Main MRPT website > C++ reference for MRPT 1.5.7
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes
mrpt::maps::CColouredOctoMap Class Reference

Detailed Description

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.

This version stores both, occupancy information and RGB colour data at each octree node. See the base class mrpt::maps::COctoMapBase.

See also
CMetricMap, the example in "MRPT/samples/octomap_simple"

Definition at line 33 of file maps/CColouredOctoMap.h.

#include <mrpt/maps/CColouredOctoMap.h>

Inheritance diagram for mrpt::maps::CColouredOctoMap:
Inheritance graph

Classes

struct  TMapDefinition
 
struct  TMapDefinitionBase
 

Public Types

enum  TColourUpdate { INTEGRATE = 0, SET, AVERAGE }
 This allows the user to select the desired method to update voxels colour. More...
 
typedef COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode > myself_t
 The type of this MRPT class. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CColouredOctoMap (const double resolution=0.10)
 Default constructor. More...
 
virtual ~CColouredOctoMap ()
 Destructor. More...
 
bool getPointColour (const float x, const float y, const float z, uint8_t &r, uint8_t &g, uint8_t &b) const
 Get the RGB colour of a point. More...
 
void updateVoxelColour (const double x, const double y, const double z, const uint8_t r, const uint8_t g, const uint8_t b)
 Manually update the colour of the voxel at (x,y,z) More...
 
void setVoxelColourMethod (TColourUpdate new_method)
 Set the method used to update voxels colour. More...
 
TColourUpdate getVoxelColourMethod ()
 Get the method used to update voxels colour. More...
 
virtual void getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const MRPT_OVERRIDE
 Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. More...
 
virtual bool isEmpty () const MRPT_OVERRIDE
 Returns true if the map is empty/no observation has been inserted. More...
 
OCTOMAP_CLASS & getOctomap ()
 Get a reference to the internal octomap object. More...
 
virtual void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE
 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). More...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
 Returns a 3D object representing the map. More...
 
bool getPointOccupancy (const float x, const float y, const float z, double &prob_occupancy) const
 Get the occupancy probability [0,1] of a point. More...
 
void insertPointCloud (const CPointsMap &ptMap, const float sensor_x, const float sensor_y, const float sensor_z)
 Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference. More...
 
bool castRay (const mrpt::math::TPoint3D &origin, const mrpt::math::TPoint3D &direction, mrpt::math::TPoint3D &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
 Performs raycasting in 3d, similar to computeRay(). More...
 
void clear ()
 Erase all the contents of the map. More...
 
void loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
void loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
bool insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
 
virtual bool canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
bool canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) const
 
double computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
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. More...
 
virtual void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const
 Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
 
virtual const mrpt::maps::CSimplePointsMapgetAsSimplePointsMap () const
 If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
 
virtual mrpt::maps::CSimplePointsMapgetAsSimplePointsMap ()
 
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...
 
mrpt::utils::CObjectPtr 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
Direct access to octomap library methods
void insertRay (const float end_x, const float end_y, const float end_z, const float sensor_x, const float sensor_y, const float sensor_z)
 Just like insertPointCloud but with a single ray. More...
 
void updateVoxel (const double x, const double y, const double z, bool occupied)
 Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions. More...
 
bool isPointWithinOctoMap (const float x, const float y, const float z) const
 Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped") More...
 
double getResolution () const
 
unsigned int getTreeDepth () const
 
size_t size () const
 
size_t memoryUsage () const
 
size_t memoryUsageNode () const
 
size_t memoryFullGrid () const
 
double volume ()
 
void getMetricSize (double &x, double &y, double &z)
 Size of OcTree (all known space) in meters for x, y and z dimension. More...
 
void getMetricSize (double &x, double &y, double &z) const
 Size of OcTree (all known space) in meters for x, y and z dimension. More...
 
void getMetricMin (double &x, double &y, double &z)
 minimum value of the bounding box of all known space in x, y, z More...
 
void getMetricMin (double &x, double &y, double &z) const
 minimum value of the bounding box of all known space in x, y, z More...
 
void getMetricMax (double &x, double &y, double &z)
 maximum value of the bounding box of all known space in x, y, z More...
 
void getMetricMax (double &x, double &y, double &z) const
 maximum value of the bounding box of all known space in x, y, z More...
 
