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mrpt::pbmap::PbMapLocaliser Class Reference

Detailed Description

This class is used to explore the PbMap (or other previously acquired PbMaps) to find places observed previously (it has uses in e.g. place recognition or relocalization). PbMapLocaliser run its own thread, which is created at initialization.

Definition at line 40 of file PbMapLocaliser.h.

#include <mrpt/pbmap/PbMapLocaliser.h>

Public Member Functions

 PbMapLocaliser (PbMap &mPbM, const std::string &config_file)
 
 ~PbMapLocaliser ()
 

Public Attributes

std::vector< std::stringpreviousPbMapNames
 
std::vector< PbMappreviousPbMaps
 
size_t totalPrevPlanes
 
std::vector< unsigned > vQueueObservedPlanes
 
std::map< std::string, pcl::PointXYZ > foundPlaces
 
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr alignedModelPtr
 
std::map< unsigned, std::vector< std::pair< double, int > > > evalColor
 

Protected Member Functions

void run ()
 
bool stop_pbMapLocaliser ()
 

Protected Attributes

mrpt::system::TThreadHandle pbMapLocaliser_hd
 
bool m_pbMapLocaliser_must_stop
 
bool m_pbMapLocaliser_finished
 

Private Member Functions

void LoadPreviousPbMaps (std::string fileMaps)
 
bool searchPlaneContext (Plane &searchPlane)
 ! Searches the input plane in the rest of planes of the map taking into account the neighboring relations More...
 
void compareSubgraphNeighbors (SubgraphMatcher &matcher)
 
double getAreaMatch ()
 

Private Attributes

PbMapmPbMap
 
SubgraphMatcher matcher
 
std::map< std::string, std::pair< int, double > > planeRecognitionLUT
 
unsigned bestMap
 
std::map< unsigned, unsigned > bestMatch
 
double score
 

Constructor & Destructor Documentation

◆ PbMapLocaliser()

PbMapLocaliser::PbMapLocaliser ( PbMap mPbM,
const std::string config_file 
)

◆ ~PbMapLocaliser()

PbMapLocaliser::~PbMapLocaliser ( )

Definition at line 435 of file PbMapLocaliser.cpp.

References stop_pbMapLocaliser().

Member Function Documentation

◆ compareSubgraphNeighbors()

void PbMapLocaliser::compareSubgraphNeighbors ( SubgraphMatcher matcher)
private

◆ getAreaMatch()

double PbMapLocaliser::getAreaMatch ( )
private

Definition at line 146 of file PbMapLocaliser.cpp.

References bestMatch, mPbMap, and mrpt::pbmap::PbMap::vPlanes.

Referenced by searchPlaneContext().

◆ LoadPreviousPbMaps()

void PbMapLocaliser::LoadPreviousPbMaps ( std::string  fileMaps)
private

Load previous PbMaps to search for previous places.

Definition at line 49 of file PbMapLocaliser.cpp.

References mrpt::pbmap::PbMap::loadPbMap(), previousPbMapNames, previousPbMaps, totalPrevPlanes, and mrpt::pbmap::PbMap::vPlanes.

Referenced by PbMapLocaliser().

◆ run()

void PbMapLocaliser::run ( )
protected

◆ searchPlaneContext()

bool PbMapLocaliser::searchPlaneContext ( Plane searchPlane)
private

◆ stop_pbMapLocaliser()

bool PbMapLocaliser::stop_pbMapLocaliser ( )
protected

Member Data Documentation

◆ alignedModelPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMapLocaliser::alignedModelPtr

Point cloud of recognized place.

Definition at line 67 of file PbMapLocaliser.h.

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

◆ bestMap

unsigned mrpt::pbmap::PbMapLocaliser::bestMap
private

Best previous PbMap correspondence.

Definition at line 94 of file PbMapLocaliser.h.

Referenced by compareSubgraphNeighbors(), and searchPlaneContext().

◆ bestMatch

std::map<unsigned, unsigned> mrpt::pbmap::PbMapLocaliser::bestMatch
private

Best correspondence between pair of planes.

