mrpt::maps::CRandomFieldGridMap3D Class Reference

Detailed Description

CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class.

This class implements a Gaussian Markov Random Field (GMRF) estimator, with each voxel being connected to its 6 immediate neighbors (Up, down, left, right, front, back).

• See papers:
  • "Time-variant gas distribution mapping with obstacle information", Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots, 40(1), 1-16, 2016.

Note that this class does not derive from mrpt::maps::CMetricMap since the estimated values do not have sensor-especific semantics, i.e. the grid can be used to estimate temperature, gas concentration, etc.

Usage:

• Define grid size with either constructor or via setSize().
• Initialize the map with initialize(). This resets the contents of the map, so previously-added observations will be lost.
• Add observations of 3D voxels with insertIndividualReading()

Custom connectivity patterns can be defined with setVoxelsConnectivity().

See also

mrpt::maps::CRandomFieldGridMap3D

Note

[New in MRPT 1.5.0]

Definition at line 72 of file CRandomFieldGridMap3D.h.

#include <mrpt/maps/CRandomFieldGridMap3D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap3D:

Classes
struct	ConnectivityDescriptor
	Base class for user-supplied objects capable of describing voxels connectivity, used to build prior factors of the MRF graph. More...
struct	TInsertionOptions
	Parameters common to any derived class. More...
struct	TObservationGMRF
struct	TPriorFactorGMRF

Public Types
enum	TVoxelInterpolationMethod { gimNearest = 0, gimBilinear }
typedef std::shared_ptr< ConnectivityDescriptor >	ConnectivityDescriptorPtr

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 ()
	CRandomFieldGridMap3D (double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double z_min=-2, double z_max=2, double voxel_size=0.5, bool call_initialize_now=true)
	Constructor. More...
void	clear () MRPT_OVERRIDE
	Erases all added observations and start again with an empty gridmap. More...
bool	saveAsCSV (const std::string &filName_mean, const std::string &filName_stddev=std::string()) const
	Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value. More...
bool	saveAsVtkStructuredGrid (const std::string &fil) const
	Save the current estimated grid to a VTK file (.vts) as a "structured grid". More...
virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewvoxels, double additionalMarginMeters=2.0) MRPT_OVERRIDE
	Changes the size of the grid, maintaining previous contents. More...
virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z=-1.0, const TRandomFieldVoxel *fill_value=NULL) MRPT_OVERRIDE
	Changes the size of the grid, erasing previous contents.If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy More...
void	setVoxelsConnectivity (const ConnectivityDescriptorPtr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between voxels. More...
bool	insertIndividualReading (const double sensorReading, const double sensorVariance, const mrpt::math::TPoint3D &point, const TVoxelInterpolationMethod method, const bool update_map)
	Direct update of the map with a reading in a given position of the map. More...
void	updateMapEstimation ()
	Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions. More...
void	getAsVtkStructuredGrid (vtkStructuredGrid *output, const std::string &label_mean=std::string("mean"), const std::string &label_stddev=std::string("stddev")) const
	Returns the 3D grid contents as an VTK grid. More...
virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...
virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z_=-1.0, const TRandomFieldVoxel *fill_value=NULL)
	Changes the size of the grid, ERASING all previous contents. More...
void	fill (const TRandomFieldVoxel &value)
	Fills all the cells with the same value. More...
bool	isOutOfBounds (const int cx, const int cy, const int cz) const
size_t	cellAbsIndexFromCXCYCZ (const int cx, const int cy, const int cz) const
	Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension). More...
TRandomFieldVoxel *	cellByPos (double x, double y, double z)
	Returns a pointer to the contents of a voxel given by its coordinates, or NULL if it is out of the map extensions. More...
const TRandomFieldVoxel *	cellByPos (double x, double y, double z) const
TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz)
	Returns a pointer to the contents of a voxel given by its voxel indexes, or NULL if it is out of the map extensions. More...
const TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz) const
	Returns a pointer to the contents of a voxel given by its voxel indexes, or NULL if it is out of the map extensions. More...
size_t	getSizeX () const
size_t	getSizeY () const
size_t	getSizeZ () const
size_t	getVoxelCount () const
double	getXMin () const
double	getXMax () const
double	getYMin () const
double	getYMax () const
double	getZMin () const
double	getZMax () const
double	getResolutionXY () const
double	getResolutionZ () const
int	x2idx (double x) const
	Transform a coordinate values into voxel indexes. More...
int	y2idx (double y) const
int	z2idx (double z) const
double	idx2x (int cx) const
	Transform a voxel index into a coordinate value of the voxel central point. More...
double	idx2y (int cy) const
double	idx2z (int cz) const
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...
CObject *	clone () const
	Cloning interface for smart pointers. More...
RTTI classes and functions
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...

