Main MRPT website > C++ reference for MRPT 1.5.6
Classes | Typedefs | Functions
mrpt::pbmap Namespace Reference

Classes

class  ConsistencyTest
 
struct  config_heuristics
 A class used to define the heuristic parameters and thresholds used to match sets of planes. More...
 
struct  Segment
 
class  PbMap
 A class used to store a Plane-based Map (PbMap). More...
 
class  PbMapLocaliser
 
struct  frameRGBDandPose
 
class  PbMapMaker
 
class  Plane
 A class used to store a planar feature (Plane for short). More...
 
class  PlaneInferredInfo
 A class used to infer some semantic meaning to the planes of a PbMap. More...
 
class  SemanticClustering
 
class  Subgraph
 
class  SubgraphMatcher
 

Typedefs

typedef pcl::PointXYZRGBA PointT
 

Functions

template<class pointPCL >
Eigen::Vector3f getVector3fromPointXYZ (pointPCL &pt)
 
template<class POINT >
Eigen::Vector3f diffPoints (const POINT &P1, const POINT &P2)
 
template<class dataType >
Eigen::Matrix< dataType, 3, 1 > compose (Eigen::Matrix< dataType, 4, 4 > &pose, Eigen::Matrix< dataType, 3, 1 > &point)
 
template<class dataType >
Eigen::Matrix< dataType, 4, 4 > compose (Eigen::Matrix< dataType, 4, 4 > &pose1, Eigen::Matrix< dataType, 4, 4 > &pose2)
 
template<class dataType >
Eigen::Matrix< dataType, 4, 4 > inverse (Eigen::Matrix< dataType, 4, 4 > &pose)
 
float PBMAP_IMPEXP dist3D_Segment_to_Segment2 (Segment S1, Segment S2)
 
bool PBMAP_IMPEXP isInHull (PointT &point3D, pcl::PointCloud< PointT >::Ptr hull3D)
 
template<typename dataType >
dataType getMode (std::vector< dataType > data, dataType range)
 
template<typename dataType >
Eigen::Vector4f getMultiDimMeanShift_color (std::vector< Eigen::Vector4f > &data, dataType &stdDevHist, dataType &concentration)
 
template<typename dataType >
dataType getHistogramMeanShift (std::vector< dataType > &data, double range, dataType &stdDevHist_out)
 
template<class T >
std::ostream & operator<< (std::ostream &os, const std::vector< T > &v)
 Output a vector as a stream that is space separated. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, PbMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, PlanePtr &pObj)
 

Typedef Documentation

typedef pcl::PointXYZRGBA mrpt::pbmap::PointT

Definition at line 34 of file Miscellaneous.h.

Function Documentation

template<class dataType >
Eigen::Matrix<dataType,3,1> mrpt::pbmap::compose ( Eigen::Matrix< dataType, 4, 4 > &  pose,
Eigen::Matrix< dataType, 3, 1 > &  point 
)
template<class dataType >
Eigen::Matrix<dataType,4,4> mrpt::pbmap::compose ( Eigen::Matrix< dataType, 4, 4 > &  pose1,
Eigen::Matrix< dataType, 4, 4 > &  pose2 
)

Compose two poses.

Definition at line 63 of file Miscellaneous.h.

template<class POINT >
Eigen::Vector3f mrpt::pbmap::diffPoints ( const POINT &  P1,
const POINT &  P2 
)
inline
float mrpt::pbmap::dist3D_Segment_to_Segment2 ( Segment  S1,
Segment  S2 
)

Square of the distance between two segments

Definition at line 24 of file Miscellaneous.cpp.

References diffPoints(), mrpt::pbmap::Segment::P0, mrpt::pbmap::Segment::P1, and SMALL_NUM.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), and mrpt::pbmap::Plane::isPlaneNearby().

template<typename dataType >
dataType mrpt::pbmap::getHistogramMeanShift ( std::vector< dataType > &  data,
double  range,
dataType &  stdDevHist_out 
)

Definition at line 225 of file Miscellaneous.h.

References mrpt::math::stddev(), and mrpt::math::sum().

Referenced by mrpt::pbmap::Plane::calcMainColor().

template<typename dataType >
dataType mrpt::pbmap::getMode ( std::vector< dataType >  data,
dataType  range 
)

Definition at line 99 of file Miscellaneous.h.

References mrpt::math::histogram().

template<typename dataType >
Eigen::Vector4f mrpt::pbmap::getMultiDimMeanShift_color ( std::vector< Eigen::Vector4f > &  data,
dataType &  stdDevHist,
dataType &  concentration 
)
template<class pointPCL >
Eigen::Vector3f mrpt::pbmap::getVector3fromPointXYZ ( pointPCL &  pt)

Transform the (x,y,z) coordinates of a PCL point into a Eigen::Vector3f.

Definition at line 38 of file Miscellaneous.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::Plane::isPlaneNearby(), and mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground().

template<class dataType >
Eigen::Matrix<dataType,4,4> mrpt::pbmap::inverse ( Eigen::Matrix< dataType, 4, 4 > &  pose)
bool mrpt::pbmap::isInHull ( PointT point3D,
pcl::PointCloud< PointT >::Ptr  hull3D 
)

Check if a point lays inside a convex hull

Definition at line 94 of file Miscellaneous.cpp.

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

template<class T >
std::ostream& mrpt::pbmap::operator<< ( std::ostream &  os,
const std::vector< T > &  v 
)

Output a vector as a stream that is space separated.

Parameters
osOutput stream
vVector to output
Returns
the stream output

Definition at line 308 of file Miscellaneous.h.

::mrpt::utils::CStream& mrpt::pbmap::operator>> ( mrpt::utils::CStream in,
PbMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::pbmap::operator>> ( mrpt::utils::CStream in,
PlanePtr &  pObj 
)



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