Definition at line 97 of file PbMapLocaliser.h.

Referenced by compareSubgraphNeighbors(), getAreaMatch(), and searchPlaneContext().

◆ evalColor

std::map<unsigned, std::vector< std::pair<double,int> > > mrpt::pbmap::PbMapLocaliser::evalColor

Definition at line 69 of file PbMapLocaliser.h.

◆ foundPlaces

std::map<std::string, pcl::PointXYZ> mrpt::pbmap::PbMapLocaliser::foundPlaces

List of places where the system has been localised, keeping also the associated point cloud corresponding to the PbMap.

Definition at line 64 of file PbMapLocaliser.h.

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

◆ m_pbMapLocaliser_finished

bool mrpt::pbmap::PbMapLocaliser::m_pbMapLocaliser_finished
protected

PbMapLocaliser's stop var

Definition at line 117 of file PbMapLocaliser.h.

Referenced by run(), and stop_pbMapLocaliser().

◆ m_pbMapLocaliser_must_stop

bool mrpt::pbmap::PbMapLocaliser::m_pbMapLocaliser_must_stop
protected

PbMapLocaliser's stop controller

Definition at line 114 of file PbMapLocaliser.h.

Referenced by run(), and stop_pbMapLocaliser().

◆ matcher

SubgraphMatcher mrpt::pbmap::PbMapLocaliser::matcher
private

The matching object.

Definition at line 77 of file PbMapLocaliser.h.

Referenced by compareSubgraphNeighbors(), PbMapLocaliser(), run(), and searchPlaneContext().

◆ mPbMap

PbMap& mrpt::pbmap::PbMapLocaliser::mPbMap
private

The current PbMap.

Definition at line 74 of file PbMapLocaliser.h.

Referenced by compareSubgraphNeighbors(), getAreaMatch(), run(), and searchPlaneContext().

◆ pbMapLocaliser_hd

mrpt::system::TThreadHandle mrpt::pbmap::PbMapLocaliser::pbMapLocaliser_hd
protected

PbMapLocaliser's thread handle

Definition at line 108 of file PbMapLocaliser.h.

Referenced by PbMapLocaliser(), and stop_pbMapLocaliser().

◆ planeRecognitionLUT

std::map<std::string, std::pair<int,double> > mrpt::pbmap::PbMapLocaliser::planeRecognitionLUT
private

List of places that have been matched, together with their plane correspondences.

Definition at line 83 of file PbMapLocaliser.h.

Referenced by searchPlaneContext().

◆ previousPbMapNames

std::vector<std::string> mrpt::pbmap::PbMapLocaliser::previousPbMapNames

Vector to store the name of previous PbMaps (previous places).

Definition at line 49 of file PbMapLocaliser.h.

Referenced by LoadPreviousPbMaps(), and searchPlaneContext().

◆ previousPbMaps

std::vector<PbMap> mrpt::pbmap::PbMapLocaliser::previousPbMaps

Vector of vectors containing previous PbMaps.

Definition at line 52 of file PbMapLocaliser.h.

Referenced by compareSubgraphNeighbors(), LoadPreviousPbMaps(), and searchPlaneContext().

◆ score

double mrpt::pbmap::PbMapLocaliser::score
private

Score of the matched places.

Definition at line 100 of file PbMapLocaliser.h.

◆ totalPrevPlanes

size_t mrpt::pbmap::PbMapLocaliser::totalPrevPlanes

Vector to store the index of the floor plane for the previous PbMaps (-1 indicates that the floor was not detected).

Number of planes of our search space.

Definition at line 58 of file PbMapLocaliser.h.

Referenced by LoadPreviousPbMaps(), and searchPlaneContext().

◆ vQueueObservedPlanes

std::vector<unsigned> mrpt::pbmap::PbMapLocaliser::vQueueObservedPlanes

observedPlanes is a list containing the current observed planes.

Definition at line 61 of file PbMapLocaliser.h.

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




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