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

Public Attributes
TInsertionOptions	insertionOptions

Static Public Attributes
static bool	ENABLE_GMRF_PROFILER
	[default:false] Enables a profiler to show a performance report at application end. More...
static const size_t	INVALID_VOXEL_IDX
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	internal_initialize (bool erase_prev_contents=true)
	Internal: called called after each change of resolution, size, etc. More...
std::vector< TRandomFieldVoxel > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...
void	dyngridcommon_writeToStream (mrpt::utils::CStream &out) const
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...
void	dyngridcommon_readFromStream (mrpt::utils::CStream &in)
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) 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...

Protected Attributes
ConnectivityDescriptorPtr	m_gmrf_connectivity
	Empty: default. More...
mrpt::graphs::ScalarFactorGraph	m_gmrf
std::vector< std::deque< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information, for each map cell. More...
std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...
std::vector< TRandomFieldVoxel >	m_map
	The cells. More...
double	m_x_min
double	m_x_max
double	m_y_min
double	m_y_max
double	m_z_min
double	m_z_max
double	m_resolution_xy
double	m_resolution_z
size_t	m_size_x
size_t	m_size_y
size_t	m_size_z
size_t	m_size_x_times_y

Private Types
typedef utils::CDynamicGrid3D< TRandomFieldVoxel >	BASE

RTTI stuff
typedef CRandomFieldGridMap3DPtr	Ptr
typedef CRandomFieldGridMap3DPtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CRandomFieldGridMap3D
static mrpt::utils::TRuntimeClassId	classCRandomFieldGridMap3D
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 CRandomFieldGridMap3DPtr	Create ()

Member Typedef Documentation

BASE

typedef utils::CDynamicGrid3D<TRandomFieldVoxel> mrpt::maps::CRandomFieldGridMap3D::BASE

private

Definition at line 77 of file CRandomFieldGridMap3D.h.

ConnectivityDescriptorPtr

typedef std::shared_ptr<ConnectivityDescriptor> mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptorPtr

Definition at line 165 of file CRandomFieldGridMap3D.h.

ConstPtr

typedef CRandomFieldGridMap3DPtr mrpt::maps::CRandomFieldGridMap3D::ConstPtr

Definition at line 80 of file CRandomFieldGridMap3D.h.

Ptr

typedef CRandomFieldGridMap3DPtr mrpt::maps::CRandomFieldGridMap3D::Ptr

A typedef for the associated smart pointer

Definition at line 80 of file CRandomFieldGridMap3D.h.

Member Enumeration Documentation

TVoxelInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap3D::TVoxelInterpolationMethod

Enumerator
gimNearest
gimBilinear

Definition at line 170 of file CRandomFieldGridMap3D.h.

Constructor & Destructor Documentation

CRandomFieldGridMap3D()

CRandomFieldGridMap3D::CRandomFieldGridMap3D	(	double	x_min = -2,
		double	x_max = 2,
		double	y_min = -2,
		double	y_max = 2,
		double	z_min = -2,
		double	z_max = 2,
		double	voxel_size = 0.5,
		bool	call_initialize_now = true
	)

Constructor.

If you set call_initialize_now to false, the object will be initialized immediately (without the heavy initialization of the GMRF), but you then must call setSize() or clear() later to properly initialize the object before using it to insert observations.

Definition at line 41 of file CRandomFieldGridMap3D.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::_GetBaseClass ( )

staticprotected

cellAbsIndexFromCXCYCZ()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ ( const int  cx, const int  cy, const int  cz  ) const

inlineinherited

Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension).

See also

x2idx(), y2idx(), z2idx()

Definition at line 191 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::utils::CDynamicGrid3D< T >::isOutOfBounds(), mrpt::utils::CDynamicGrid3D< T >::m_size_x, and mrpt::utils::CDynamicGrid3D< T >::m_size_x_times_y.

Referenced by insertIndividualReading().

cellByIndex() [1/2]

TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex ( unsigned int  cx, unsigned int  cy, unsigned int  cz  )

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or NULL if it is out of the map extensions.

