Detailed Description

This class construct the PbMap extracting planar segments from Range images, which pose must be also provided. The range images and their poses are communicated with the object frameQueue. PbMapMaker run its own thread, which is created at initialization.

Definition at line 53 of file PbMapMaker.h.

#include <mrpt/pbmap/PbMapMaker.h>

Public Member Functions
	PbMapMaker (const std::string &config_file)

	~PbMapMaker ()

PbMap	getPbMap ()

void	serializePbMap (std::string path)

Public Attributes
std::vector< frameRGBDandPose >	frameQueue

std::set< unsigned >	sQueueObservedPlanes

pcl::visualization::CloudViewer	cloudViewer

Protected Member Functions
void	viz_cb (pcl::visualization::PCLVisualizer &viz)

void	run ()

bool	stop_pbMapMaker ()

void	watchProperties (std::set< unsigned > &observedPlanes, Plane &observedPlane)

void	saveInfoFiles ()

Protected Attributes
PbMap	mPbMap

std::set< unsigned >	observedPlanes

PlaneInferredInfo *	mpPlaneInferInfo

mrpt::system::TThreadHandle	pbmaker_hd

bool	m_pbmaker_must_stop

bool	m_pbmaker_finished

float	rejectAreaF

float	acceptAreaF

float	rejectAreaT

float	acceptAreaT

float	rejectElongF

float	acceptElongF

float	rejectElongT

float	acceptElongT

float	rejectC1C2C3_F

float	acceptC1C2C3_F

float	rejectC1C2C3_T

float	acceptC1C2C3_T

float	rejectNrgb_F

float	acceptNrgb_F

float	rejectNrgb_T

float	acceptNrgb_T

float	rejectIntensity_F

float	acceptIntensity_F

float	rejectIntensity_T

float	acceptIntensity_T

float	rejectColor_F

float	acceptColor_F

float	rejectColor_T

float	acceptColor_T

float	rejectHistH_F

float	acceptHistH_F

float	rejectHistH_T

float	acceptHistH_T

Private Member Functions
void	detectPlanesCloud (pcl::PointCloud< PointT >::Ptr &pointCloudPtr_arg, Eigen::Matrix4f &poseKF, double distThreshold, double angleThreshold, double minInliersF)

bool	arePlanesNearby (Plane &plane1, Plane &plane2, const float distThreshold)

void	checkProximity (Plane &plane, float proximity)

bool	areSamePlane (Plane &plane1, Plane &plane2, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)

void	mergePlanes (Plane &updatePlane, Plane &discardPlane)

Private Attributes
FILE *	config_Param

PbMapLocaliser *	mpPbMapLocaliser

SemanticClustering *	clusterize

boost::mutex	mtx_pbmap_busy

Constructor & Destructor Documentation

◆ PbMapMaker()

PbMapMaker::PbMapMaker ( const std::string & config_file )

PbMapMaker's constructor sets some threshold for plane segmentation and map growing from a configuration file (or default). This constructor also starts PbMapMaker's own thread.

Definition at line 146 of file PbMapMaker.cpp.

References acceptAreaF, acceptAreaT, acceptC1C2C3_F, acceptC1C2C3_T, acceptColor_F, acceptColor_T, acceptElongF, acceptElongT, acceptHistH_F, acceptHistH_T, acceptIntensity_F, acceptIntensity_T, acceptNrgb_F, acceptNrgb_T, ASSERT_FILE_EXISTS_, clusterize, config_pbmap::config_localiser, configPbMap, mrpt::system::createThreadFromObjectMethod(), config_pbmap::detect_loopClosure, config_pbmap::makeClusters, mPbMap, mpPbMapLocaliser, mpPlaneInferInfo, pbmaker_hd, readConfigFile(), rejectAreaF, rejectAreaT, rejectC1C2C3_F, rejectC1C2C3_T, rejectColor_F, rejectColor_T, rejectElongF, rejectElongT, rejectHistH_F, rejectHistH_T, rejectIntensity_F, rejectIntensity_T, rejectNrgb_F, rejectNrgb_T, and run().

◆ ~PbMapMaker()

PbMapMaker::~PbMapMaker ( )

PbMapMaker's destructor is used to save some debugging info to file.

