Detailed Description

A class used to store a Plane-based Map (PbMap).

A PbMap consists of a set of planar patches described by geometric features (shape, relative position, etc.) and/or radiometric features (dominant color). It is organized as an annotated, undirected graph, where nodes stand for planar patches and edges connect neighbor planes when the distance between their closest points is under a threshold. This graph structure permits to find efficiently the closest neighbors of a plane, or to select groups of nearby planes representing part of the scene.

Definition at line 45 of file pbmap/PbMap.h.

#include <mrpt/pbmap/PbMap.h>

Inheritance diagram for mrpt::pbmap::PbMap:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	PbMap ()

void	savePbMap (std::string filePath)

void	loadPbMap (std::string PbMapFile)

void	MergeWith (PbMap &pbm, Eigen::Matrix4f &T)

void	printPbMap (std::string txtFilePbm)

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
std::vector< Plane >	vPlanes

std::string	label

int	FloorPlane

pcl::PointCloud< PointT >::Ptr	globalMapPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	edgeCloudPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	outEdgeCloudPtr

unsigned	background

unsigned	foreground

unsigned	groundplane

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

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

Protected Member Functions
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...

RTTI stuff
typedef PbMapPtr	Ptr

typedef PbMapPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_PbMap

static mrpt::utils::TRuntimeClassId	classPbMap

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 PbMapPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef PbMapPtr mrpt::pbmap::PbMap::ConstPtr

Definition at line 48 of file pbmap/PbMap.h.

◆ Ptr

typedef PbMapPtr mrpt::pbmap::PbMap::Ptr

A typedef for the associated smart pointer

Definition at line 48 of file pbmap/PbMap.h.

Constructor & Destructor Documentation

◆ PbMap()

PbMap::PbMap ( )

Constructor.

Definition at line 32 of file PbMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

static PbMapPtr mrpt::pbmap::PbMap::Create ( )

static

◆ CreateObject()

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

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::pbmap::PbMap::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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ loadPbMap()

void PbMap::loadPbMap ( std::string PbMapFile )

Load a PbMap from the given filePath

Definition at line 117 of file PbMap.cpp.

References mrpt::utils::CFileGZInputStream::close(), and mrpt::utils::CFileGZInputStream::open().

Referenced by mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps().

◆ MergeWith()

void PbMap::MergeWith	(	PbMap &	pbm,
		Eigen::Matrix4f &	T
	)

Merge two pbmaps

Definition at line 141 of file PbMap.cpp.

References globalMapPtr, mrpt::pbmap::Plane::id, mrpt::pbmap::Plane::planePointCloudPtr, mrpt::pbmap::Plane::polygonContourPtr, mrpt::pbmap::Plane::v3center, mrpt::pbmap::Plane::v3normal, mrpt::pbmap::Plane::v3PpalDir, and vPlanes.

◆ operator delete() [1/3]

void mrpt::pbmap::PbMap::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ operator delete() [2/3]

void mrpt::pbmap::PbMap::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ operator delete() [3/3]

void mrpt::pbmap::PbMap::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ operator delete[]()

void mrpt::pbmap::PbMap::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ operator new() [1/3]

void* mrpt::pbmap::PbMap::operator new ( size_t size )

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ operator new() [2/3]

static void* mrpt::pbmap::PbMap::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 48 of file pbmap/PbMap.h.

◆ operator new() [3/3]

void* mrpt::pbmap::PbMap::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ operator new[]()

void* mrpt::pbmap::PbMap::operator new[] ( size_t size )

inline

Definition at line 48 of file pbmap/PbMap.h.

◆ printPbMap()

void PbMap::printPbMap ( std::string txtFilePbm )

Print PbMap content to a text file

Definition at line 176 of file PbMap.cpp.

◆ readFromStream()

void PbMap::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.

Definition at line 66 of file PbMap.cpp.

References mrpt::pbmap::Plane::id, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ savePbMap()

void PbMap::savePbMap ( std::string filePath )

Save PbMap in the given filePath

Definition at line 102 of file PbMap.cpp.

References CFileGZOutputStream.

Referenced by mrpt::pbmap::PbMapMaker::serializePbMap().

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void PbMap::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.

Definition at line 43 of file PbMap.cpp.

Member Data Documentation

◆ _init_PbMap

mrpt::utils::CLASSINIT mrpt::pbmap::PbMap::_init_PbMap

staticprotected

Definition at line 48 of file pbmap/PbMap.h.

◆ background

unsigned mrpt::pbmap::PbMap::background

Definition at line 68 of file pbmap/PbMap.h.

◆ classCObject

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

staticinherited

Definition at line 128 of file CObject.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::classinfo

static

Definition at line 48 of file pbmap/PbMap.h.

◆ classPbMap

mrpt::utils::TRuntimeClassId mrpt::pbmap::PbMap::classPbMap

static

Definition at line 48 of file pbmap/PbMap.h.

◆ edgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::edgeCloudPtr

Definition at line 66 of file pbmap/PbMap.h.

◆ FloorPlane

int mrpt::pbmap::PbMap::FloorPlane

Floor plane id

Definition at line 61 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().

◆ foreground

unsigned mrpt::pbmap::PbMap::foreground

Definition at line 68 of file pbmap/PbMap.h.

◆ globalMapPtr

pcl::PointCloud<PointT>::Ptr mrpt::pbmap::PbMap::globalMapPtr

Registered point cloud from the RGB-D or Depth frames and visual odometry.

Definition at line 64 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ groundplane

unsigned mrpt::pbmap::PbMap::groundplane

Definition at line 68 of file pbmap/PbMap.h.

◆ label

std::string mrpt::pbmap::PbMap::label

Label to store a semantic attribute

Definition at line 58 of file pbmap/PbMap.h.

◆ outEdgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::outEdgeCloudPtr

Definition at line 67 of file pbmap/PbMap.h.

◆ vPlanes

std::vector<Plane> mrpt::pbmap::PbMap::vPlanes

Vector to store the 3D-planes which are the basic characteristic of our map.

Definition at line 55 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::SemanticClustering::arrangeNewGroups(), mrpt::pbmap::SemanticClustering::buildCoVisibilityMatrix(), mrpt::pbmap::SemanticClustering::buildProximityMatrix(), mrpt::pbmap::ConsistencyTest::calcAlignmentError(), mrpt::pbmap::PbMapMaker::checkProximity(), mrpt::pbmap::PbMapLocaliser::compareSubgraphNeighbors(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::ConsistencyTest::estimatePose(), mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC(), mrpt::pbmap::ConsistencyTest::estimatePoseWithCovariance(), mrpt::pbmap::SemanticClustering::evalPartition(), mrpt::pbmap::PbMapLocaliser::getAreaMatch(), mrpt::pbmap::ConsistencyTest::getRTwithModel(), mrpt::pbmap::ConsistencyTest::initPose(), mrpt::pbmap::ConsistencyTest::initPose2D(), mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps(), MergeWith(), mrpt::pbmap::PbMapLocaliser::run(), mrpt::pbmap::PbMapMaker::run(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::pbmap::PbMapMaker::viz_cb(), and mrpt::pbmap::PbMapMaker::watchProperties().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PbMap()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ GetRuntimeClass()

◆ loadPbMap()

◆ MergeWith()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ printPbMap()

◆ readFromStream()

◆ savePbMap()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_PbMap

◆ background

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ classPbMap

◆ edgeCloudPtr

◆ FloorPlane

◆ foreground

◆ globalMapPtr

◆ groundplane

◆ label

◆ outEdgeCloudPtr

◆ vPlanes