size_t calcNumNodes () const
 Traverses the tree to calculate the total number of nodes. More...
 
size_t getNumLeafNodes () const
 Traverses the tree to calculate the total number of leaf nodes. More...
 
void setOccupancyThres (double prob) MRPT_OVERRIDE
 
void setProbHit (double prob) MRPT_OVERRIDE
 
void setProbMiss (double prob) MRPT_OVERRIDE
 
void setClampingThresMin (double thresProb) MRPT_OVERRIDE
 
void setClampingThresMax (double thresProb) MRPT_OVERRIDE
 
double getOccupancyThres () const MRPT_OVERRIDE
 
float getOccupancyThresLog () const MRPT_OVERRIDE
 
double getProbHit () const MRPT_OVERRIDE
 
float getProbHitLog () const MRPT_OVERRIDE
 
double getProbMiss () const MRPT_OVERRIDE
 
float getProbMissLog () const MRPT_OVERRIDE
 
double getClampingThresMin () const MRPT_OVERRIDE
 
float getClampingThresMinLog () const MRPT_OVERRIDE
 
double getClampingThresMax () const MRPT_OVERRIDE
 
float getClampingThresMaxLog () const MRPT_OVERRIDE
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

TInsertionOptions insertionOptions
 The options used when inserting observations in the map. More...
 
TLikelihoodOptions likelihoodOptions
 
TRenderingOptions renderingOptions
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCMetricMap
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

virtual void internal_clear () MRPT_OVERRIDE
 Internal method called by clear() More...
 
bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE
 Internal method called by insertObservation() More...
 
bool internal_build_PointCloud_for_observation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose, octomap_point3d &sensorPt, octomap_pointcloud &scan) const
 Builds the list of 3D points in global coordinates for a generic observation. More...
 
 PIMPL_DECLARE_TYPE (octomap::ColorOcTree, m_octomap)
 The actual octo-map object. More...
 
void publishEvent (const mrptEvent &e) const
 Called when you want this object to emit an event to all the observers currently subscribed to this object. More...
 
bool hasSubscribers () const
 Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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...
 

Protected Attributes

TColourUpdate m_colour_method
 

RTTI stuff

typedef CColouredOctoMapPtr Ptr
 
typedef CColouredOctoMapPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CColouredOctoMap
 
static mrpt::utils::TRuntimeClassId classCColouredOctoMap
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CColouredOctoMapPtr Create ()
 

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{

static const size_t m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CColouredOctoMap,colourOctoMap,colorOctoMap" ,& mrpt::maps::CColouredOctoMap ::MapDefinition,& mrpt::maps::CColouredOctoMap ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static CColouredOctoMapCreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Member Typedef Documentation

typedef CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::ConstPtr

Definition at line 36 of file maps/CColouredOctoMap.h.

typedef COctoMapBase<octomap::ColorOcTree , octomap::ColorOcTreeNode > mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::myself_t
inherited

The type of this MRPT class.

Definition at line 46 of file maps/COctoMapBase.h.

typedef CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::Ptr

A typedef for the associated smart pointer

Definition at line 36 of file maps/CColouredOctoMap.h.

Member Enumeration Documentation

This allows the user to select the desired method to update voxels colour.

SET = Set the colour of the voxel at (x,y,z) directly AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of its previous colour and the new observed one. INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using this formula: prev_color*node_prob + new_color*(0.99-node_prob) If there isn't any previous color, any method is equivalent to SET. INTEGRATE is the default option

Enumerator
INTEGRATE 
SET 
AVERAGE 

Definition at line 48 of file maps/CColouredOctoMap.h.

Constructor & Destructor Documentation

CColouredOctoMap::CColouredOctoMap ( const double  resolution = 0.10)

Default constructor.

Definition at line 87 of file CColouredOctoMap.cpp.

CColouredOctoMap::~CColouredOctoMap ( )
virtual

Destructor.

Definition at line 96 of file CColouredOctoMap.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CColouredOctoMap::_GetBaseClass ( )
staticprotected
virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )
inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 232 of file maps/CMetricMap.h.

size_t CColouredOctoMap::calcNumNodes ( ) const

Traverses the tree to calculate the total number of nodes.