Definition at line 1245 of file PbMapMaker.cpp.

References mpPbMapLocaliser, mpPlaneInferInfo, saveInfoFiles(), and stop_pbMapMaker().

Member Function Documentation

◆ arePlanesNearby()

bool PbMapMaker::arePlanesNearby	(	Plane &	plane1,
		Plane &	plane2,
		const float	distThreshold
	)

private

Returns true when the closest distance between the patches "plane1" and "plane2" is under distThreshold.

Definition at line 178 of file PbMapMaker.cpp.

References mrpt::pbmap::diffPoints(), mrpt::pbmap::dist3D_Segment_to_Segment2(), mrpt::pbmap::getVector3fromPointXYZ(), mrpt::pbmap::isInHull(), mrpt::pbmap::Plane::polygonContourPtr, mrpt::pbmap::Plane::v3center, and mrpt::pbmap::Plane::v3normal.

Referenced by areSamePlane(), and checkProximity().

◆ areSamePlane()

bool PbMapMaker::areSamePlane	(	Plane &	plane1,
		Plane &	plane2,
		const float &	cosAngleThreshold,
		const float &	distThreshold,
		const float &	proxThreshold
	)

private

Returns true if the two input planes represent the same physical surface for some given angle and distance thresholds. If the planes are the same they are merged in this and the function returns true. Otherwise it returns false.

Check if the the input plane is the same than this plane for some given angle and distance thresholds. If the planes are the same they are merged in this and the function returns true. Otherwise it returns false.

Definition at line 912 of file PbMapMaker.cpp.

References arePlanesNearby(), mrpt::pbmap::Plane::v3center, and mrpt::pbmap::Plane::v3normal.

Referenced by detectPlanesCloud().

◆ checkProximity()

void PbMapMaker::checkProximity	(	Plane &	plane,
		float	proximity
	)

private

Check for new graph connections of the input plane. These connections are stablished when the minimum distance between two patches is under the input threshold "proximity"

Definition at line 243 of file PbMapMaker.cpp.

References arePlanesNearby(), mrpt::pbmap::Plane::id, mPbMap, mrpt::pbmap::Plane::nearbyPlanes, and mrpt::pbmap::PbMap::vPlanes.

Referenced by detectPlanesCloud().

◆ detectPlanesCloud()

void PbMapMaker::detectPlanesCloud	(	pcl::PointCloud< PointT >::Ptr &	pointCloudPtr_arg,
		Eigen::Matrix4f &	poseKF,
		double	distThreshold,
		double	angleThreshold,
		double	minInliersF
	)

private

Find planar patches in the input organised point cloud "pointCloudPtr_arg", and update the PbMap with them (it update previous planes and initialize new ones when they are first observed), the input pose "poseInv" is used to place the current observations into a common frame of reference. Different thresholds are used to control the plane segmentation:

"distThreshold" defines the maximum distance of an inlier to the plane
"angleThreshold" defines the maximum angle between an inlier's normal and the plane's normal
"minInliersF" defines the minimum number of inliers as a fraction of the total number of points in the input cloud

Definition at line 505 of file PbMapMaker.cpp.

Referenced by run().

◆ getPbMap()

PbMap mrpt::pbmap::PbMapMaker::getPbMap ( )

inline

Get the PbMap.

Definition at line 65 of file PbMapMaker.h.

◆ mergePlanes()

void PbMapMaker::mergePlanes	(	Plane &	updatePlane,
		Plane &	discardPlane
	)

private

Merge the two input patches into "updatePlane". Recalculate center, normal vector, area, inlier points (filtered), convex hull, etc.

Definition at line 939 of file PbMapMaker.cpp.

References mrpt::pbmap::Plane::areaVoxels, mrpt::pbmap::Plane::calcConvexHull(), mrpt::pbmap::Plane::computeMassCenterAndArea(), mrpt::pbmap::Plane::forcePtsLayOnPlane(), mrpt::pbmap::PlaneInferredInfo::isFullExtent(), mpPlaneInferInfo, mrpt::math::norm(), mrpt::pbmap::Plane::planePointCloudPtr, mrpt::pbmap::Plane::polygonContourPtr, and mrpt::pbmap::Plane::v3normal.

