Index

_

__init__() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) (elevation_mapping_cupy.parameter.Parameter method) (elevation_mapping_cupy.plugins.features_pca.FeaturesPca method) (elevation_mapping_cupy.plugins.inpainting.Inpainting method) (elevation_mapping_cupy.plugins.min_filter.MinFilter method) (elevation_mapping_cupy.plugins.plugin_manager.PluginBase method) (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) (elevation_mapping_cupy.plugins.plugin_manager.PluginParams method) (elevation_mapping_cupy.plugins.robot_centric_elevation.RobotCentricElevation method) (elevation_mapping_cupy.plugins.semantic_filter.SemanticFilter method) (elevation_mapping_cupy.plugins.semantic_traversability.SemanticTraversability method) (elevation_mapping_cupy.plugins.smooth_filter.SmoothFilter method) (elevation_mapping_cupy.semantic_map.SemanticMap method) (semantic_sensor.image_parameters.FeatureExtractorParameter method) (semantic_sensor.image_parameters.ImageParameter method) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter method) (semantic_sensor.pointcloud_parameters.PointcloudParameter method)

A

add_layer() (elevation_mapping_cupy.semantic_map.SemanticMap method)

additional_layers (elevation_mapping_cupy.parameter.Parameter attribute), [1] average_weight (elevation_mapping_cupy.parameter.Parameter attribute), [1]

C

cam_frame (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) cam_info_topic (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) camera_info_topic (semantic_sensor.image_parameters.ImageParameter attribute) cell_n (elevation_mapping_cupy.parameter.Parameter attribute), [1] channel_info_topic (semantic_sensor.image_parameters.ImageParameter attribute) channels (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) checker_layer (elevation_mapping_cupy.parameter.Parameter attribute), [1] cleanup_cos_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] cleanup_step (elevation_mapping_cupy.parameter.Parameter attribute), [1]

clear() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) (elevation_mapping_cupy.semantic_map.SemanticMap method) clear_overlap_map() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) color_map() (elevation_mapping_cupy.plugins.semantic_filter.SemanticFilter method) compile_image_kernels() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) compile_kernels() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) confidence (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) confidence_threshold (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) confidence_topic (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) copy_to_cpu() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)

D

data_type (elevation_mapping_cupy.parameter.Parameter attribute), [1] decode_into_subclasses (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) decode_max() (elevation_mapping_cupy.semantic_map.SemanticMap method) (in module semantic_sensor.utils) depth_topic (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) dilation_size (elevation_mapping_cupy.parameter.Parameter attribute), [1]

dilation_size_initialize (elevation_mapping_cupy.parameter.Parameter attribute), [1] dim (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) dino_feat_type (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) drift_compensation_alpha (elevation_mapping_cupy.parameter.Parameter attribute), [1] drift_compensation_variance_inlier (elevation_mapping_cupy.parameter.Parameter attribute), [1] dropout (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute)

E

elevation_mapping_cupy.elevation_mapping module elevation_mapping_cupy.fusion module elevation_mapping_cupy.parameter module elevation_mapping_cupy.plugins.features_pca module elevation_mapping_cupy.plugins.inpainting module elevation_mapping_cupy.plugins.min_filter module elevation_mapping_cupy.plugins.plugin_manager module elevation_mapping_cupy.plugins.robot_centric_elevation module

elevation_mapping_cupy.plugins.semantic_filter module elevation_mapping_cupy.plugins.semantic_traversability module elevation_mapping_cupy.plugins.smooth_filter module elevation_mapping_cupy.semantic_map module ElevationMap (class in elevation_mapping_cupy.elevation_mapping) enable_drift_compensation (elevation_mapping_cupy.parameter.Parameter attribute), [1] enable_edge_sharpen (elevation_mapping_cupy.parameter.Parameter attribute), [1] enable_overlap_clearance (elevation_mapping_cupy.parameter.Parameter attribute), [1] enable_visibility_cleanup (elevation_mapping_cupy.parameter.Parameter attribute), [1] encode_max() (in module semantic_sensor.utils) exists_layer() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)

F

feat_channel_info_topic (semantic_sensor.image_parameters.ImageParameter attribute) feat_image_topic (semantic_sensor.image_parameters.ImageParameter attribute) feature_config (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) feature_extractor (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) feature_image_topic (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute)

feature_topic (semantic_sensor.image_parameters.ImageParameter attribute) FeatureExtractorParameter (class in semantic_sensor.image_parameters) (class in semantic_sensor.pointcloud_parameters) FeaturesPca (class in elevation_mapping_cupy.plugins.features_pca) fill_nan (elevation_mapping_cupy.plugins.plugin_manager.PluginParams attribute) fusion (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) fusion_algorithms (elevation_mapping_cupy.parameter.Parameter attribute), [1]

