Package for building metarooms and extracting dynamic clusters

semantic_map_node

Description

The local metric map consists of a series of meta-rooms, each corresponding to a different location. A meta-room contains only those parts of the scene which are observed to be static, and it is created incrementally as the robot re-observes the same location over time.

This package takes room observations as they are constructed by the cloud_merge package and extracts the corresponding metaroom and also computes dynamic clusters at each waypoint.

Some data is stored on the disk, in the folder

~.semanticMap/metarooms

To start this node run:

roslaunch semantic_map semantic_map.launch

Input topics

• /local_metric_map/room_observations : on this topic the observation xml is published. After receiving the xml, the appropriate Meta-Room will be loaded and updated.

Output topics

• /local_metric_map/metaroom - RGBD point cloud corresponding to a meta-room, published after a new observation has been processed.
• /local_metric_map/dynamic_clusters - RGBD point cloud corresponding to the dynamic clusters, published after a new observation has been processed.

ClearMetaroomService

This service resets the Meta-Rooms at specific waypoints.

Message type:

string[] waypoint_id
bool initialize
---

If initialize is set to True, the Meta-Rooms at the specific waypoints are re-initialized with the latest observations collected at those waypoints. Otherwise, the Meta-Rooms are just deleted.

Parameters

• save_intermediate : whether to save intermediate Meta-Room update steps to the disk. Default false
• log_to_db : log the Meta-Rooms to mongodb. Default false
• update_metaroom : update the Meta-Rooms (if false they will only be initialized and used as they are for dynamic cluster computation). Default true
• min_object_size : a dynamic cluster will be reported only if it has more points than this threshold. Default 500
• newest_dynamic_clusters : compute dynamic clusters by comparing the latest sweep with the previous one (as opposed to comparing the latest sweep to the metaroom). Default false

Export sweeps from mongodb to the disk

rosrun semantic_map load_from_mongo /path/where/to/export/data/

Import sweeps from the disk into mongodb

rosrun semantic_map add_to_mongo /path/where/to/load/data/from/