Referenced by detectPlanesCloud().

◆ run()

void PbMapMaker::run ( )

protected

This executes the PbMapMaker's thread

Definition at line 1183 of file PbMapMaker.cpp.

References config_pbmap::angle_threshold, cloudViewer, clusterize, configPbMap, detectPlanesCloud(), config_pbmap::dist_threshold, mrpt::pbmap::SemanticClustering::evalPartition(), frameQueue, keyboardEventOccurred(), m_pbmaker_finished, m_pbmaker_must_stop, config_pbmap::makeClusters, config_pbmap::minInliersRate, mPbMap, observedPlanes, mrpt::system::sleep(), viz_cb(), and mrpt::pbmap::PbMap::vPlanes.

Referenced by PbMapMaker().

◆ saveInfoFiles()

void PbMapMaker::saveInfoFiles ( )

protected

Definition at line 450 of file PbMapMaker.cpp.

References acceptAreaF, acceptAreaT, acceptC1C2C3_F, acceptC1C2C3_T, acceptColor_F, acceptColor_T, acceptElongF, acceptElongT, acceptHistH_F, acceptHistH_T, acceptIntensity_F, acceptIntensity_T, acceptNrgb_F, acceptNrgb_T, config_pbmap::color_threshold, configPbMap, config_pbmap::hue_threshold, config_pbmap::intensity_threshold, rejectAreaF, rejectAreaT, rejectC1C2C3_F, rejectC1C2C3_T, rejectColor_F, rejectColor_T, rejectElongF, rejectElongT, rejectHistH_F, rejectHistH_T, rejectIntensity_F, rejectIntensity_T, rejectNrgb_F, and rejectNrgb_T.

Referenced by ~PbMapMaker().

◆ serializePbMap()

void PbMapMaker::serializePbMap ( std::string path )

Serialize the PbMap.

Definition at line 1223 of file PbMapMaker.cpp.

References mPbMap, mtx_pbmap_busy, and mrpt::pbmap::PbMap::savePbMap().

◆ stop_pbMapMaker()

bool PbMapMaker::stop_pbMapMaker ( )

protected

PbMapMaker's exit thread

Definition at line 1232 of file PbMapMaker.cpp.

References mrpt::system::TThreadHandle::clear(), mrpt::system::joinThread(), m_pbmaker_finished, m_pbmaker_must_stop, pbmaker_hd, and mrpt::system::sleep().

Referenced by ~PbMapMaker().

◆ viz_cb()

void PbMapMaker::viz_cb ( pcl::visualization::PCLVisualizer & viz )

protected

PCL visualizer callback

Definition at line 984 of file PbMapMaker.cpp.

References ablu, agrn, mrpt::pbmap::PbMapLocaliser::alignedModelPtr, ared, blu, CS_visualize, mrpt::pbmap::Plane::dominantIntensity, mrpt::pbmap::PbMapLocaliser::foundPlaces, mrpt::pbmap::PbMap::globalMapPtr, graphRepresentation, grn, mPbMap, mpPbMapLocaliser, mrpt::pbmap::Plane::planePointCloudPtr, mrpt::pbmap::Plane::polygonContourPtr, red, mrpt::system::sleep(), mrpt::system::os::sprintf(), mrpt::pbmap::Plane::v3center, mrpt::pbmap::Plane::v3colorNrgb, mrpt::pbmap::Plane::v3normal, and mrpt::pbmap::PbMap::vPlanes.

Referenced by run().

◆ watchProperties()

void PbMapMaker::watchProperties	(	std::set< unsigned > &	observedPlanes,
		Plane &	observedPlane
	)

protected

Definition at line 278 of file PbMapMaker.cpp.

