class mrpt::maps::CBeaconMap

Python API: mrpt.maps.CBeaconMap

Overview

A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).

The individual beacons are defined as mrpt::maps::CBeacon objects.

When invoking CBeaconMap::insertObservation(), landmarks will be extracted and fused into the map. The only currently supported observation type is mrpt::obs::CObservationBeaconRanges. See insertionOptions and likelihoodOptions for parameters used when creating and fusing beacon landmarks.

Use “TInsertionOptions::insertAsMonteCarlo” to select between 2 different behaviors:

• Initial PDF of beacons: MonteCarlo, after convergence, pass to Gaussians; or

• Initial PDF of beacons: SOG, after convergence, a single Gaussian.

Refer to the papers: []

See also:

CMetricMap

#include <mrpt/maps/CBeaconMap.h>

class CBeaconMap:
    public mrpt::maps::CMetricMap,
    public mrpt::config::OptionsCapable
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CBeaconMap> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CBeaconMap> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CBeaconMap> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CBeaconMap> ConstUniquePtr;
    typedef std::deque<CBeacon> TSequenceBeacons;
    typedef std::deque<CBeacon>::iterator iterator;
    typedef std::deque<CBeacon>::const_iterator const_iterator;

    // structs

    struct TInsertionOptions;
    struct TLikelihoodOptions;
    struct TMapDefinition;
    struct TMapDefinitionBase;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CBeaconMap";
    static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CBeaconMap,beaconMap" ,& mrpt::maps::CBeaconMap ::MapDefinition,& mrpt::maps::CBeaconMap ::internal_CreateFromMapDefinition);
    mrpt::maps::CBeaconMap::TLikelihoodOptions likelihoodOptions;
    mrpt::maps::CBeaconMap::TInsertionOptions insertionOptions;

    // construction

    CBeaconMap();

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition();
    static std::shared_ptr<CBeaconMap> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    static std::shared_ptr<mrpt::maps::CMetricMap> internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    void resize(size_t N);
    virtual std::string asString() const;
    const CBeacon& operator [] (size_t i) const;
    const CBeacon& get(size_t i) const;
    CBeacon& operator [] (size_t i);
    CBeacon& get(size_t i);
    iterator begin();
    const_iterator begin() const;
    iterator end();
    const_iterator end() const;
    void push_back(const CBeacon& m);
    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName();

    bool saveToMATLABScript3D(
        const std::string& file,
        const char* style = "b",
        float confInterval = 0.95f
        ) const;

    size_t size() const;

    virtual void determineMatching2D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose2D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    void computeMatchingWith3DLandmarks(
        const mrpt::maps::CBeaconMap* otherMap,
        mrpt::tfest::TMatchingPairList& correspondences,
        float& correspondencesRatio,
        std::vector<bool>& otherCorrespondences
        ) const;

    void changeCoordinatesReference(const mrpt::poses::CPose3D& newOrg);
    void changeCoordinatesReference(const mrpt::poses::CPose3D& newOrg, const mrpt::maps::CBeaconMap* otherMap);
    virtual bool isEmpty() const;

    void simulateBeaconReadings(
        const mrpt::poses::CPose3D& in_robotPose,
        const mrpt::poses::CPoint3D& in_sensorLocationOnRobot,
        mrpt::obs::CObservationBeaconRanges& out_Observations
        ) const;

    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const;
    void saveToTextFile(const std::string& fil) const;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const;
    const CBeacon* getBeaconByID(CBeacon::TBeaconID id) const;
    CBeacon* getBeaconByID(CBeacon::TBeaconID id);
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CMetricMap> Ptr;
    typedef std::shared_ptr<const CMetricMap> ConstPtr;

    // fields

    TMapGenericParams genericMapParams;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual std::string asString() const = 0;
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;
    std::shared_ptr<mrpt::viz::CSetOfObjects> getVisualization() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void clear();
    virtual bool isEmpty() const = 0;
    virtual auto boundingBox() const;
    void loadFromSimpleMap(const mrpt::maps::CSimpleMap& Map);
    bool insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    bool insertObservationPtr(const mrpt::obs::CObservation::Ptr& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    double computeObservationLikelihood(const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom) const;
    virtual bool canComputeObservationLikelihood(const mrpt::obs::CObservation& obs) const;
    double computeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf, const mrpt::poses::CPose3D& takenFrom);
    bool canComputeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf) const;

    virtual void determineMatching2D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose2D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual void determineMatching3D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual void auxParticleFilterCleanUp();
    virtual float squareDistanceToClosestCorrespondence(float x0, float y0) const;
    OptionsCapable& operator = (const OptionsCapable&);
    OptionsCapable& operator = (OptionsCapable&&);
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName() = 0;
    virtual bool trySetCreationOptions(] const mrpt::config::CConfigFileBase& cfg, ] const std::string& section);

Typedefs

typedef std::shared_ptr<mrpt::maps ::CBeaconMap> Ptr

A type for the associated smart pointer.

Fields

static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CBeaconMap,beaconMap" ,& mrpt::maps::CBeaconMap ::MapDefinition,& mrpt::maps::CBeaconMap ::internal_CreateFromMapDefinition)

ID used to initialize class registration (just ignore it)

Construction

CBeaconMap()

Constructor.

