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mrpt::maps::CHeightGridMap2D Class Reference

Detailed Description

Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location.

Important implemented features are the insertion of 2D laser scans (from arbitrary 6D poses) and the exportation as 3D scenes.

Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:

This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:

Definition at line 55 of file maps/CHeightGridMap2D.h.

#include <mrpt/maps/CHeightGridMap2D.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D:
Inheritance graph

Classes

struct  TInsertionOptions
 Parameters related with inserting observations into the map. More...
 
struct  TMapDefinition
 
struct  TMapDefinitionBase
 

Public Types

enum  TMapRepresentation { mrSimpleAverage = 0 }
 The type of map representation to be used. 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 ()
 
void clear ()
 Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More...
 
float cell2float (const THeightGridmapCell &c) const MRPT_OVERRIDE
 
 CHeightGridMap2D (TMapRepresentation mapType=mrSimpleAverage, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
 Constructor. More...
 
bool isEmpty () const MRPT_OVERRIDE
 Returns true if the map is empty/no observation has been inserted. More...
 
float compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const MRPT_OVERRIDE
 See docs in base class: in this class it always returns 0. More...
 
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...
 
void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
 Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless it is specified otherwise in mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH. More...
 
TMapRepresentation getMapType ()
 Return the type of the gas distribution map, according to parameters passed on construction. More...
 
size_t countObservedCells () const
 Return the number of cells with at least one height data inserted. More...
 
virtual bool insertIndividualPoint (const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams &params=CHeightGridMap2D_Base::TPointInsertParams()) MRPT_OVERRIDE
 Update the DEM with one new point. More...
 
virtual double dem_get_resolution () const MRPT_OVERRIDE
 
virtual size_t dem_get_size_x () const MRPT_OVERRIDE
 
virtual size_t dem_get_size_y () const MRPT_OVERRIDE
 
virtual bool dem_get_z_by_cell (const size_t cx, const size_t cy, double &z_out) const MRPT_OVERRIDE
 Get cell 'z' by (cx,cy) cell indices. More...
 
virtual bool dem_get_z (const double x, const double y, double &z_out) const MRPT_OVERRIDE
 Get cell 'z' (x,y) by metric coordinates. More...
 
virtual void dem_update_map () MRPT_OVERRIDE
 Ensure that all observations are reflected in the map estimate. More...
 
void internal_clear () MRPT_OVERRIDE
 Internal method called by clear() More...
 
bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
 Internal method called by insertObservation() More...
 
double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE
 Internal method called by computeObservationLikelihood() 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 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...
 
void setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const THeightGridmapCell *fill_value=NULL)
 Changes the size of the grid, ERASING all previous contents. More...
 
void fill (const THeightGridmapCell &value)
 Fills all the cells with the same value. More...
 
virtual void resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const THeightGridmapCell &defaultValueNewCells, double additionalMarginMeters=2.0)
 Changes the size of the grid, maintaining previous contents. More...
 
THeightGridmapCellcellByPos (double x, double y)
 Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. More...
 
const THeightGridmapCellcellByPos (double x, double y) const
 
THeightGridmapCellcellByIndex (unsigned int cx, unsigned int cy)
 Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...
 
const THeightGridmapCellcellByIndex (unsigned int cx, unsigned int cy) const
 Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...
 
size_t getSizeX () const
 Returns the horizontal size of grid map in cells count. More...
 
size_t getSizeY () const
 Returns the vertical size of grid map in cells count. More...
 
double getXMin () const
 Returns the "x" coordinate of left side of grid map. More...
 
double getXMax () const
 Returns the "x" coordinate of right side of grid map. More...
 
double getYMin () const
 Returns the "y" coordinate of top side of grid map. More...
 
double getYMax () const
 Returns the "y" coordinate of bottom side of grid map. More...
 
double getResolution () const
 Returns the resolution of the grid map. More...
 
int x2idx (double x) const
 Transform a coordinate values into cell indexes. More...
 
int y2idx (double y) const
 
int xy2idx (double x, double y) const
 
void idx2cxcy (const int &idx, int &cx, int &cy) const
 Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...
 
double idx2x (int cx) const
 Transform a cell index into a coordinate value of the cell central point. More...
 
double idx2y (int cy) const
 
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
virtual float cell2float (const THeightGridmapCell &c) const
 The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 
bool dem_internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Internal method called by internal_insertObservation() More...
 
Specific API for Digital Elevation Model (DEM) maps
bool intersectLine3D (const mrpt::math::TLine3D &r1, mrpt::math::TObject3D &obj) const
 Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell) More...
 
bool getMinMaxHeight (float &z_min, float &z_max) const
 Computes the minimum and maximum height in the grid. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

mrpt::maps::CHeightGridMap2D::TInsertionOptions insertionOptions
 
TMapRepresentation m_mapType
 The map representation type of this map. More...
 
