Detailed Description

A class for storing a map of 3D probabilistic landmarks.

Currently these types of landmarks are defined: (see mrpt::slam::CLandmark)

For "visual landmarks" from images: features with associated descriptors.
For laser scanners: each of the range measuremnts, as "occupancy" landmarks.
For grid maps: "Panoramic descriptor" feature points.
For range-only localization and SLAM: Beacons. It is also supported the simulation of expected beacon-to-sensor readings, observation likelihood,...
How to load landmarks from observations:
When invoking CLandmarksMap::insertObservation(), the values in CLandmarksMap::insertionOptions will determinate the kind of landmarks that will be extracted and fused into the map. Supported feature extraction processes are listed next:

Observation class:	Generated Landmarks:	Comments:
CObservationImage	vlSIFT	1) A SIFT feature is created for each SIFT detected in the image, 2) Correspondences between SIFTs features and existing ones are finded by computeMatchingWith3DLandmarks, 3) The corresponding feaures are fused, and the new ones added, with an initial uncertainty according to insertionOptions
CObservationStereoImages	vlSIFT	Each image is separately procesed by the method for CObservationImage observations
CObservationStereoImages	vlColor	TODO...
CObservation2DRangeScan	glOccupancy	A landmark is added for each range in the scan, with its appropiate covariance matrix derived from the jacobians matrixes.

See also: CMetricMap

Definition at line 63 of file CLandmarksMap.h.

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::CLandmarksMap:

[legend]

Classes
struct	TCustomSequenceLandmarks
	The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation. More...

struct	TFuseOptions
	With this struct options are provided to the fusion process. More...

struct	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...

struct	TInsertionResults
	This struct stores extra results from invoking insertObservation. More...

struct	TLikelihoodOptions
	With this struct options are provided to the likelihood computations. More...

Public Types
typedef mrpt::slam::CLandmark	landmark_type

Public Member Functions
	CLandmarksMap ()
	Constructor. More...

virtual	~CLandmarksMap ()
	Virtual destructor. More...

mrpt::slam::CLandmark::TLandmarkID	getMapMaxID ()

float	compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float maxDistForCorr=0.10f, float maxMahaDistForCorr=2.0f) const
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...

bool	saveToTextFile (std::string file)
	Save to a text file. More...

bool	saveToMATLABScript2D (std::string file, const char *style="b", float stdCount=2.0f)
	Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane). More...

bool	saveToMATLABScript3D (std::string file, const char *style="b", float confInterval=0.95f) const
	Save to a MATLAB script which displays 3D error ellipses for the map. More...

size_t	size () const
	Returns the stored landmarks count. More...

double	computeLikelihood_RSLC_2007 (const CLandmarksMap *s, const CPose2D &sensorPose)
	Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map. More...

void	loadSiftFeaturesFromImageObservation (const CObservationImage &obs, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT))
	Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. More...

void	loadSiftFeaturesFromStereoImageObservation (const CObservationStereoImages &obs, mrpt::slam::CLandmark::TLandmarkID fID, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT))
	Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. More...

void	loadOccupancyFeaturesFrom2DRangeScan (const CObservation2DRangeScan &obs, const CPose3D *robotPose=NULL, unsigned int downSampleFactor=1)
	Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased) More...

double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map. More...

void	computeMatchingWith2D (const CMetricMap otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false) const

void	computeMatchingWith3DLandmarks (const mrpt::slam::CLandmarksMap *otherMap, TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const
	Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs. More...

void	changeCoordinatesReference (const CPose3D &newOrg)
	Changes the reference system of the map to a given 3D pose. More...

void	changeCoordinatesReference (const CPose3D &newOrg, const mrpt::slam::CLandmarksMap *otherMap)
	Changes the reference system of the map "otherMap" and save the result in "this" map. More...

void	fuseWith (CLandmarksMap &other, bool justInsertAllOfThem=false)
	Fuses the contents of another map with this one, updating "this" object with the result. More...

