add feature to estimate the road direction using uniform grid map

[miyaguchigit]

version : b491df53ae45eb935034a07840c3115afa8164c0

[miyaguchigit]

reopen

[miyaguchigit]

flow chart of the dan's program

flowchart.pdf

paste it to : https://mermaid.live/edit#pako:eNqFVGtz4iAU_SsMn22nPqrZzD7GRtvap1X7xE4GCRq6JGQIsWud_vclBF3adWfzJVzuOYf7gjUkIqLQh3MuXkmMpQKT3jQF-uuisdL2M9jb-w6O0CBlimHO3ihYYsnwjNPcBzQtF2EmWapqgHBRREMlayBMcBYa012HUrDnSv3IyAYoEOmS6lNH12OQ0DzHCwqUAMPgAmRCi1aalhQYUm89yLdHAZpkavXjvQL0NAA80tzg-mhEVSHTZ8d3JYzrGAWYk4JjRUGRReUPS4p1PrliiTbDajcsdy3_2DBPUN9CAKsqAjKOU-pQjW1JJ4Z06lZvWLqBmL1QosArUzEggs7njDCaqhzgNHJDsjqnRmeAepRwvW1QWTHjLI9dtFtGyxwY5pkbwU2BIyUpvdKtN0o5VSDDEidUUZlb4pkhnqNuFAESMx4BSUkhc7akfFX2yJWxnHPDuUAnWhBzW5oczKVIdsEvDPxy3S0z4jy08LwM8us3UN-09dJt69XHtl46bb1G_SXmRVkNJbGeqxzPGGdqZbHXBjV0azH5gLN0IS1haAg3aKDrUqoKjXUSs6gbgxr963Ag5oBiEgN3MEaGM97Ov01dlzUTfLUQ6UZ8bIATNLTd_uSeGPctCnT3lZ0LkVWT_aek4TYifVkXkm0u1K1h3_2V339od4Z2j4KYkp8ARy-Y6NnddlvI3eW_N7QHdFsNrCNeTX3q7nzK88FwHz_kaSsiCCkynJIVcEJ8NPinXfhh-a4E5fvR2NyVT0HvDEi_YtWrswnpyRzR7aJ-Wp4KazChMsEs0s_puoRMoYppQqfQ18uIznHB1RRO03cNxYUS41VKoK9kQWtQimIRQ3-Oea6t6kr3GF7oS7mB6ByfhHBN6K_hL-h73v7hYbt-0G50Gh2v3vFqcAX9vbp30Nk_qHdaTa_eqjc87_C9Bt-MQnO_3my3282W90V7Wofa9RuB7f2E

flowchart TD A[Start] --> B[Initialize variables: enable_print, cloudPtr, _map_cloud, _map_cloud_roi] B --> C[Convert ROS message to PCL point cloud] C --> D{Is cloudPtr empty?} D -- Yes --> E[Return] D -- No --> F[Calculate update area: estimate_update_area] F --> G[Estimate initial plane: estimate_plane] G --> H[Initialize Plane object with coefficients and update area] H --> I[Declare and publish update area ROS message] I --> J[Initialize QuadtreeNode and set parameters] J --> K[Add child recursively to QuadtreeNode] K --> L[Get all planes from QuadtreeNode] L --> M{Are all_planes size <= 1?} M -- Yes --> N[Return] M -- No --> O[Evaluate traversability] O --> P[Initialize TraversabilityEvaluator] P --> Q[Iterate over all planes] Q --> R[Evaluate traversability of each plane] R --> S[Convert planes to polygons] S --> T[Publish polygons] T --> U[Create and populate all_planes_traversable_grid] U --> V[Iterate over all_planes_traversable_grid] V --> W[Check adjacent planes for traversability] W --> X[Update traversable and untraversable polygons] X --> Y[Create and publish occupancy grid] Y --> Z[Create and publish PointCloud2 messages for traversable and untraversable map clouds] Z --> AA[End]

[miyaguchigit]

commit 13af60af2750a6bdb44b891dc38d538c83a451c6 (HEAD -> 59-add-feature-to-estimate-the-road-direction-using-uniform-grid-map-1, origin/59-add-feature-to-estimate-the-road-direction-using-uniform-grid-map-1) Author: miyaguchigit miyaguchimail@gmail.com Date: Wed Jul 24 08:10:53 2024 +0900

This version is shown at the meeting Assoc. Prof.