Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Public Member Functions | Static Public Member Functions | Public Attributes
mrpt::pbmap::PbMap Class Reference

Detailed Description

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 47 of file pbmap/PbMap.h.

#include <mrpt/pbmap/PbMap.h>

Inheritance diagram for mrpt::pbmap::PbMap:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator 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 mxArraywriteToMatlab () 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 for polymorphic hierarchies
mrpt::rtti::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 voidoperator new (size_t size, void *ptr)
 

Public Attributes

std::vector< PlanevPlanes
 
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
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< PbMap >
 
using ConstPtr = std::shared_ptr< const PbMap >
 
using UniquePtr = std::unique_ptr< PbMap >
 
using ConstUniquePtr = std::unique_ptr< const PbMap >
 
static mrpt::rtti::CLASSINIT _init_PbMap
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "PbMap"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 49 of file pbmap/PbMap.h.

◆ ConstUniquePtr

using mrpt::pbmap::PbMap::ConstUniquePtr = std::unique_ptr<const PbMap >

Definition at line 49 of file pbmap/PbMap.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 49 of file pbmap/PbMap.h.

◆ UniquePtr

using mrpt::pbmap::PbMap::UniquePtr = std::unique_ptr< PbMap >

Definition at line 49 of file pbmap/PbMap.h.

Constructor & Destructor Documentation

◆ PbMap()

PbMap::PbMap ( )

Constructor.

Definition at line 33 of file PbMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::pbmap::PbMap::_GetBaseClass ( )
staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::pbmap::PbMap::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::pbmap::PbMap::Create ( Args &&...  args)
inlinestatic

Definition at line 49 of file pbmap/PbMap.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::pbmap::PbMap::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::pbmap::PbMap::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 49 of file pbmap/PbMap.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

◆ getClassName()

static constexpr auto mrpt::pbmap::PbMap::getClassName ( )
inlinestatic

Definition at line 49 of file pbmap/PbMap.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::pbmap::PbMap::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::pbmap::PbMap::GetRuntimeClassIdStatic ( )
static

◆ loadPbMap()

void PbMap::loadPbMap ( std::string  PbMapFile)

◆ MergeWith()

void PbMap::MergeWith ( PbMap pbm,
Eigen::Matrix4f &  T 
)

◆ operator delete() [1/3]

void mrpt::pbmap::PbMap::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 49 of file pbmap/PbMap.h.

◆ operator delete() [2/3]

void mrpt::pbmap::PbMap::operator delete ( void ptr)
inlinenoexcept

Definition at line 49 of file pbmap/PbMap.h.

◆ operator delete() [3/3]

void mrpt::pbmap::PbMap::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 49 of file pbmap/PbMap.h.

◆ operator delete[]()

void mrpt::pbmap::PbMap::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 49 of file pbmap/PbMap.h.

◆ operator new() [1/3]

void* mrpt::pbmap::PbMap::operator new ( size_t  size)
inline

Definition at line 49 of file pbmap/PbMap.h.

◆ operator new() [2/3]

void* mrpt::pbmap::PbMap::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 49 of file pbmap/PbMap.h.

◆ operator new() [3/3]

static void* mrpt::pbmap::PbMap::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 49 of file pbmap/PbMap.h.

◆ operator new[]()

void* mrpt::pbmap::PbMap::operator new[] ( size_t  size)
inline

Definition at line 49 of file pbmap/PbMap.h.

◆ printPbMap()

void PbMap::printPbMap ( std::string  txtFilePbm)

Print PbMap content to a text file

Definition at line 158 of file PbMap.cpp.

◆ savePbMap()

void PbMap::savePbMap ( std::string  filePath)

Save PbMap in the given filePath

Definition at line 85 of file PbMap.cpp.

References mrpt::serialization::archiveFrom(), and mrpt::io::CFileGZOutputStream::close().

Referenced by mrpt::pbmap::PbMapMaker::serializePbMap().

◆ serializeFrom()

void PbMap::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file PbMap.cpp.

References mrpt::pbmap::Plane::id, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t PbMap::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 41 of file PbMap.cpp.

◆ serializeTo()

void PbMap::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 42 of file PbMap.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 70 of file CSerializable.h.

Member Data Documentation

◆ _init_PbMap

mrpt::rtti::CLASSINIT mrpt::pbmap::PbMap::_init_PbMap
staticprotected

Definition at line 49 of file pbmap/PbMap.h.

◆ background

unsigned mrpt::pbmap::PbMap::background

Definition at line 71 of file pbmap/PbMap.h.

◆ className

constexpr const char* mrpt::pbmap::PbMap::className = "PbMap"
static

Definition at line 49 of file pbmap/PbMap.h.

◆ edgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::edgeCloudPtr

Definition at line 69 of file pbmap/PbMap.h.

◆ FloorPlane

int mrpt::pbmap::PbMap::FloorPlane

Floor plane id

Definition at line 63 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().

◆ foreground

unsigned mrpt::pbmap::PbMap::foreground

Definition at line 71 of file pbmap/PbMap.h.

◆ globalMapPtr

pcl::PointCloud<PointT>::Ptr mrpt::pbmap::PbMap::globalMapPtr

Registered point cloud from the RGB-D or Depth frames and visual odometry.

Definition at line 67 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ groundplane

unsigned mrpt::pbmap::PbMap::groundplane

Definition at line 71 of file pbmap/PbMap.h.

◆ label

std::string mrpt::pbmap::PbMap::label

Label to store a semantic attribute

Definition at line 60 of file pbmap/PbMap.h.

◆ outEdgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::outEdgeCloudPtr

Definition at line 70 of file pbmap/PbMap.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::pbmap::PbMap::runtimeClassId
staticprotected

Definition at line 49 of file pbmap/PbMap.h.

◆ vPlanes

std::vector<Plane> mrpt::pbmap::PbMap::vPlanes



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at lun oct 28 00:14:14 CET 2019