G

get_additive_mean_error() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_elevation() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_fusion() (elevation_mapping_cupy.semantic_map.SemanticMap method) get_index() (elevation_mapping_cupy.semantic_map.SemanticMap method) get_indices_fusion() (elevation_mapping_cupy.semantic_map.SemanticMap method) get_is_upper_bound() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_layer() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_layer_data() (elevation_mapping_cupy.plugins.plugin_manager.PluginBase method) get_layer_index_with_name() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) get_layer_indices() (elevation_mapping_cupy.plugins.features_pca.FeaturesPca method) (elevation_mapping_cupy.plugins.semantic_filter.SemanticFilter method) (elevation_mapping_cupy.semantic_map.SemanticMap method) get_layer_names() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) get_map_with_name() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) (elevation_mapping_cupy.semantic_map.SemanticMap method) get_map_with_name_ref() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_matching_fusion() (elevation_mapping_cupy.semantic_map.SemanticMap method)

get_names() (elevation_mapping_cupy.parameter.Parameter method) get_normal_maps() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_normal_ref() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_param_with_name() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) get_plugin_index_with_name() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) get_plugin_names() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) get_polygon_traversability() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_position() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_rgb() (elevation_mapping_cupy.semantic_map.SemanticMap method) get_semantic() (elevation_mapping_cupy.semantic_map.SemanticMap method) get_time() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_traversability() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_types() (elevation_mapping_cupy.parameter.Parameter method) get_untraversable_polygon() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_upper_bound() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) get_value() (elevation_mapping_cupy.parameter.Parameter method) get_variance() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)

I

image_channel_fusions (elevation_mapping_cupy.parameter.Parameter attribute), [1] image_topic (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) ImageParameter (class in semantic_sensor.image_parameters) init() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) initial_variance (elevation_mapping_cupy.parameter.Parameter attribute), [1] initialize_fusion() (elevation_mapping_cupy.semantic_map.SemanticMap method) initialize_map() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)

initialized_variance (elevation_mapping_cupy.parameter.Parameter attribute), [1] Inpainting (class in elevation_mapping_cupy.plugins.inpainting) input_image() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) input_pointcloud() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) input_size (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) interpolation (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) is_height_layer (elevation_mapping_cupy.plugins.plugin_manager.PluginParams attribute)

L

layer_name (elevation_mapping_cupy.plugins.plugin_manager.PluginParams attribute)

load_plugin_settings() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) load_weights() (elevation_mapping_cupy.parameter.Parameter method)

M

mahalanobis_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] map_length (elevation_mapping_cupy.parameter.Parameter attribute), [1] max_drift (elevation_mapping_cupy.parameter.Parameter attribute), [1] max_height_range (elevation_mapping_cupy.parameter.Parameter attribute), [1] max_ray_length (elevation_mapping_cupy.parameter.Parameter attribute), [1] max_unsafe_n (elevation_mapping_cupy.parameter.Parameter attribute), [1] max_variance (elevation_mapping_cupy.parameter.Parameter attribute), [1] min_filter_iteration (elevation_mapping_cupy.parameter.Parameter attribute), [1] min_filter_size (elevation_mapping_cupy.parameter.Parameter attribute), [1] min_height_drift_cnt (elevation_mapping_cupy.parameter.Parameter attribute), [1] min_valid_distance (elevation_mapping_cupy.parameter.Parameter attribute), [1] MinFilter (class in elevation_mapping_cupy.plugins.min_filter) model (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) module elevation_mapping_cupy.elevation_mapping elevation_mapping_cupy.fusion elevation_mapping_cupy.parameter elevation_mapping_cupy.plugins.features_pca elevation_mapping_cupy.plugins.inpainting elevation_mapping_cupy.plugins.min_filter elevation_mapping_cupy.plugins.plugin_manager elevation_mapping_cupy.plugins.robot_centric_elevation elevation_mapping_cupy.plugins.semantic_filter elevation_mapping_cupy.plugins.semantic_traversability elevation_mapping_cupy.plugins.smooth_filter elevation_mapping_cupy.semantic_map semantic_sensor.image_parameters semantic_sensor.pointcloud_parameters semantic_sensor.utils

move() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) move_to() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)

N

name (elevation_mapping_cupy.plugins.plugin_manager.PluginParams attribute) (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute)

O

orientation_noise_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] outlier_variance (elevation_mapping_cupy.parameter.Parameter attribute), [1]

overlap_clear_range_xy (elevation_mapping_cupy.parameter.Parameter attribute), [1] overlap_clear_range_z (elevation_mapping_cupy.parameter.Parameter attribute), [1]