Definition at line 214 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, and mrpt::utils::CDynamicGrid3D< T >::m_map.

cellByIndex() [2/2]

const TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex ( unsigned int  cx, unsigned int  cy, unsigned int  cz  ) const

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or NULL if it is out of the map extensions.

Definition at line 223 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, and mrpt::utils::CDynamicGrid3D< T >::m_map.

cellByPos() [1/2]

TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos ( double  x, double  y, double  z  )

inlineinherited

Returns a pointer to the contents of a voxel given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 198 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::x2idx(), mrpt::utils::CDynamicGrid3D< T >::y2idx(), and mrpt::utils::CDynamicGrid3D< T >::z2idx().

cellByPos() [2/2]

const TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos ( double  x, double  y, double  z  ) const

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 205 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::x2idx(), mrpt::utils::CDynamicGrid3D< T >::y2idx(), and mrpt::utils::CDynamicGrid3D< T >::z2idx().

clear()

void CRandomFieldGridMap3D::clear ( )

virtual

Erases all added observations and start again with an empty gridmap.

Reimplemented from mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >.

Definition at line 85 of file CRandomFieldGridMap3D.cpp.

References mrpt::utils::CDynamicGrid3D< T >::clear().

clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static CRandomFieldGridMap3DPtr mrpt::maps::CRandomFieldGridMap3D::Create ( )

static

CreateObject()

static mrpt::utils::CObject* mrpt::maps::CRandomFieldGridMap3D::CreateObject ( )

static

duplicate()

virtual mrpt::utils::CObject* mrpt::maps::CRandomFieldGridMap3D::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

dyngridcommon_readFromStream()

void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream ( mrpt::utils::CStream &  in )

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 269 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, mrpt::utils::CDynamicGrid3D< T >::m_size_x, mrpt::utils::CDynamicGrid3D< T >::m_size_y, mrpt::utils::CDynamicGrid3D< T >::m_size_z, mrpt::utils::CDynamicGrid3D< T >::m_x_max, mrpt::utils::CDynamicGrid3D< T >::m_x_min, mrpt::utils::CDynamicGrid3D< T >::m_y_max, mrpt::utils::CDynamicGrid3D< T >::m_y_min, mrpt::utils::CDynamicGrid3D< T >::m_z_max, and mrpt::utils::CDynamicGrid3D< T >::m_z_min.

Referenced by readFromStream().

dyngridcommon_writeToStream()

void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream ( mrpt::utils::CStream &  out ) const

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 263 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, mrpt::utils::CDynamicGrid3D< T >::m_size_x, mrpt::utils::CDynamicGrid3D< T >::m_size_y, mrpt::utils::CDynamicGrid3D< T >::m_size_z, mrpt::utils::CDynamicGrid3D< T >::m_x_max, mrpt::utils::CDynamicGrid3D< T >::m_x_min, mrpt::utils::CDynamicGrid3D< T >::m_y_max, mrpt::utils::CDynamicGrid3D< T >::m_y_min, mrpt::utils::CDynamicGrid3D< T >::m_z_max, and mrpt::utils::CDynamicGrid3D< T >::m_z_min.

Referenced by writeToStream().

fill()

void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::fill ( const TRandomFieldVoxel &  value )

inlineinherited

Fills all the cells with the same value.

Definition at line 177 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map.

getAsVtkStructuredGrid()

void CRandomFieldGridMap3D::getAsVtkStructuredGrid	(	vtkStructuredGrid *	output,
		const std::string &	label_mean = std::string("mean"),
		const std::string &	label_stddev = std::string("stddev")
	)		const

Returns the 3D grid contents as an VTK grid.

Definition at line 408 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeX(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeY(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeZ(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2x(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2y(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2z(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by saveAsVtkStructuredGrid().

getResolutionXY()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionXY ( ) const

inlineinherited

Definition at line 242 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy.

getResolutionZ()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionZ ( ) const

inlineinherited

Definition at line 243 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_z.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

getSizeX()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeX ( ) const

inlineinherited

Definition at line 230 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_x.

Referenced by getAsVtkStructuredGrid().

getSizeY()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeY ( ) const

inlineinherited

Definition at line 231 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_y.

Referenced by getAsVtkStructuredGrid().

getSizeZ()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeZ ( ) const

inlineinherited

Definition at line 232 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_z.