Member Data Documentation

◆ acceptAreaF

float mrpt::pbmap::PbMapMaker::acceptAreaF

protected

Definition at line 150 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptAreaT

float mrpt::pbmap::PbMapMaker::acceptAreaT

protected

Definition at line 150 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptC1C2C3_F

float mrpt::pbmap::PbMapMaker::acceptC1C2C3_F

protected

Definition at line 152 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptC1C2C3_T

float mrpt::pbmap::PbMapMaker::acceptC1C2C3_T

protected

Definition at line 152 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptColor_F

float mrpt::pbmap::PbMapMaker::acceptColor_F

protected

Definition at line 155 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptColor_T

float mrpt::pbmap::PbMapMaker::acceptColor_T

protected

Definition at line 155 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptElongF

float mrpt::pbmap::PbMapMaker::acceptElongF

protected

Definition at line 151 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptElongT

float mrpt::pbmap::PbMapMaker::acceptElongT

protected

Definition at line 151 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptHistH_F

float mrpt::pbmap::PbMapMaker::acceptHistH_F

protected

Definition at line 156 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptHistH_T

float mrpt::pbmap::PbMapMaker::acceptHistH_T

protected

Definition at line 156 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptIntensity_F

float mrpt::pbmap::PbMapMaker::acceptIntensity_F

protected

Definition at line 154 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptIntensity_T

float mrpt::pbmap::PbMapMaker::acceptIntensity_T

protected

Definition at line 154 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptNrgb_F

float mrpt::pbmap::PbMapMaker::acceptNrgb_F

protected

Definition at line 153 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ acceptNrgb_T

float mrpt::pbmap::PbMapMaker::acceptNrgb_T

protected

Definition at line 153 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ cloudViewer

pcl::visualization::CloudViewer mrpt::pbmap::PbMapMaker::cloudViewer

PCL viewer. It runs in a different thread.

Definition at line 77 of file PbMapMaker.h.

Referenced by run().

◆ clusterize

SemanticClustering* mrpt::pbmap::PbMapMaker::clusterize

private

Object to cluster set of planes according to their co-visibility.

Definition at line 113 of file PbMapMaker.h.

Referenced by detectPlanesCloud(), PbMapMaker(), and run().

◆ config_Param

FILE* mrpt::pbmap::PbMapMaker::config_Param

private

File containing some paramteres and heuristic thresholds"

Definition at line 107 of file PbMapMaker.h.

◆ frameQueue

std::vector<frameRGBDandPose> mrpt::pbmap::PbMapMaker::frameQueue

frameQueue is a vector containing the frameRGBDandPose (range image + pose) to be processed.

Definition at line 71 of file PbMapMaker.h.

Referenced by run().

◆ m_pbmaker_finished

bool mrpt::pbmap::PbMapMaker::m_pbmaker_finished

protected

PbMapMaker's stop var

Definition at line 144 of file PbMapMaker.h.

Referenced by run(), and stop_pbMapMaker().

◆ m_pbmaker_must_stop

bool mrpt::pbmap::PbMapMaker::m_pbmaker_must_stop

protected

PbMapMaker's stop controller

Definition at line 141 of file PbMapMaker.h.

Referenced by run(), and stop_pbMapMaker().

◆ mPbMap

PbMap mrpt::pbmap::PbMapMaker::mPbMap

protected

The current PbMap.

Definition at line 120 of file PbMapMaker.h.

Referenced by checkProximity(), detectPlanesCloud(), PbMapMaker(), run(), serializePbMap(), viz_cb(), and watchProperties().

◆ mpPbMapLocaliser

PbMapLocaliser* mrpt::pbmap::PbMapMaker::mpPbMapLocaliser

private

Object to detect previous places.

Definition at line 110 of file PbMapMaker.h.

Referenced by detectPlanesCloud(), PbMapMaker(), viz_cb(), and ~PbMapMaker().

◆ mpPlaneInferInfo

PlaneInferredInfo* mrpt::pbmap::PbMapMaker::mpPlaneInferInfo

protected

Object to infer some knowledge in the map planes.

Definition at line 126 of file PbMapMaker.h.

Referenced by detectPlanesCloud(), mergePlanes(), PbMapMaker(), and ~PbMapMaker().

◆ mtx_pbmap_busy

boost::mutex mrpt::pbmap::PbMapMaker::mtx_pbmap_busy

private

Definition at line 115 of file PbMapMaker.h.

Referenced by detectPlanesCloud(), and serializePbMap().

◆ observedPlanes

std::set<unsigned> mrpt::pbmap::PbMapMaker::observedPlanes

protected

List of planes observed in that last frame introduced.