P

pad_value() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) (elevation_mapping_cupy.semantic_map.SemanticMap method) Parameter (class in elevation_mapping_cupy.parameter) patch_size (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) pcl (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) plugin_config_file (elevation_mapping_cupy.parameter.Parameter attribute), [1] PluginBase (class in elevation_mapping_cupy.plugins.plugin_manager) PluginManager (class in elevation_mapping_cupy.plugins.plugin_manager) PluginParams (class in elevation_mapping_cupy.plugins.plugin_manager)

pointcloud_channel_fusions (elevation_mapping_cupy.parameter.Parameter attribute), [1] PointcloudParameter (class in semantic_sensor.pointcloud_parameters) position_noise_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] process_map_for_publish() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) (elevation_mapping_cupy.semantic_map.SemanticMap method) projection_type (semantic_sensor.image_parameters.FeatureExtractorParameter attribute) (semantic_sensor.pointcloud_parameters.FeatureExtractorParameter attribute) pub_all (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) publish_feature_image (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) publish_image_topic (semantic_sensor.image_parameters.ImageParameter attribute) publish_segmentation_image (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) publish_topic (semantic_sensor.image_parameters.ImageParameter attribute)

R

ramped_height_range_a (elevation_mapping_cupy.parameter.Parameter attribute), [1] ramped_height_range_b (elevation_mapping_cupy.parameter.Parameter attribute), [1] ramped_height_range_c (elevation_mapping_cupy.parameter.Parameter attribute), [1]

resize (semantic_sensor.image_parameters.ImageParameter attribute) resolution (elevation_mapping_cupy.parameter.Parameter attribute), [1] RobotCentricElevation (class in elevation_mapping_cupy.plugins.robot_centric_elevation)

S

safe_min_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] safe_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] segmentation_image_topic (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) segmentation_model (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) semantic_segmentation (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) semantic_sensor.image_parameters module semantic_sensor.pointcloud_parameters module semantic_sensor.utils module

SemanticFilter (class in elevation_mapping_cupy.plugins.semantic_filter) SemanticMap (class in elevation_mapping_cupy.semantic_map) SemanticTraversability (class in elevation_mapping_cupy.plugins.semantic_traversability) sensor_name (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) sensor_noise_factor (elevation_mapping_cupy.parameter.Parameter attribute), [1] set_value() (elevation_mapping_cupy.parameter.Parameter method) shift_map_xy() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) (elevation_mapping_cupy.semantic_map.SemanticMap method) shift_map_z() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) shift_translation_to_map_center() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) show_label_legend (semantic_sensor.image_parameters.ImageParameter attribute) (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute) SmoothFilter (class in elevation_mapping_cupy.plugins.smooth_filter) subscriber_cfg (elevation_mapping_cupy.parameter.Parameter attribute), [1]

T

time_interval (elevation_mapping_cupy.parameter.Parameter attribute), [1] time_variance (elevation_mapping_cupy.parameter.Parameter attribute), [1] topic_name (semantic_sensor.pointcloud_parameters.PointcloudParameter attribute)

transform_color() (elevation_mapping_cupy.plugins.semantic_filter.SemanticFilter method) traversability_inlier (elevation_mapping_cupy.parameter.Parameter attribute), [1] true_cell_n (elevation_mapping_cupy.parameter.Parameter attribute), [1] true_map_length (elevation_mapping_cupy.parameter.Parameter attribute), [1]

U

update() (elevation_mapping_cupy.parameter.Parameter method) update_fusion_setting() (elevation_mapping_cupy.semantic_map.SemanticMap method) update_layers_image() (elevation_mapping_cupy.semantic_map.SemanticMap method) update_layers_pointcloud() (elevation_mapping_cupy.semantic_map.SemanticMap method) update_map_with_kernel() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) update_normal() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)

update_time() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) update_upper_bound_with_valid_elevation() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) update_variance() (elevation_mapping_cupy.elevation_mapping.ElevationMap method) update_with_name() (elevation_mapping_cupy.plugins.plugin_manager.PluginManager method) use_chainer (elevation_mapping_cupy.parameter.Parameter attribute), [1] use_only_above_for_upper_bound (elevation_mapping_cupy.parameter.Parameter attribute), [1]

W

w1 (elevation_mapping_cupy.parameter.Parameter attribute), [1] w2 (elevation_mapping_cupy.parameter.Parameter attribute), [1] w3 (elevation_mapping_cupy.parameter.Parameter attribute), [1]

w_out (elevation_mapping_cupy.parameter.Parameter attribute), [1] wall_num_thresh (elevation_mapping_cupy.parameter.Parameter attribute), [1] weight_file (elevation_mapping_cupy.parameter.Parameter attribute), [1]

X

xp_of_array() (elevation_mapping_cupy.elevation_mapping.ElevationMap method)