Referenced by getAsVtkStructuredGrid().

getVoxelCount()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getVoxelCount ( ) const

inlineinherited

Definition at line 233 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_x_times_y, and mrpt::utils::CDynamicGrid3D< T >::m_size_z.

getXMax()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getXMax ( ) const

inlineinherited

Definition at line 236 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_x_max.

getXMin()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getXMin ( ) const

inlineinherited

Definition at line 235 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_x_min.

getYMax()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getYMax ( ) const

inlineinherited

Definition at line 238 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_y_max.

getYMin()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getYMin ( ) const

inlineinherited

Definition at line 237 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_y_min.

getZMax()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getZMax ( ) const

inlineinherited

Definition at line 240 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_z_max.

getZMin()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getZMin ( ) const

inlineinherited

Definition at line 239 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_z_min.

idx2x()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2x ( int  cx ) const

inlineinherited

Transform a voxel index into a coordinate value of the voxel central point.

Definition at line 251 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::utils::CDynamicGrid3D< T >::m_x_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

idx2y()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2y ( int  cy ) const

inlineinherited

Definition at line 252 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::utils::CDynamicGrid3D< T >::m_y_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

idx2z()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2z ( int  cz ) const

inlineinherited

Definition at line 253 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, and mrpt::utils::CDynamicGrid3D< T >::m_z_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

insertIndividualReading()

bool CRandomFieldGridMap3D::insertIndividualReading	(	const double	sensorReading,
		const double	sensorVariance,
		const mrpt::math::TPoint3D &	point,
		const TVoxelInterpolationMethod	method,
		const bool	update_map
	)

Direct update of the map with a reading in a given position of the map.

Returns

false if point is out of the grid extension.

Parameters

[in]	sensorReading	The value observed in the (x,y,z) position
[in]	sensorVariance	The variance of the sensor observation
[in]	point	The (x,y,z) location
[in]	method	Voxel interpolation method: how many voxels will be affected by the reading
[in]	update_map	Run a global map update after inserting this observation (algorithm-dependant)

Definition at line 308 of file CRandomFieldGridMap3D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_ABOVE_, ASSERTMSG_, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::Lambda, m_gmrf, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, MRPT_END, MRPT_START, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::obsValue, updateMapEstimation(), mrpt::math::TPoint3D::x, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::x2idx(), mrpt::math::TPoint3D::y, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::y2idx(), mrpt::math::TPoint3D::z, and mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::z2idx().

Referenced by TEST().

internal_initialize()

void CRandomFieldGridMap3D::internal_initialize ( bool  erase_prev_contents = true )

protected

Internal: called called after each change of resolution, size, etc.

to build the prior factor information

Definition at line 91 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERT_EQUAL_, fill(), mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation(), mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF::Lambda, MRPT_LOG_DEBUG_STREAM, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_i, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_j, mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

isOutOfBounds()

bool mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::isOutOfBounds ( const int  cx, const int  cy, const int  cz  ) const

inlineinherited

Definition at line 184 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_x, mrpt::utils::CDynamicGrid3D< T >::m_size_y, and mrpt::utils::CDynamicGrid3D< T >::m_size_z.

m_map_castaway_const()

std::vector<TRandomFieldVoxel >& mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map_castaway_const ( ) const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 258 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map.

operator delete() [1/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void *  ptr ) throw ( )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator delete() [2/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void *  memory, void *  ptr  ) throw ( )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator delete() [3/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void *  ptr, const std::nothrow_t &    ) throw ( )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator delete[]()

void mrpt::maps::CRandomFieldGridMap3D::operator delete[] ( void *  ptr ) throw ( )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator new() [1/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t  size )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator new() [2/3]

static void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator new() [3/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t  size, const std::nothrow_t &    ) throw ( )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

operator new[]()

void* mrpt::maps::CRandomFieldGridMap3D::operator new[] ( size_t  size )

inline

Definition at line 80 of file CRandomFieldGridMap3D.h.

readFromStream()

void CRandomFieldGridMap3D::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 373 of file CRandomFieldGridMap3D.cpp.