Definition at line 123 of file PbMapMaker.h.

Referenced by detectPlanesCloud(), and run().

◆ pbmaker_hd

mrpt::system::TThreadHandle mrpt::pbmap::PbMapMaker::pbmaker_hd

protected

PbMapMaker's thread handle

Definition at line 135 of file PbMapMaker.h.

Referenced by PbMapMaker(), and stop_pbMapMaker().

◆ rejectAreaF

float mrpt::pbmap::PbMapMaker::rejectAreaF

protected

Definition at line 150 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectAreaT

float mrpt::pbmap::PbMapMaker::rejectAreaT

protected

Definition at line 150 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectC1C2C3_F

float mrpt::pbmap::PbMapMaker::rejectC1C2C3_F

protected

Definition at line 152 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectC1C2C3_T

float mrpt::pbmap::PbMapMaker::rejectC1C2C3_T

protected

Definition at line 152 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectColor_F

float mrpt::pbmap::PbMapMaker::rejectColor_F

protected

Definition at line 155 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectColor_T

float mrpt::pbmap::PbMapMaker::rejectColor_T

protected

Definition at line 155 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectElongF

float mrpt::pbmap::PbMapMaker::rejectElongF

protected

Definition at line 151 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectElongT

float mrpt::pbmap::PbMapMaker::rejectElongT

protected

Definition at line 151 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectHistH_F

float mrpt::pbmap::PbMapMaker::rejectHistH_F

protected

Definition at line 156 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectHistH_T

float mrpt::pbmap::PbMapMaker::rejectHistH_T

protected

Definition at line 156 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectIntensity_F

float mrpt::pbmap::PbMapMaker::rejectIntensity_F

protected

Definition at line 154 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectIntensity_T

float mrpt::pbmap::PbMapMaker::rejectIntensity_T

protected

Definition at line 154 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectNrgb_F

float mrpt::pbmap::PbMapMaker::rejectNrgb_F

protected

Definition at line 153 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ rejectNrgb_T

float mrpt::pbmap::PbMapMaker::rejectNrgb_T

protected

Definition at line 153 of file PbMapMaker.h.

Referenced by PbMapMaker(), saveInfoFiles(), and watchProperties().

◆ sQueueObservedPlanes

std::set<unsigned> mrpt::pbmap::PbMapMaker::sQueueObservedPlanes

observedPlanes is a list containing the current observed planes.

Definition at line 74 of file PbMapMaker.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ PbMapMaker()

◆ ~PbMapMaker()

Member Function Documentation

◆ arePlanesNearby()

◆ areSamePlane()

◆ checkProximity()

◆ detectPlanesCloud()

◆ getPbMap()

◆ mergePlanes()

◆ run()

◆ saveInfoFiles()

◆ serializePbMap()

◆ stop_pbMapMaker()

◆ viz_cb()

◆ watchProperties()

Member Data Documentation

◆ acceptAreaF

◆ acceptAreaT

◆ acceptC1C2C3_F

◆ acceptC1C2C3_T

◆ acceptColor_F

◆ acceptColor_T

◆ acceptElongF

◆ acceptElongT

◆ acceptHistH_F

◆ acceptHistH_T

◆ acceptIntensity_F

◆ acceptIntensity_T

◆ acceptNrgb_F

◆ acceptNrgb_T

◆ cloudViewer

◆ clusterize

◆ config_Param

◆ frameQueue

◆ m_pbmaker_finished

◆ m_pbmaker_must_stop

◆ mPbMap

◆ mpPbMapLocaliser

◆ mpPlaneInferInfo

◆ mtx_pbmap_busy

◆ observedPlanes

◆ pbmaker_hd

◆ rejectAreaF

◆ rejectAreaT

◆ rejectC1C2C3_F

◆ rejectC1C2C3_T

◆ rejectColor_F

◆ rejectColor_T

◆ rejectElongF

◆ rejectElongT

◆ rejectHistH_F

◆ rejectHistH_T

◆ rejectIntensity_F

◆ rejectIntensity_T

◆ rejectNrgb_F

◆ rejectNrgb_T

◆ sQueueObservedPlanes