double	computeLikelihood_SIFT_LandmarkMap (CLandmarksMap map, TMatchingPairList correspondences=NULL, std::vector< bool > *otherCorrespondences=NULL)
	Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map. More...

bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted. More...

void	simulateBeaconReadings (const CPose3D &in_robotPose, const CPoint3D &in_sensorLocationOnRobot, CObservationBeaconRanges &out_Observations) const
	Simulates a noisy reading toward each of the beacons in the landmarks map, if any. More...

void	simulateRangeBearingReadings (const CPose3D &robotPose, const CPose3D &sensorLocationOnRobot, CObservationBearingRange &observations, bool sensorDetectsIDs=true, const float stdRange=0.01f, const float stdYaw=DEG2RAD(0.1f), const float stdPitch=DEG2RAD(0.1f), vector_size_t *real_associations=NULL, const double spurious_count_mean=0, const double spurious_count_std=0) const
	Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...

void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map. More...

virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

void	clear ()
	Erase all the contents of the map. More...

void	loadFromProbabilisticPosesAndObservations (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

bool	insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...

double	computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. More...

virtual bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

bool	canComputeObservationLikelihood (const CObservationPtr &obs)

double	computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame. More...

bool	canComputeObservationsLikelihood (const CSensoryFrame &sf)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

virtual void	determineMatching2D (const CMetricMap *otherMap, const CPose2D &otherMapPose, TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matching between this and another 2D point map, which includes finding: More...

virtual void	determineMatching3D (const CMetricMap *otherMap, const CPose3D &otherMapPose, TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...

void	computeMatchingWith2D (const CMetricMap otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const MRPT_DEPRECATED_POST("Deprecated")
	DEPRECATED: Use alternative version determineMatching2D with struct parameters instead. More...

void	computeMatchingWith3D (const CMetricMap otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const MRPT_DEPRECATED_POST("Deprecated")
	DEPRECATED: Use alternative version determineMatching3D with struct parameters instead. More...

virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

virtual const CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...

virtual CSimplePointsMap *	getAsSimplePointsMap ()

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Public Attributes
struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TCustomSequenceLandmarks	landmarks

mrpt::slam::CLandmarksMap::TInsertionOptions	insertionOptions

mrpt::slam::CLandmarksMap::TLikelihoodOptions	likelihoodOptions

struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TInsertionResults	insertionResults

struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TFuseOptions	fuseOptions

bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects. More...

Static Public Attributes
static mrpt::utils::TColorf	COLOR_LANDMARKS_IN_3DSCENES
	The color of landmark ellipsoids in CLandmarksMap::getAs3DObject. More...

static std::map< std::pair< mrpt::slam::CLandmark::TLandmarkID, mrpt::slam::CLandmark::TLandmarkID >, double >	_mEDD
	Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks. More...

static mrpt::slam::CLandmark::TLandmarkID	_mapMaxID

static bool	_maxIDUpdated

static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCMetricMap

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Private Member Functions
virtual void	internal_clear ()
	Internal method called by clear() More...

virtual bool	internal_insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map. More...

RTTI stuff
typedef CLandmarksMapPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CLandmarksMap

static mrpt::utils::TRuntimeClassId	classCLandmarksMap

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CLandmarksMapPtr	Create ()

Member Typedef Documentation

◆ landmark_type

typedef mrpt::slam::CLandmark mrpt::slam::CLandmarksMap::landmark_type

Definition at line 85 of file CLandmarksMap.h.

◆ SmartPtr

typedef CLandmarksMapPtr mrpt::slam::CLandmarksMap::SmartPtr

A typedef for the associated smart pointer

Definition at line 66 of file CLandmarksMap.h.

Constructor & Destructor Documentation

◆ CLandmarksMap()

mrpt::slam::CLandmarksMap::CLandmarksMap ( )

Constructor.

