A class used to store a Plane-based Map (PbMap).
A PbMap consists of a set of planar patches described by geometric features (shape, relative position, etc.) and/or radiometric features (dominant color). It is organized as an annotated, undirected graph, where nodes stand for planar patches and edges connect neighbor planes when the distance between their closest points is under a threshold. This graph structure permits to find efficiently the closest neighbors of a plane, or to select groups of nearby planes representing part of the scene.
Definition at line 49 of file pbmap/PbMap.h.
#include <mrpt/pbmap/PbMap.h>
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
PbMap () | |
void | savePbMap (std::string filePath) |
void | loadPbMap (std::string PbMapFile) |
void | MergeWith (PbMap &pbm, Eigen::Matrix4f &T) |
void | printPbMap (std::string txtFilePbm) |
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... | |
RTTI classes and functions | |
mrpt::utils::CObject::Ptr | 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 | |
std::vector< Plane > | vPlanes |
std::string | label |
int | FloorPlane |
pcl::PointCloud< PointT >::Ptr | globalMapPtr |
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr | edgeCloudPtr |
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr | outEdgeCloudPtr |
unsigned | background |
unsigned | foreground |
unsigned | groundplane |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const override |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) override |
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... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< PbMap > |
using | ConstPtr = std::shared_ptr< const PbMap > |
static mrpt::utils::CLASSINIT | _init_PbMap |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "PbMap" |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::utils::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::pbmap::PbMap::ConstPtr = std::shared_ptr<const PbMap > |
Definition at line 51 of file pbmap/PbMap.h.
using mrpt::pbmap::PbMap::Ptr = std::shared_ptr< PbMap > |
A typedef for the associated smart pointer
Definition at line 51 of file pbmap/PbMap.h.
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staticprotected |
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlinestatic |
Definition at line 51 of file pbmap/PbMap.h.
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static |
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
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void PbMap::loadPbMap | ( | std::string | PbMapFile | ) |
Load a PbMap from the given filePath
Definition at line 120 of file PbMap.cpp.
References mrpt::utils::CFileGZInputStream::close(), and mrpt::utils::CFileGZInputStream::open().
Referenced by mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps().
Merge two pbmaps
Definition at line 144 of file PbMap.cpp.
References globalMapPtr, mrpt::pbmap::Plane::id, mrpt::pbmap::Plane::planePointCloudPtr, mrpt::pbmap::Plane::polygonContourPtr, mrpt::pbmap::Plane::v3center, mrpt::pbmap::Plane::v3normal, mrpt::pbmap::Plane::v3PpalDir, and vPlanes.
Definition at line 51 of file pbmap/PbMap.h.
Definition at line 51 of file pbmap/PbMap.h.
Definition at line 51 of file pbmap/PbMap.h.
Definition at line 51 of file pbmap/PbMap.h.
Definition at line 51 of file pbmap/PbMap.h.
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inline |
Definition at line 51 of file pbmap/PbMap.h.
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inlinenoexcept |
Definition at line 51 of file pbmap/PbMap.h.
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inline |
Definition at line 51 of file pbmap/PbMap.h.
void PbMap::printPbMap | ( | std::string | txtFilePbm | ) |
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overrideprotectedvirtual |
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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 67 of file PbMap.cpp.
References mrpt::pbmap::Plane::id, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
void PbMap::savePbMap | ( | std::string | filePath | ) |
Save PbMap in the given filePath
Definition at line 104 of file PbMap.cpp.
References CFileGZOutputStream.
Referenced by mrpt::pbmap::PbMapMaker::serializePbMap().
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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.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 89 of file CSerializable.h.
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overrideprotectedvirtual |
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.
out | The output binary stream where object must be dumped. |
getVersion | If nullptr, 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 51 of file pbmap/PbMap.h.
unsigned mrpt::pbmap::PbMap::background |
Definition at line 73 of file pbmap/PbMap.h.
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static |
Definition at line 51 of file pbmap/PbMap.h.
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::edgeCloudPtr |
Definition at line 71 of file pbmap/PbMap.h.
int mrpt::pbmap::PbMap::FloorPlane |
Floor plane id
Definition at line 65 of file pbmap/PbMap.h.
Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().
unsigned mrpt::pbmap::PbMap::foreground |
Definition at line 73 of file pbmap/PbMap.h.
Registered point cloud from the RGB-D or Depth frames and visual odometry.
Definition at line 69 of file pbmap/PbMap.h.
Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().
unsigned mrpt::pbmap::PbMap::groundplane |
Definition at line 73 of file pbmap/PbMap.h.
std::string mrpt::pbmap::PbMap::label |
Label to store a semantic attribute
Definition at line 62 of file pbmap/PbMap.h.
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::outEdgeCloudPtr |
Definition at line 72 of file pbmap/PbMap.h.
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staticprotected |
Definition at line 51 of file pbmap/PbMap.h.
std::vector<Plane> mrpt::pbmap::PbMap::vPlanes |
Vector to store the 3D-planes which are the basic characteristic of our map.
Definition at line 59 of file pbmap/PbMap.h.
Referenced by mrpt::pbmap::SemanticClustering::arrangeNewGroups(), mrpt::pbmap::SemanticClustering::buildCoVisibilityMatrix(), mrpt::pbmap::SemanticClustering::buildProximityMatrix(), mrpt::pbmap::ConsistencyTest::calcAlignmentError(), mrpt::pbmap::PbMapMaker::checkProximity(), mrpt::pbmap::PbMapLocaliser::compareSubgraphNeighbors(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::ConsistencyTest::estimatePose(), mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC(), mrpt::pbmap::ConsistencyTest::estimatePoseWithCovariance(), mrpt::pbmap::SemanticClustering::evalPartition(), mrpt::pbmap::PbMapLocaliser::getAreaMatch(), mrpt::pbmap::ConsistencyTest::getRTwithModel(), mrpt::pbmap::ConsistencyTest::initPose(), mrpt::pbmap::ConsistencyTest::initPose2D(), mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps(), MergeWith(), mrpt::pbmap::PbMapLocaliser::run(), mrpt::pbmap::PbMapMaker::run(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::pbmap::Subgraph::Subgraph(), mrpt::pbmap::PbMapMaker::viz_cb(), and mrpt::pbmap::PbMapMaker::watchProperties().
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