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

Returns a deep copy (clone) of the object, indepently of its class.

static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition()

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

static std::shared_ptr<CBeaconMap> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

void resize(size_t N)

Resize the number of SOG modes.

virtual std::string asString() const

Returns a short description of the map.

const CBeacon& operator [] (size_t i) const

Access to individual beacons.

const CBeacon& get(size_t i) const

Access to individual beacons.

CBeacon& operator [] (size_t i)

Access to individual beacons.

CBeacon& get(size_t i)

Access to individual beacons.

void push_back(const CBeacon& m)

Inserts a copy of the given mode into the SOG.

virtual float compute3DMatchingRatio(
    const mrpt::maps::CMetricMap* otherMap,
    const mrpt::poses::CPose3D& otherMapPose,
    const TMatchingRatioParams& params
    ) const

Computes the ratio in [0,1] of correspondences between “this” and the “otherMap” map, whose 6D pose relative to “this” is “otherMapPose” In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters:

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from “this”.
params	[IN] Matching parameters

Returns:

The matching ratio [0,1]

See also:

determineMatching2D

virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName()

Maps an options-group name (e.g.

“insertionOptions”) to a pointer to the corresponding, live CLoadableOptions member. Pointers remain valid as long as this is alive, and point directly to the actual option members (no copies), so writes through them (e.g. via loadFromConfigFile()) take effect immediately.

Implementations should list every CLoadableOptions member they define, INCLUDING “creationOptions” if present (so it can be discovered/exported generically); however, callers must use trySetCreationOptions(), not a direct write through this pointer, to safely modify creation options.

bool saveToMATLABScript3D(
    const std::string& file,
    const char* style = "b",
    float confInterval = 0.95f
    ) const

Save to a MATLAB script which displays 3D error ellipses for the map.

Parameters:

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see ‘help plot’ in MATLAB for possibilities)
stdCount	The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)

Returns:

Returns false if any error occurred, true elsewere.

size_t size() const

Returns the stored landmarks count.

virtual void determineMatching2D(
    const mrpt::maps::CMetricMap* otherMap,
    const mrpt::poses::CPose2D& otherMapPose,
    mrpt::tfest::TMatchingPairList& correspondences,
    const TMatchingParams& params,
    TMatchingExtraResults& extraResults
    ) const

Computes the matching between this and another 2D point map, which includes finding:

• The set of points pairs in each map

• The mean squared distance between corresponding pairs.

The algorithm is:

• For each point in “otherMap”:

  • Transform the point according to otherMapPose

  • Search with a KD-TREE the closest correspondences in “this” map.

  • Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters:

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from “this”.
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also:

compute3DMatchingRatio

void computeMatchingWith3DLandmarks(
    const mrpt::maps::CBeaconMap* otherMap,
    mrpt::tfest::TMatchingPairList& correspondences,
    float& correspondencesRatio,
    std::vector<bool>& otherCorrespondences
    ) const

Perform a search for correspondences between “this” and another lansmarks map: Firsly, the landmarks’ descriptor is used to find correspondences, then inconsistent ones removed by looking at their 3D poses.

Parameters:

otherMap	[IN] The other map.
correspondences	[OUT] The matched pairs between maps.
correspondencesRatio	[OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap
otherCorrespondences	[OUT] Will be returned with a vector containing “true” for the indexes of the other map’s landmarks with a correspondence.

void changeCoordinatesReference(const mrpt::poses::CPose3D& newOrg)

Changes the reference system of the map to a given 3D pose.

void changeCoordinatesReference(
    const mrpt::poses::CPose3D& newOrg,
    const mrpt::maps::CBeaconMap* otherMap
    )

Changes the reference system of the map “otherMap” and save the result in “this” map.

virtual bool isEmpty() const

Returns true if the map is empty/no observation has been inserted.

void simulateBeaconReadings(
    const mrpt::poses::CPose3D& in_robotPose,
    const mrpt::poses::CPoint3D& in_sensorLocationOnRobot,
    mrpt::obs::CObservationBeaconRanges& out_Observations
    ) const

Simulates a reading toward each of the beacons in the landmarks map, if any.

Parameters:

in_robotPose	This robot pose is used to simulate the ranges to each beacon.
in_sensorLocationOnRobot	The 3D position of the sensor on the robot
out_Observations	The results will be stored here. NOTICE that the fields “CObservationBeaconRanges::minSensorDistance”,”CObservationBeaconRanges::maxSensorDistance” and “CObservationBeaconRanges::stdError” MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range.

virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const

This virtual method saves the map to a file “filNamePrefix”+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

In the case of this class, these files are generated:

• “filNamePrefix”+”_3D.m”: A script for MATLAB for drawing landmarks as 3D ellipses.

• “filNamePrefix”+”_3D.3DScene”: A 3D scene with a “ground plane grid” and the set of ellipsoids in 3D.

• “filNamePrefix”+”_covs.m”: A textual representation (see saveToTextFile)

void saveToTextFile(const std::string& fil) const

Save a text file with a row per beacon, containing this 11 elements:

• X Y Z: Mean values

• VX VY VZ: Variances of each dimension (C11, C22, C33)

• DET2D DET3D: Determinant of the 2D and 3D covariance matrixes.

• C12, C13, C23: Cross covariances

virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const

Returns a 3D object representing the map.

const CBeacon* getBeaconByID(CBeacon::TBeaconID id) const

Returns a pointer to the beacon with the given ID, or nullptr if it does not exist.

CBeacon* getBeaconByID(CBeacon::TBeaconID id)

Returns a pointer to the beacon with the given ID, or nullptr if it does not exist.