◆ ~CLandmarksMap()

virtual mrpt::slam::CLandmarksMap::~CLandmarksMap ( )

virtual

Virtual destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmarksMap::_GetBaseClass ( )

staticprotected

◆ auxParticleFilterCleanUp()

virtual void mrpt::slam::CLandmarksMap::auxParticleFilterCleanUp ( )

virtual

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented from mrpt::slam::CMetricMap.

◆ canComputeObservationLikelihood() [1/2]

virtual bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservation * obs )

inlinevirtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image).

Parameters

obs	The observation.

See also: computeObservationLikelihood

Reimplemented in mrpt::slam::COccupancyGridMap2D, and mrpt::slam::CMultiMetricMap.

Definition at line 198 of file CMetricMap.h.

◆ canComputeObservationLikelihood() [2/2]

bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservationPtr & obs )

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 204 of file CMetricMap.h.

References mrpt::slam::CMetricMap::canComputeObservationLikelihood(), and mrpt::slam::CObservationPtr::pointer().

Referenced by mrpt::slam::CMetricMap::canComputeObservationLikelihood().

◆ canComputeObservationsLikelihood()

bool mrpt::slam::CMetricMap::canComputeObservationsLikelihood ( const CSensoryFrame & sf )

inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image).

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

◆ changeCoordinatesReference() [1/2]

void mrpt::slam::CLandmarksMap::changeCoordinatesReference ( const CPose3D & newOrg )

Changes the reference system of the map to a given 3D pose.

◆ changeCoordinatesReference() [2/2]

void mrpt::slam::CLandmarksMap::changeCoordinatesReference	(	const CPose3D &	newOrg,
		const mrpt::slam::CLandmarksMap *	otherMap
	)

Changes the reference system of the map "otherMap" and save the result in "this" map.

◆ clear()

void mrpt::slam::CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Referenced by mrpt::slam::CReflectivityGridMap2D::clear(), mrpt::slam::CHeightGridMap2D::clear(), and mrpt::slam::CRandomFieldGridMap2D::clear().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ compute3DMatchingRatio()

float mrpt::slam::CLandmarksMap::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	maxDistForCorr = `0.10f`,
		float	maxMahaDistForCorr = `2.0f`
	)		const

virtual

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
maxDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
maxMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented from mrpt::slam::CMetricMap.

◆ computeLikelihood_RSLC_2007()

double mrpt::slam::CLandmarksMap::computeLikelihood_RSLC_2007	(	const CLandmarksMap *	s,
		const CPose2D &	sensorPose
	)

Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map.

This is the implementation of the algorithm reported in the paper: J.L. Blanco, J. Gonzalez, and J.A. Fernandez-Madrigal, "A Consensus-based Approach for Estimating the Observation Likelihood of Accurate Range Sensors", in IEEE International Conference on Robotics and Automation (ICRA), Rome (Italy), Apr 10-14, 2007

◆ computeLikelihood_SIFT_LandmarkMap()

double mrpt::slam::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap	(	CLandmarksMap *	map,
		TMatchingPairList *	correspondences = `NULL`,
		std::vector< bool > *	otherCorrespondences = `NULL`
	)

Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map.

See paper: JJAA 2006

◆ computeMatchingWith2D() [1/2]

void mrpt::slam::CMetricMap::computeMatchingWith2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPose2D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `true`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const

inherited

DEPRECATED: Use alternative version determineMatching2D with struct parameters instead.

◆ computeMatchingWith2D() [2/2]

void mrpt::slam::CLandmarksMap::computeMatchingWith2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPose2D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `false`,
		bool	onlyUniqueRobust = `false`
	)		const

◆ computeMatchingWith3D()

void mrpt::slam::CMetricMap::computeMatchingWith3D	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPoint3D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `true`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const

inherited

DEPRECATED: Use alternative version determineMatching3D with struct parameters instead.

