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pbmap/PbMap.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 /* Plane-based Map (PbMap) library
11  * Construction of plane-based maps and localization in it from RGBD Images.
12  * Writen by Eduardo Fernandez-Moral. See docs for <a href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>
13  */
14 
15 #ifndef __PBMAP_H
16 #define __PBMAP_H
17 
18 #include <mrpt/config.h>
19 #if MRPT_HAS_PCL
20 
21 #include <mrpt/utils/utils_defs.h>
22 
25 
26 #include <mrpt/pbmap/Plane.h>
27 #include <mrpt/pbmap/Miscellaneous.h> // For typedef PointT;
28 
29 //#include <boost/thread/thread.hpp>
30 
31 namespace mrpt {
32 namespace pbmap {
33  // This must be added to any CSerializable derived class:
35 
36  /** A class used to store a Plane-based Map (PbMap). A PbMap consists of a set of planar patches
37  * described by geometric features (shape, relative position, etc.) and/or radiometric features
38  * (dominant color). It is organized as an annotated, undirected graph, where nodes stand for planar
39  * patches and edges connect neighbor planes when the distance between their closest points is under
40  * a threshold. This graph structure permits to find efficiently the closest neighbors of a plane,
41  * or to select groups of nearby planes representing part of the scene.
42  *
43  * \ingroup mrpt_pbmap_grp
44  */
45  class PBMAP_IMPEXP PbMap : public mrpt::utils::CSerializable
46  {
47  // This must be added to any CSerializable derived class:
49 
50  public:
51  /*!Constructor.*/
52  PbMap();
53 
54  /*!Vector to store the 3D-planes which are the basic characteristic of our map.*/
55  std::vector<Plane> vPlanes;
56 
57  /*!Label to store a semantic attribute*/
59 
60  /*!Floor plane id*/
62 
63  /*!Registered point cloud from the RGB-D or Depth frames and visual odometry.*/
64  pcl::PointCloud<PointT>::Ptr globalMapPtr;
65 
66  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr edgeCloudPtr;
67  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr outEdgeCloudPtr;
68  unsigned background, foreground, groundplane;
69 
70  /*!Save PbMap in the given filePath*/
71  void savePbMap(std::string filePath);
72 
73  /*!Load a PbMap from the given filePath*/
74  void loadPbMap(std::string PbMapFile);
75 
76  /*!Merge two pbmaps*/
77  void MergeWith(PbMap &pbm, Eigen::Matrix4f &T);
78 
79  /*! Print PbMap content to a text file*/
80  void printPbMap(std::string txtFilePbm);
81 
82 // boost::mutex mtx_pbmap_busy;
83 
84  };
86 
87 } } // End of namespaces
88 
89 #endif
90 
91 #endif
unsigned groundplane
Definition: pbmap/PbMap.h:68
#define DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)
GLsizei const GLchar ** string
Definition: glext.h:3919
pcl::PointCloud< PointT >::Ptr globalMapPtr
Definition: pbmap/PbMap.h:64
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr outEdgeCloudPtr
Definition: pbmap/PbMap.h:67
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr edgeCloudPtr
Definition: pbmap/PbMap.h:66
std::string label
Definition: pbmap/PbMap.h:58
std::vector< Plane > vPlanes
Definition: pbmap/PbMap.h:55
A class used to store a Plane-based Map (PbMap).
Definition: pbmap/PbMap.h:45



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