Definition at line 414 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation obs) const
virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters
obsThe observation.
See also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 189 of file CMetricMap.cpp.

bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr &  obs) const
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf) const
inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters
sfThe observations.
See also
canComputeObservationLikelihood

Definition at line 94 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

bool mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::castRay ( const mrpt::math::TPoint3D origin,
const mrpt::math::TPoint3D direction,
mrpt::math::TPoint3D end,
bool  ignoreUnknownCells = false,
double  maxRange = -1.0 
) const
inherited

Performs raycasting in 3d, similar to computeRay().

A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.

Parameters
originstarting coordinate of ray
directionA vector pointing in the direction of the raycast. Does not need to be normalized.
endreturns the center of the cell that was hit by the ray, if successful
ignoreUnknownCellswhether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit.
maxRangeMaximum range after which the raycast is aborted (<= 0: no limit, default)
Returns
whether or not an occupied cell was hit
void CMetricMap::clear ( )
inherited
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

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

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

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CReflectivityGridMap2D.

Definition at line 168 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::maps::CMultiMetricMap::compute3DMatchingRatio().

double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 196 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 86 of file CMetricMap.cpp.

double CMetricMap::computeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf,
const mrpt::poses::CPose2D takenFrom 
)
inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe set of observations in a CSensoryFrame.
Returns
This method returns a log-likelihood.
See also
canComputeObservationsLikelihood

Definition at line 75 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

static CColouredOctoMapPtr mrpt::maps::CColouredOctoMap::Create ( )
static
mrpt::maps::CColouredOctoMap * mrpt::maps::CColouredOctoMap::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

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

Definition at line 46 of file CColouredOctoMap.cpp.

static mrpt::utils::CObject* mrpt::maps::CColouredOctoMap::CreateObject ( )
static
void CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose2D otherMapPose,
mrpt::utils::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

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

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CBeaconMap.

Definition at line 132 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
mrpt::utils::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

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

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.
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

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 150 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

virtual mrpt::utils::CObject* mrpt::maps::CColouredOctoMap::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

virtual void mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj) const
inlinevirtualinherited

Returns a 3D object representing the map.

See also
renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 187 of file maps/COctoMapBase.h.

void CColouredOctoMap::getAsOctoMapVoxels ( mrpt::opengl::COctoMapVoxels gl_obj) const
virtual
virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const
inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 240 of file maps/CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )
inlinevirtualinherited
double CColouredOctoMap::getClampingThresMax ( ) const
virtual
float CColouredOctoMap::getClampingThresMaxLog ( ) const
virtual
double CColouredOctoMap::getClampingThresMin ( ) const
virtual
float CColouredOctoMap::getClampingThresMinLog ( ) const
virtual
void CColouredOctoMap::getMetricMax ( double &  x,
double &  y,
double &  z 
)

maximum value of the bounding box of all known space in x, y, z

Definition at line 412 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

void CColouredOctoMap::getMetricMax ( double &  x,
double &  y,
double &  z 
) const

maximum value of the bounding box of all known space in x, y, z

Definition at line 413 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

void CColouredOctoMap::getMetricMin ( double &  x,
double &  y,
double &  z 
)

minimum value of the bounding box of all known space in x, y, z

Definition at line 410 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

void CColouredOctoMap::getMetricMin ( double &  x,
double &  y,
double &  z 
) const

minimum value of the bounding box of all known space in x, y, z

Definition at line 411 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

void CColouredOctoMap::getMetricSize ( double &  x,
double &  y,
double &  z 
)

Size of OcTree (all known space) in meters for x, y and z dimension.

Definition at line 408 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

void CColouredOctoMap::getMetricSize ( double &  x,
double &  y,
double &  z 
) const

Size of OcTree (all known space) in meters for x, y and z dimension.

Definition at line 409 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

size_t CColouredOctoMap::getNumLeafNodes ( ) const

Traverses the tree to calculate the total number of leaf nodes.

Definition at line 415 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

double CColouredOctoMap::getOccupancyThres ( ) const
virtual
float CColouredOctoMap::getOccupancyThresLog ( ) const
virtual
OCTOMAP_CLASS& mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getOctomap ( )
inlineinherited

Get a reference to the internal octomap object.

Example:

octomap::OcTree &om = map.getOctomap<octomap::OcTree>();

Definition at line 59 of file maps/COctoMapBase.h.

bool CColouredOctoMap::getPointColour ( const float  x,
const float  y,
const float  z,
uint8_t r,
uint8_t g,
uint8_t b 
) const

Get the RGB colour of a point.

Returns
false if the point is not mapped, in which case the returned colour is undefined.

Definition at line 279 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

bool mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::getPointOccupancy ( const float  x,
const float  y,
const float  z,
double &  prob_occupancy 
) const
inherited

Get the occupancy probability [0,1] of a point.

Returns
false if the point is not mapped, in which case the returned "prob" is undefined.
double CColouredOctoMap::getProbHit ( ) const
virtual
float CColouredOctoMap::getProbHitLog ( ) const
virtual
double CColouredOctoMap::getProbMiss ( ) const
virtual
float CColouredOctoMap::getProbMissLog ( ) const
virtual
double CColouredOctoMap::getResolution ( ) const

Definition at line 401 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CColouredOctoMap::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

unsigned int CColouredOctoMap::getTreeDepth ( ) const

Definition at line 402 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

TColourUpdate mrpt::maps::CColouredOctoMap::getVoxelColourMethod ( )
inline

Get the method used to update voxels colour.

Definition at line 66 of file maps/CColouredOctoMap.h.

References MRPT_OVERRIDE.

bool mrpt::utils::CObservable::hasSubscribers ( ) const
inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 52 of file CObservable.h.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters
obsThe observation
robotPoseThe 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.
See also
CObservation::insertObservationInto

Definition at line 102 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservationPtr &  obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

See: Maps and observations compatibility matrix

Definition at line 118 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

void mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::insertPointCloud ( const CPointsMap ptMap,
const float  sensor_x,
const float  sensor_y,
const float  sensor_z 
)
inherited

Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference.

Insertion parameters can be found in insertionOptions.

See also
The generic observation insertion method CMetricMap::insertObservation()
void CColouredOctoMap::insertRay ( const float  end_x,
const float  end_y,
const float  end_z,
const float  sensor_x,
const float  sensor_y,
const float  sensor_z 
)

Just like insertPointCloud but with a single ray.

Definition at line 387 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

bool mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::internal_build_PointCloud_for_observation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose,
octomap_point3d &  sensorPt,
octomap_pointcloud &  scan 
) const
protectedinherited

Builds the list of 3D points in global coordinates for a generic observation.

Used for both, insertObservation() and computeLikelihood().

Parameters
[out]point3d_sensorPtIs a pointer to a "point3D".
[out]ptr_scanIs in fact a pointer to "octomap::Pointcloud". Not declared as such to avoid headers dependencies in user code.
Returns
false if the observation kind is not applicable.
void CColouredOctoMap::internal_clear ( )
protectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 431 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

mrpt::maps::CMetricMap * CColouredOctoMap::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static
bool CColouredOctoMap::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose 
)
protectedvirtual
virtual bool mrpt::maps::CColouredOctoMap::isEmpty ( ) const
inlinevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 77 of file maps/CColouredOctoMap.h.

References MRPT_OVERRIDE.

bool CColouredOctoMap::isPointWithinOctoMap ( const float  x,
const float  y,
const float  z 
) const

Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped")

Definition at line 395 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap Map)
inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 48 of file CMetricMap.cpp.

References mrpt::utils::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by run_test_pf_localization().

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap Map)
inlineinherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 105 of file maps/CMetricMap.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

mrpt::maps::TMetricMapInitializer * mrpt::maps::CColouredOctoMap::MapDefinition ( )
static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 46 of file CColouredOctoMap.cpp.

size_t CColouredOctoMap::memoryFullGrid ( ) const
Returns
Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)

Definition at line 406 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

size_t CColouredOctoMap::memoryUsage ( ) const
Returns
Memory usage of the complete octree in bytes (may vary between architectures)

Definition at line 404 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

size_t CColouredOctoMap::memoryUsageNode ( ) const
Returns
Memory usage of the a single octree node

Definition at line 405 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

void mrpt::maps::CColouredOctoMap::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

void mrpt::maps::CColouredOctoMap::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

void mrpt::maps::CColouredOctoMap::operator delete ( void ptr)
throw (
)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

void mrpt::maps::CColouredOctoMap::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

static void* mrpt::maps::CColouredOctoMap::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 36 of file maps/CColouredOctoMap.h.

void* mrpt::maps::CColouredOctoMap::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

void* mrpt::maps::CColouredOctoMap::operator new ( size_t  size)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

void* mrpt::maps::CColouredOctoMap::operator new[] ( size_t  size)
inline

Definition at line 36 of file maps/CColouredOctoMap.h.

mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::PIMPL_DECLARE_TYPE ( octomap::ColorOcTree  ,
m_octomap   
)
protectedinherited

The actual octo-map object.

void CObservable::publishEvent ( const mrptEvent e) const
protectedinherited
void CColouredOctoMap::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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.

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 error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 130 of file CColouredOctoMap.cpp.

References mrpt::utils::clear(), mrpt::system::deleteFile(), mrpt::system::getTempFileName(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, PIMPL_GET_REF, mrpt::utils::CMemoryChunk::readFromStream(), and THROW_EXCEPTION.

virtual void mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::saveMetricMapRepresentationToFile ( const std::string filNamePrefix) const
virtualinherited

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).

Implements mrpt::maps::CMetricMap.

void CColouredOctoMap::setClampingThresMax ( double  thresProb)
virtual
void CColouredOctoMap::setClampingThresMin ( double  thresProb)
virtual
void CColouredOctoMap::setOccupancyThres ( double  prob)
virtual
void CColouredOctoMap::setProbHit ( double  prob)
virtual
void CColouredOctoMap::setProbMiss ( double  prob)
virtual
void mrpt::maps::CColouredOctoMap::setVoxelColourMethod ( TColourUpdate  new_method)
inline

Set the method used to update voxels colour.

Definition at line 63 of file maps/CColouredOctoMap.h.

size_t CColouredOctoMap::size ( ) const
Returns
The number of nodes in the tree

Definition at line 403 of file CColouredOctoMap.cpp.

References PIMPL_GET_CONSTREF.

float CMetricMap::squareDistanceToClosestCorrespondence ( float  x0,
float  y0 
) const
virtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 178 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CColouredOctoMap::updateVoxel ( const double  x,
const double  y,
const double  z,
bool  occupied 
)

Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions.

Definition at line 391 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

void CColouredOctoMap::updateVoxelColour ( const double  x,
const double  y,
const double  z,
const uint8_t  r,
const uint8_t  g,
const uint8_t  b 
)

Manually update the colour of the voxel at (x,y,z)

Definition at line 297 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF, and THROW_EXCEPTION.

double CColouredOctoMap::volume ( )

Definition at line 407 of file CColouredOctoMap.cpp.

References PIMPL_GET_REF.

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

Referenced by mrpt::poses::operator<<(), mrpt::utils::TCamera::readFromStream(), mrpt::obs::CObservationImage::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), and mrpt::utils::CImage::readFromStream().

void CColouredOctoMap::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 105 of file CColouredOctoMap.cpp.

References mrpt::system::deleteFile(), mrpt::system::getTempFileName(), mrpt::utils::CMemoryStream::loadBufferFromFile(), PIMPL_GET_REF, and writeToStream().

Referenced by writeToStream().

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CColouredOctoMap::_init_CColouredOctoMap
staticprotected

Definition at line 36 of file maps/CColouredOctoMap.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CColouredOctoMap::classCColouredOctoMap
static

Definition at line 36 of file maps/CColouredOctoMap.h.

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::classCMetricMap
staticinherited

Definition at line 57 of file maps/CMetricMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::maps::CColouredOctoMap::classinfo
static

Definition at line 36 of file maps/CColouredOctoMap.h.

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited
TInsertionOptions mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::insertionOptions
inherited

The options used when inserting observations in the map.

Definition at line 134 of file maps/COctoMapBase.h.

TLikelihoodOptions mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::likelihoodOptions
inherited

Definition at line 155 of file maps/COctoMapBase.h.

TColourUpdate mrpt::maps::CColouredOctoMap::m_colour_method
protected

Definition at line 138 of file maps/CColouredOctoMap.h.

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

ID used to initialize class registration (just ignore it)

Definition at line 74 of file maps/CColouredOctoMap.h.

TRenderingOptions mrpt::maps::COctoMapBase< octomap::ColorOcTree , octomap::ColorOcTreeNode >::renderingOptions
inherited

Definition at line 182 of file maps/COctoMapBase.h.




Page generated by Doxygen 1.8.11 for MRPT 1.5.7 Git: 2190203 Tue May 15 02:01:15 2018 +0200 at miƩ may 16 12:40:16 CEST 2018