◆ computeMatchingWith3DLandmarks()

void mrpt::slam::CLandmarksMap::computeMatchingWith3DLandmarks	(	const mrpt::slam::CLandmarksMap *	otherMap,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		std::vector< bool > &	otherCorrespondences
	)		const

Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs.

Parameters

otherMap	[IN] The other map.
correspondences	[OUT] The matched pairs between maps.
correspondencesRatio	[OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap
otherCorrespondences	[OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence.

◆ computeObservationLikelihood() [1/2]

double mrpt::slam::CMetricMap::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

inlineinherited

Computes the log-likelihood of a given observation given an arbitrary robot 2D pose.

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a log-likelihood.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 189 of file CMetricMap.h.

◆ computeObservationLikelihood() [2/2]

double mrpt::slam::CLandmarksMap::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)

virtual

Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map.

In the current implementation, this method behaves in a different way according to the nature of the observation's class:

"mrpt::slam::CObservation2DRangeScan": This calls "computeLikelihood_RSLC_2007".
"mrpt::slam::CObservationStereoImages": This calls "computeLikelihood_SIFT_LandmarkMap".

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a likelihood value > 0.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Implements mrpt::slam::CMetricMap.

◆ computeObservationsLikelihood()

double mrpt::slam::CMetricMap::computeObservationsLikelihood	(	const CSensoryFrame &	sf,
		const CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame.

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See also: canComputeObservationsLikelihood

◆ Create()

static CLandmarksMapPtr mrpt::slam::CLandmarksMap::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::slam::CLandmarksMap::CreateObject ( )

static

◆ determineMatching2D()

virtual void mrpt::slam::CMetricMap::determineMatching2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

inlinevirtualinherited

Computes the matching between this and another 2D point map, which includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented in mrpt::slam::COccupancyGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CBeaconMap, and mrpt::slam::CMultiMetricMap.

Definition at line 246 of file CMetricMap.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ determineMatching3D()

virtual void mrpt::slam::CMetricMap::determineMatching3D	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

inlinevirtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented in mrpt::slam::CPointsMap.

Definition at line 276 of file CMetricMap.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::slam::CLandmarksMap::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 132 of file CObject.h.

◆ fuseWith()

void mrpt::slam::CLandmarksMap::fuseWith	(	CLandmarksMap &	other,
		bool	justInsertAllOfThem = `false`
	)

Fuses the contents of another map with this one, updating "this" object with the result.

This process involves fusing corresponding landmarks, then adding the new ones.

Parameters

other	The other landmarkmap, whose landmarks will be inserted into "this"
justInsertAllOfThem	If set to "true", all the landmarks in "other" will be inserted into "this" without checking for possible correspondences (may appear duplicates ones, etc...)

◆ getAs3DObject()

void mrpt::slam::CLandmarksMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D object representing the map.

See also: COLOR_LANDMARKS_IN_3DSCENES

Implements mrpt::slam::CMetricMap.

◆ getAsSimplePointsMap() [1/2]

virtual const CSimplePointsMap* mrpt::slam::CMetricMap::getAsSimplePointsMap ( ) const

inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented in mrpt::slam::CPointsMap, mrpt::slam::CMultiMetricMap, and mrpt::slam::CSimplePointsMap.

Definition at line 382 of file CMetricMap.h.

◆ getAsSimplePointsMap() [2/2]

virtual CSimplePointsMap* mrpt::slam::CMetricMap::getAsSimplePointsMap ( )

inlinevirtualinherited

Reimplemented in mrpt::slam::CPointsMap, mrpt::slam::CMultiMetricMap, and mrpt::slam::CSimplePointsMap.

Definition at line 383 of file CMetricMap.h.

◆ getMapMaxID()

mrpt::slam::CLandmark::TLandmarkID mrpt::slam::CLandmarksMap::getMapMaxID ( )

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmarksMap::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

◆ hasSubscribers()

bool mrpt::utils::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 50 of file CObservable.h.