References ASSERT_EQUAL_, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

resize() [1/2]

virtual void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::resize ( double  new_x_min, double  new_x_max, double  new_y_min, double  new_y_max, double  new_z_min, double  new_z_max, const TRandomFieldVoxel &  defaultValueNewCells, double  additionalMarginMeters = 2.0  )

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also

setSize

Definition at line 33 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, mrpt::utils::CDynamicGrid3D< T >::m_size_x, mrpt::utils::CDynamicGrid3D< T >::m_size_x_times_y, mrpt::utils::CDynamicGrid3D< T >::m_size_y, mrpt::utils::CDynamicGrid3D< T >::m_size_z, mrpt::utils::CDynamicGrid3D< T >::m_x_max, mrpt::utils::CDynamicGrid3D< T >::m_x_min, mrpt::utils::CDynamicGrid3D< T >::m_y_max, mrpt::utils::CDynamicGrid3D< T >::m_y_min, mrpt::utils::CDynamicGrid3D< T >::m_z_max, mrpt::utils::CDynamicGrid3D< T >::m_z_min, and mrpt::utils::round().

resize() [2/2]

void CRandomFieldGridMap3D::resize ( double  new_x_min, double  new_x_max, double  new_y_min, double  new_y_max, double  new_z_min, double  new_z_max, const TRandomFieldVoxel &  defaultValueNewvoxels, double  additionalMarginMeters = 2.0  )

virtual

Changes the size of the grid, maintaining previous contents.

See also

setSize

Definition at line 71 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, and MRPT_START.

Referenced by TEST().

saveAsCSV()

bool mrpt::maps::CRandomFieldGridMap3D::saveAsCSV	(	const std::string &	filName_mean,
		const std::string &	filName_stddev = std::string()
	)		const

Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value.

Optionally, std deviations can be also saved to another file with fields x y z stddev_value, if filName_stddev is provided.

Returns

false on error writing to file

See also

saveAsVtkStructuredGrid

Definition at line 241 of file CRandomFieldGridMap3D.cpp.

References mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2x(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2y(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2z(), mrpt::utils::CFileOutputStream::is_open(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y, mrpt::utils::CFileOutputStream::open(), and mrpt::utils::CStream::printf().

Referenced by TEST().

saveAsVtkStructuredGrid()

bool CRandomFieldGridMap3D::saveAsVtkStructuredGrid

(

const std::string &

fil

)

const

Save the current estimated grid to a VTK file (.vts) as a "structured grid".

See also

saveAsCSV

Definition at line 211 of file CRandomFieldGridMap3D.cpp.

References getAsVtkStructuredGrid(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by TEST().

setSize() [1/2]

virtual void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::setSize ( const double  x_min, const double  x_max, const double  y_min, const double  y_max, const double  z_min, const double  z_max, const double  resolution_xy, const double  resolution_z_ = -1.0, const TRandomFieldVoxel *  fill_value = NULL  )

inlinevirtualinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default voxel value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing. If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

See also

resize, fill

Definition at line 135 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, mrpt::utils::CDynamicGrid3D< T >::m_size_x, mrpt::utils::CDynamicGrid3D< T >::m_size_x_times_y, mrpt::utils::CDynamicGrid3D< T >::m_size_y, mrpt::utils::CDynamicGrid3D< T >::m_size_z, mrpt::utils::CDynamicGrid3D< T >::m_x_max, mrpt::utils::CDynamicGrid3D< T >::m_x_min, mrpt::utils::CDynamicGrid3D< T >::m_y_max, mrpt::utils::CDynamicGrid3D< T >::m_y_min, mrpt::utils::CDynamicGrid3D< T >::m_z_max, mrpt::utils::CDynamicGrid3D< T >::m_z_min, and mrpt::utils::round().

setSize() [2/2]

void CRandomFieldGridMap3D::setSize ( const double  x_min, const double  x_max, const double  y_min, const double  y_max, const double  z_min, const double  z_max, const double  resolution_xy, const double  resolution_z = -1.0, const TRandomFieldVoxel *  fill_value = NULL  )

virtual

Changes the size of the grid, erasing previous contents.If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

Changes the size of the grid, erasing previous contents.

See also

resize.

Definition at line 56 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, MRPT_START, and setSize().

Referenced by TEST().

setVoxelsConnectivity()

void mrpt::maps::CRandomFieldGridMap3D::setVoxelsConnectivity

(

const ConnectivityDescriptorPtr &

new_connectivity_descriptor

)

Sets a custom object to define the connectivity between voxels.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 303 of file CRandomFieldGridMap3D.cpp.

References m_gmrf_connectivity.

updateMapEstimation()

void CRandomFieldGridMap3D::updateMapEstimation

(

)

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions.

Definition at line 285 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERTMSG_, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, m_gmrf, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, and mrpt::graphs::ScalarFactorGraph::updateEstimation().

Referenced by insertIndividualReading(), and TEST().

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 CRandomFieldGridMap3D::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 341 of file CRandomFieldGridMap3D.cpp.

References mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, version, and mrpt::utils::CStream::WriteBuffer().

x2idx()

int mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::x2idx ( double  x ) const

inlineinherited

Transform a coordinate values into voxel indexes.

Definition at line 246 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::utils::CDynamicGrid3D< T >::m_x_min.

Referenced by insertIndividualReading().

y2idx()

int mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::y2idx ( double  y ) const

inlineinherited

Definition at line 247 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::utils::CDynamicGrid3D< T >::m_y_min.

Referenced by insertIndividualReading().

z2idx()

int mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::z2idx ( double  z ) const

inlineinherited

Definition at line 248 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, and mrpt::utils::CDynamicGrid3D< T >::m_z_min.

Referenced by insertIndividualReading().

Member Data Documentation

_init_CRandomFieldGridMap3D

mrpt::utils::CLASSINIT mrpt::maps::CRandomFieldGridMap3D::_init_CRandomFieldGridMap3D

staticprotected

Definition at line 80 of file CRandomFieldGridMap3D.h.

classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

classCRandomFieldGridMap3D

mrpt::utils::TRuntimeClassId mrpt::maps::CRandomFieldGridMap3D::classCRandomFieldGridMap3D

static

Definition at line 80 of file CRandomFieldGridMap3D.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::maps::CRandomFieldGridMap3D::classinfo

static

Definition at line 80 of file CRandomFieldGridMap3D.h.

ENABLE_GMRF_PROFILER

bool mrpt::maps::CRandomFieldGridMap3D::ENABLE_GMRF_PROFILER

static

[default:false] Enables a profiler to show a performance report at application end.

Definition at line 82 of file CRandomFieldGridMap3D.h.

insertionOptions

TInsertionOptions mrpt::maps::CRandomFieldGridMap3D::insertionOptions

See also

updateMapEstimation()

Definition at line 132 of file CRandomFieldGridMap3D.h.

Referenced by readFromStream(), TEST(), updateMapEstimation(), and writeToStream().

INVALID_VOXEL_IDX

const size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX

staticinherited

Definition at line 182 of file CDynamicGrid3D.h.

Referenced by insertIndividualReading().

m_gmrf

mrpt::graphs::ScalarFactorGraph mrpt::maps::CRandomFieldGridMap3D::m_gmrf

protected

Definition at line 197 of file CRandomFieldGridMap3D.h.

Referenced by insertIndividualReading(), and updateMapEstimation().

m_gmrf_connectivity

ConnectivityDescriptorPtr mrpt::maps::CRandomFieldGridMap3D::m_gmrf_connectivity

protected

Empty: default.

Definition at line 195 of file CRandomFieldGridMap3D.h.

Referenced by setVoxelsConnectivity().

m_map

std::vector<TRandomFieldVoxel > mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map

mutableprotectedinherited

The cells.

Definition at line 256 of file CDynamicGrid3D.h.

Referenced by getAsVtkStructuredGrid(), insertIndividualReading(), readFromStream(), saveAsCSV(), updateMapEstimation(), and writeToStream().

m_mrf_factors_activeObs

std::vector<std::deque<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap3D::m_mrf_factors_activeObs

protected

Vector with the active observations and their respective Information, for each map cell.

Definition at line 226 of file CRandomFieldGridMap3D.h.

Referenced by insertIndividualReading(), and updateMapEstimation().

m_mrf_factors_priors

std::deque<TPriorFactorGMRF> mrpt::maps::CRandomFieldGridMap3D::m_mrf_factors_priors

protected

Vector with the precomputed priors for each GMRF model.

Definition at line 227 of file CRandomFieldGridMap3D.h.

m_resolution_xy

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_resolution_xy

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_resolution_z

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_resolution_z

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_size_x

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x

protectedinherited

Definition at line 261 of file CDynamicGrid3D.h.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

m_size_x_times_y

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x_times_y

protectedinherited

Definition at line 261 of file CDynamicGrid3D.h.

m_size_y

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y

protectedinherited

Definition at line 261 of file CDynamicGrid3D.h.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

m_size_z

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_z

protectedinherited

Definition at line 261 of file CDynamicGrid3D.h.

m_x_max

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_x_max

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_x_min

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_x_min

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_y_max

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_y_max

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_y_min

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_y_min

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_z_max

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_z_max

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.

m_z_min

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_z_min

protectedinherited

Definition at line 260 of file CDynamicGrid3D.h.