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

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...
 
std::vector< THeightGridmapCell > & m_map_castaway_const () const
 Used only from logically const method that really need to modify the object. More...
 
void dyngridcommon_writeToStream (mrpt::utils::CStream &out) const
 
void dyngridcommon_readFromStream (mrpt::utils::CStream &in, bool cast_from_float=false)
 
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

std::vector< THeightGridmapCellm_map
 The cells. More...
 
double m_x_min
 
double m_x_max
 
double m_y_min
 
double m_y_max
 
double m_resolution
 
size_t m_size_x
 
size_t m_size_y
 

RTTI stuff

typedef CHeightGridMap2DPtr Ptr
 
typedef CHeightGridMap2DPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CHeightGridMap2D
 
static mrpt::utils::TRuntimeClassId classCHeightGridMap2D
 
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 CHeightGridMap2DPtr Create ()
 

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

static const size_t m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D,heightMap,dem" ,& mrpt::maps::CHeightGridMap2D ::MapDefinition,& mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static CHeightGridMap2DCreateFromMapDefinition (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 CHeightGridMap2DPtr mrpt::maps::CHeightGridMap2D::ConstPtr

Definition at line 61 of file maps/CHeightGridMap2D.h.

typedef CHeightGridMap2DPtr mrpt::maps::CHeightGridMap2D::Ptr

A typedef for the associated smart pointer

Definition at line 61 of file maps/CHeightGridMap2D.h.

Member Enumeration Documentation

The type of map representation to be used.

See mrpt::maps::CHeightGridMap2D for discussion.

Enumerator
mrSimpleAverage 

Definition at line 76 of file maps/CHeightGridMap2D.h.

Constructor & Destructor Documentation

CHeightGridMap2D::CHeightGridMap2D ( TMapRepresentation  mapType = mrSimpleAverage,
double  x_min = -2,
double  x_max = 2,
double  y_min = -2,
double  y_max = 2,
double  resolution = 0.1 
)

Constructor.

Definition at line 88 of file CHeightGridMap2D.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D::_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.

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().

float mrpt::maps::CHeightGridMap2D::cell2float ( const THeightGridmapCell c) const
inline

Definition at line 69 of file maps/CHeightGridMap2D.h.

virtual float mrpt::utils::CDynamicGrid< THeightGridmapCell >::cell2float ( const THeightGridmapCell &  c) const
inlinevirtualinherited

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Definition at line 274 of file CDynamicGrid.h.

THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByIndex ( unsigned int  cx,
unsigned int  cy 
)
inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 203 of file CDynamicGrid.h.

Referenced by dem_get_z_by_cell(), and getAs3DObject().

const THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByIndex ( unsigned int  cx,
unsigned int  cy 
) const
inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 212 of file CDynamicGrid.h.

THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByPos ( double  x,
double  y 
)
inlineinherited

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 183 of file CDynamicGrid.h.

Referenced by dem_get_z().

const THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByPos ( double  x,
double  y 
) const
inlineinherited

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 192 of file CDynamicGrid.h.

void mrpt::maps::CHeightGridMap2D::clear ( )
inline

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

Definition at line 67 of file maps/CHeightGridMap2D.h.

References mrpt::maps::CMetricMap::clear().

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

float CHeightGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
const TMatchingRatioParams params 
) const
virtual

See docs in base class: in this class it always returns 0.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 418 of file CHeightGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

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().

size_t CHeightGridMap2D::countObservedCells ( ) const

Return the number of cells with at least one height data inserted.

Definition at line 370 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_map, m_mapType, mrSimpleAverage, and THROW_EXCEPTION.

static CHeightGridMap2DPtr mrpt::maps::CHeightGridMap2D::Create ( )
static
mrpt::maps::CHeightGridMap2D * mrpt::maps::CHeightGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

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

Definition at line 33 of file CHeightGridMap2D.cpp.

static mrpt::utils::CObject* mrpt::maps::CHeightGridMap2D::CreateObject ( )
static
double CHeightGridMap2D::dem_get_resolution ( ) const
virtual
size_t CHeightGridMap2D::dem_get_size_x ( ) const
virtual
size_t CHeightGridMap2D::dem_get_size_y ( ) const
virtual
bool CHeightGridMap2D::dem_get_z ( const double  x,
const double  y,
double &  z_out 
) const
virtual

Get cell 'z' (x,y) by metric coordinates.

Returns
false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 404 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByPos(), mrpt::maps::THeightGridmapCell::h, and mrpt::maps::THeightGridmapCell::w.

bool CHeightGridMap2D::dem_get_z_by_cell ( const size_t  cx,
const size_t  cy,
double &  z_out 
) const
virtual

Get cell 'z' by (cx,cy) cell indices.