◆ insertObservation()

bool mrpt::slam::CMetricMap::insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

inlineinherited

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.

See also: CObservation::insertObservationInto

Definition at line 147 of file CMetricMap.h.

◆ insertObservationPtr()

bool mrpt::slam::CMetricMap::insertObservationPtr	(	const CObservationPtr &	obs,
		const CPose3D *	robotPose = `NULL`
	)

inlineinherited

A wrapper for smart pointers, just calls the non-smart pointer version.

Definition at line 161 of file CMetricMap.h.

References MRPT_END, MRPT_START, mrpt::slam::CObservationPtr::pointer(), mrpt::stlplus::smart_ptr_base< T, C, COUNTER >::present(), and THROW_EXCEPTION.

◆ internal_clear()

virtual void mrpt::slam::CLandmarksMap::internal_clear ( )

privatevirtual

Internal method called by clear()

Implements mrpt::slam::CMetricMap.

◆ internal_insertObservation()

virtual bool mrpt::slam::CLandmarksMap::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

privatevirtual

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)

See also: CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

◆ isEmpty()

bool mrpt::slam::CLandmarksMap::isEmpty ( ) const

virtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::slam::CMetricMap.

◆ loadFromProbabilisticPosesAndObservations()

void mrpt::slam::CMetricMap::loadFromProbabilisticPosesAndObservations ( const CSimpleMap & Map )

inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

◆ loadFromSimpleMap()

void mrpt::slam::CMetricMap::loadFromSimpleMap ( const CSimpleMap & Map )

inlineinherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 138 of file CMetricMap.h.

◆ loadOccupancyFeaturesFrom2DRangeScan()

void mrpt::slam::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan	(	const CObservation2DRangeScan &	obs,
		const CPose3D *	robotPose = `NULL`,
		unsigned int	downSampleFactor = `1`
	)

Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased)

Parameters

obs	The observation
robotPose	The robot pose in the map (Default = the origin) Some options may be applicable from "insertionOptions"

◆ loadSiftFeaturesFromImageObservation()

void mrpt::slam::CLandmarksMap::loadSiftFeaturesFromImageObservation	(	const CObservationImage &	obs,
		const mrpt::vision::CFeatureExtraction::TOptions &	feat_options = `mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT)`
	)

Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map.

Some options may be applicable from "insertionOptions" (insertionOptions.SIFTsLoadDistanceOfTheMean)

Parameters

feat_options Optionally, you can pass here parameters for changing the default SIFT detector settings.

◆ loadSiftFeaturesFromStereoImageObservation()

void mrpt::slam::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation	(	const CObservationStereoImages &	obs,
		mrpt::slam::CLandmark::TLandmarkID	fID,
		const mrpt::vision::CFeatureExtraction::TOptions &	feat_options = `mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT)`
	)

Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map.

Some options may be applicable from "insertionOptions"

Parameters

feat_options Optionally, you can pass here parameters for changing the default SIFT detector settings.

◆ publishEvent()

void mrpt::utils::CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

◆ readFromStream()

void mrpt::slam::CLandmarksMap::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

◆ saveMetricMapRepresentationToFile()

void mrpt::slam::CLandmarksMap::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

virtual

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

In the case of this class, these files are generated:

"filNamePrefix"+"_3D.m": A script for MATLAB for drawing landmarks as 3D ellipses.
"filNamePrefix"+"_3D.3DScene": A 3D scene with a "ground plane grid" and the set of ellipsoids in 3D.

Implements mrpt::slam::CMetricMap.

◆ saveToMATLABScript2D()

bool mrpt::slam::CLandmarksMap::saveToMATLABScript2D	(	std::string	file,
		const char *	style = `"b"`,
		float	stdCount = `2.0f`
	)

Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane).

Parameters

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities)
stdCount	The ellipsoids will be drawn from the center to "stdCount" times the "standard deviations". (default is 2std = 95% confidence intervals)

Returns: Returns false if any error occured, true elsewere.

