search

Definition at line 253 of file navigability_map.h.

double Navigability_Map::Xmax_filter

Max distance to be consider in the X direction of the PointCloud.

Definition at line 232 of file navigability_map.h.

double Navigability_Map::Xmin_filter

Min distance to be consider in the X direction of the PointCloud.

Definition at line 229 of file navigability_map.h.

std::vector<cv::Point2f> Navigability_Map::xy_polygon

Definition at line 316 of file navigability_map.h.

double Navigability_Map::Ymax_filter

Max distance to be consider in the Y direction of the PointCloud.

Definition at line 238 of file navigability_map.h.

double Navigability_Map::Ymin_filter

Min distance to be consider in the Y direction of the PointCloud.

Definition at line 235 of file navigability_map.h.

double Navigability_Map::Zmax_filter

Min distance to be consider in the Z direction of the PointCloud.

Definition at line 241 of file navigability_map.h.

double Navigability_Map::Zmax_heigh_difference

Threshold for the Z difference between cells.

Definition at line 283 of file navigability_map.h.

double Navigability_Map::Zmin_filter

Max distance to be consider in the Z direction of the PointCloud.

Definition at line 244 of file navigability_map.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation