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::string >	previousPbMapNames
std::vector< PbMap >	previousPbMaps
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
PbMap &	mPbMap
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
	)

Constructor.

Definition at line 34 of file PbMapLocaliser.cpp.

References mrpt::pbmap::config_heuristics::color_threshold, mrpt::pbmap::SubgraphMatcher::configLocaliser, mrpt::system::createThreadFromObjectMethod(), mrpt::pbmap::config_heuristics::hue_threshold, mrpt::pbmap::config_heuristics::intensity_threshold, mrpt::pbmap::config_heuristics::load_params(), LoadPreviousPbMaps(), matcher, mrpt::pbmap::config_heuristics::min_planes_recognition, pbMapLocaliser_hd, and run().

~PbMapLocaliser()

PbMapLocaliser::~PbMapLocaliser

(

)

Definition at line 435 of file PbMapLocaliser.cpp.

References stop_pbMapLocaliser().

Member Function Documentation

compareSubgraphNeighbors()

void PbMapLocaliser::compareSubgraphNeighbors ( SubgraphMatcher &  matcher )

private

Search the 2nd order neighbors.

Definition at line 92 of file PbMapLocaliser.cpp.

References bestMap, bestMatch, mrpt::pbmap::SubgraphMatcher::configLocaliser, mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::config_heuristics::graph_mode, matcher, mPbMap, previousPbMaps, mrpt::pbmap::Subgraph::subgraphPlanesIdx, mrpt::pbmap::SubgraphMatcher::subgraphSrc, mrpt::pbmap::SubgraphMatcher::subgraphTrg, and mrpt::pbmap::PbMap::vPlanes.

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

This executes the PbMapLocaliser's thread

Definition at line 319 of file PbMapLocaliser.cpp.

References mrpt::pbmap::SubgraphMatcher::configLocaliser, mrpt::pbmap::config_heuristics::graph_mode, m_pbMapLocaliser_finished, m_pbMapLocaliser_must_stop, matcher, mrpt::pbmap::config_heuristics::min_planes_recognition, mPbMap, mrpt::pbmap::SubgraphMatcher::nCheckConditions, searchPlaneContext(), mrpt::system::sleep(), time1, time2, mrpt::pbmap::PbMap::vPlanes, and vQueueObservedPlanes.

Referenced by PbMapLocaliser().

searchPlaneContext()

bool PbMapLocaliser::searchPlaneContext ( Plane &  searchPlane )

private

! Searches the input plane in the rest of planes of the map taking into account the neighboring relations

Search the subgraph defined by a plane (neighborhood of 1-connected planes) in the rest of the PbMap or PbMaps aquired till the moment.

Definition at line 163 of file PbMapLocaliser.cpp.

References alignedModelPtr, bestMap, bestMatch, mrpt::pbmap::SubgraphMatcher::compareSubgraphs(), mrpt::pbmap::SubgraphMatcher::configLocaliser, foundPlaces, getAreaMatch(), mrpt::pbmap::ConsistencyTest::getRTwithModel(), mrpt::pbmap::config_heuristics::graph_mode, mrpt::pbmap::Plane::id, mrpt::pbmap::inverse(), matcher, mrpt::pbmap::config_heuristics::min_planes_recognition, model, mPbMap, mrpt::pbmap::Plane::nearbyPlanes, mrpt::pbmap::Plane::neighborPlanes, planeRecognitionLUT, previousPbMapNames, previousPbMaps, totalPrevPlanes, and mrpt::pbmap::PbMap::vPlanes.

Referenced by run().

stop_pbMapLocaliser()

bool PbMapLocaliser::stop_pbMapLocaliser ( )

protected

PbMapLocaliser's exit thread

Definition at line 422 of file PbMapLocaliser.cpp.

References mrpt::system::TThreadHandle::clear(), mrpt::system::joinThread(), m_pbMapLocaliser_finished, m_pbMapLocaliser_must_stop, pbMapLocaliser_hd, and mrpt::system::sleep().

Referenced by ~PbMapLocaliser().

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().