◆ saveToMATLABScript3D()

bool mrpt::slam::CLandmarksMap::saveToMATLABScript3D	(	std::string	file,
		const char *	style = `"b"`,
		float	confInterval = `0.95f`
	)		const

Save to a MATLAB script which displays 3D error ellipses for the map.

Parameters

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities)
stdCount	The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)

Returns: Returns false if any error occured, true elsewere.

◆ saveToTextFile()

bool mrpt::slam::CLandmarksMap::saveToTextFile ( std::string file )

Save to a text file.

In line "i" there are the (x,y,z) mean values of the i'th landmark + type of landmark + # times seen + timestamp + RGB/descriptor + ID

Returns false if any error occured, true elsewere.

◆ simulateBeaconReadings()

void mrpt::slam::CLandmarksMap::simulateBeaconReadings	(	const CPose3D &	in_robotPose,
		const CPoint3D &	in_sensorLocationOnRobot,
		CObservationBeaconRanges &	out_Observations
	)		const

Simulates a noisy reading toward each of the beacons in the landmarks map, if any.

Parameters

in_robotPose	This robot pose is used to simulate the ranges to each beacon.
in_sensorLocationOnRobot	The 3D position of the sensor on the robot
out_Observations	The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range.

◆ simulateRangeBearingReadings()

void mrpt::slam::CLandmarksMap::simulateRangeBearingReadings	(	const CPose3D &	robotPose,
		const CPose3D &	sensorLocationOnRobot,
		CObservationBearingRange &	observations,
		bool	sensorDetectsIDs = `true`,
		const float	stdRange = `0.01f`,
		const float	stdYaw = `DEG2RAD(0.1f)`,
		const float	stdPitch = `DEG2RAD(0.1f)`,
		vector_size_t *	real_associations = `NULL`,
		const double	spurious_count_mean = `0`,
		const double	spurious_count_std = `0`
	)		const

Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any.

Parameters

[in]	robotPose	The robot pose.
[in]	sensorLocationOnRobot	The 3D position of the sensor on the robot
[out]	observations	The results will be stored here.
[in]	sensorDetectsIDs	If this is set to false, all the landmarks will be sensed with INVALID_LANDMARK_ID as ID.
[in]	stdRange	The sigma of the sensor noise in range (meters).
[in]	stdYaw	The sigma of the sensor noise in yaw (radians).
[in]	stdPitch	The sigma of the sensor noise in pitch (radians).
[out]	real_associations	If it's not a NULL pointer, this will contain at the return the real indices of the landmarks in the map in the same order than they appear in out_Observations. Useful when sensorDetectsIDs=false. Spurious readings are assigned a std::string::npos (=-1) index.
[in]	spurious_count_mean	The mean number of spurious measurements (uniformly distributed in range & angle) to generate. The number of spurious is generated by rounding a random Gaussin number. If both this mean and the std are zero (the default) no spurious readings are generated.
[in]	spurious_count_std	Read spurious_count_mean above.

Note: The fields "CObservationBearingRange::fieldOfView_*","CObservationBearingRange::maxSensorDistance" and "CObservationBearingRange::minSensorDistance" MUST BE FILLED OUT before calling this function.; At output, the observation will have CObservationBearingRange::validCovariances set to "false" and the 3 sensor_std_* members correctly set to their values. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range or field of view-

◆ size()

size_t mrpt::slam::CLandmarksMap::size ( ) const

Returns the stored landmarks count.

◆ squareDistanceToClosestCorrespondence()

virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const

inlinevirtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::slam::CPointsMap.

Definition at line 369 of file CMetricMap.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ writeToStream()

void mrpt::slam::CLandmarksMap::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CLandmarksMap

mrpt::utils::CLASSINIT mrpt::slam::CLandmarksMap::_init_CLandmarksMap

staticprotected

Definition at line 66 of file CLandmarksMap.h.

◆ _mapMaxID

mrpt::slam::CLandmark::TLandmarkID mrpt::slam::CLandmarksMap::_mapMaxID

static

Definition at line 166 of file CLandmarksMap.h.

◆ _maxIDUpdated

bool mrpt::slam::CLandmarksMap::_maxIDUpdated

static

Definition at line 167 of file CLandmarksMap.h.

◆ _mEDD

std::map<std::pair<mrpt::slam::CLandmark::TLandmarkID, mrpt::slam::CLandmark::TLandmarkID>, double> mrpt::slam::CLandmarksMap::_mEDD

static

Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks.

Definition at line 165 of file CLandmarksMap.h.

◆ classCLandmarksMap

mrpt::utils::TRuntimeClassId mrpt::slam::CLandmarksMap::classCLandmarksMap

static

Definition at line 66 of file CLandmarksMap.h.

◆ classCMetricMap

const mrpt::utils::TRuntimeClassId mrpt::slam::CMetricMap::classCMetricMap

staticinherited

Definition at line 95 of file CMetricMap.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 120 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 35 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmarksMap::classinfo

static

Definition at line 66 of file CLandmarksMap.h.

◆ COLOR_LANDMARKS_IN_3DSCENES

mrpt::utils::TColorf mrpt::slam::CLandmarksMap::COLOR_LANDMARKS_IN_3DSCENES

static

The color of landmark ellipsoids in CLandmarksMap::getAs3DObject.

Definition at line 83 of file CLandmarksMap.h.

◆ fuseOptions

struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TFuseOptions mrpt::slam::CLandmarksMap::fuseOptions

◆ insertionOptions

mrpt::slam::CLandmarksMap::TInsertionOptions mrpt::slam::CLandmarksMap::insertionOptions

◆ insertionResults

struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TInsertionResults mrpt::slam::CLandmarksMap::insertionResults

◆ landmarks

struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TCustomSequenceLandmarks mrpt::slam::CLandmarksMap::landmarks

◆ likelihoodOptions

mrpt::slam::CLandmarksMap::TLikelihoodOptions mrpt::slam::CLandmarksMap::likelihoodOptions

◆ m_disableSaveAs3DObject

bool mrpt::slam::CMetricMap::m_disableSaveAs3DObject

inherited

When set to true (default=false), calling "getAs3DObject" will have no effects.

Definition at line 357 of file CMetricMap.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ landmark_type

◆ SmartPtr

Constructor & Destructor Documentation

◆ CLandmarksMap()

◆ ~CLandmarksMap()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ changeCoordinatesReference() [1/2]

◆ changeCoordinatesReference() [2/2]

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeLikelihood_RSLC_2007()

◆ computeLikelihood_SIFT_LandmarkMap()

◆ computeMatchingWith2D() [1/2]

◆ computeMatchingWith2D() [2/2]

◆ computeMatchingWith3D()

◆ computeMatchingWith3DLandmarks()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateObject()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ fuseWith()

◆ getAs3DObject()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getMapMaxID()

◆ GetRuntimeClass()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ internal_clear()

◆ internal_insertObservation()

◆ isEmpty()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()

◆ loadOccupancyFeaturesFrom2DRangeScan()

◆ loadSiftFeaturesFromImageObservation()

◆ loadSiftFeaturesFromStereoImageObservation()

◆ publishEvent()

◆ readFromStream()

◆ saveMetricMapRepresentationToFile()

◆ saveToMATLABScript2D()

◆ saveToMATLABScript3D()

◆ saveToTextFile()

◆ simulateBeaconReadings()

◆ simulateRangeBearingReadings()

◆ size()

◆ squareDistanceToClosestCorrespondence()

◆ writeToStream()

Member Data Documentation

◆ _init_CLandmarksMap

◆ _mapMaxID

◆ _maxIDUpdated

◆ _mEDD

◆ classCLandmarksMap

◆ classCMetricMap

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ COLOR_LANDMARKS_IN_3DSCENES