Returns
false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 397 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByIndex(), mrpt::maps::THeightGridmapCell::h, and mrpt::maps::THeightGridmapCell::w.

bool CHeightGridMap2D_Base::dem_internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited
void CHeightGridMap2D::dem_update_map ( )
virtual

Ensure that all observations are reflected in the map estimate.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 414 of file CHeightGridMap2D.cpp.

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::CHeightGridMap2D::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().

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::dyngridcommon_readFromStream ( mrpt::utils::CStream in,
bool  cast_from_float = false 
)
inlineprotectedinherited

Definition at line 300 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::dyngridcommon_writeToStream ( mrpt::utils::CStream out) const
inlineprotectedinherited

Definition at line 295 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::fill ( const THeightGridmapCell &  value)
inlineinherited

Fills all the cells with the same value.

Definition at line 101 of file CDynamicGrid.h.

void CHeightGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj) const
virtual
void mrpt::utils::CDynamicGrid< THeightGridmapCell >::getAsMatrix ( MAT &  m) const
inlineinherited

Get the entire grid as a matrix.

Template Parameters
MATThe type of the matrix, typically a mrpt::math::CMatrixDouble.
Parameters
[out]mThe output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).
Note
This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 263 of file CDynamicGrid.h.

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
TMapRepresentation mrpt::maps::CHeightGridMap2D::getMapType ( )

Return the type of the gas distribution map, according to parameters passed on construction.

bool CHeightGridMap2D_Base::getMinMaxHeight ( float &  z_min,
float &  z_max 
) const
inherited
double mrpt::utils::CDynamicGrid< THeightGridmapCell >::getResolution ( ) const
inlineinherited

Returns the resolution of the grid map.

Definition at line 238 of file CDynamicGrid.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

size_t mrpt::utils::CDynamicGrid< THeightGridmapCell >::getSizeX ( ) const
inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 220 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid< THeightGridmapCell >::getSizeY ( ) const
inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 223 of file CDynamicGrid.h.

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::getXMax ( ) const
inlineinherited

Returns the "x" coordinate of right side of grid map.

Definition at line 229 of file CDynamicGrid.h.

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::getXMin ( ) const
inlineinherited

Returns the "x" coordinate of left side of grid map.

Definition at line 226 of file CDynamicGrid.h.

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::getYMax ( ) const
inlineinherited

Returns the "y" coordinate of bottom side of grid map.

Definition at line 235 of file CDynamicGrid.h.

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::getYMin ( ) const
inlineinherited

Returns the "y" coordinate of top side of grid map.

Definition at line 232 of file CDynamicGrid.h.

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().

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::idx2cxcy ( const int idx,
int cx,
int cy 
) const
inlineinherited

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 246 of file CDynamicGrid.h.

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::idx2x ( int  cx) const
inlineinherited

Transform a cell index into a coordinate value of the cell central point.

Definition at line 253 of file CDynamicGrid.h.

Referenced by getAs3DObject().

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::idx2y ( int  cy) const
inlineinherited

Definition at line 254 of file CDynamicGrid.h.

Referenced by getAs3DObject().

bool CHeightGridMap2D::insertIndividualPoint ( const double  x,
const double  y,
const double  z,
const CHeightGridMap2D_Base::TPointInsertParams params = CHeightGridMap2D_Base::TPointInsertParams() 
)
virtual

Update the DEM with one new point.

See also
mrpt::maps::CMetricMap::insertObservation() for inserting higher-level objects like 2D/3D LIDAR scans
Returns
true if updated OK, false if (x,y) is out of bounds

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 115 of file CHeightGridMap2D.cpp.

References mrpt::maps::THeightGridmapCell::h, mrpt::maps::THeightGridmapCell::u, mrpt::maps::THeightGridmapCell::v, mrpt::maps::THeightGridmapCell::var, and mrpt::maps::THeightGridmapCell::w.

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 CHeightGridMap2D::internal_clear ( )
virtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 102 of file CHeightGridMap2D.cpp.

References fill().

double CHeightGridMap2D::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
virtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 149 of file CHeightGridMap2D.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

mrpt::maps::CMetricMap * CHeightGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static
bool CHeightGridMap2D::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
virtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 140 of file CHeightGridMap2D.cpp.

bool CHeightGridMap2D_Base::intersectLine3D ( const mrpt::math::TLine3D r1,
mrpt::math::TObject3D obj 
) const
inherited
bool CHeightGridMap2D::isEmpty ( ) const
virtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 110 of file CHeightGridMap2D.cpp.

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().

std::vector<THeightGridmapCell >& mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_map_castaway_const ( ) const
inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

mrpt::maps::TMetricMapInitializer * mrpt::maps::CHeightGridMap2D::MapDefinition ( )
static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 33 of file CHeightGridMap2D.cpp.

void mrpt::maps::CHeightGridMap2D::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

void mrpt::maps::CHeightGridMap2D::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

void mrpt::maps::CHeightGridMap2D::operator delete ( void ptr)
throw (
)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

void mrpt::maps::CHeightGridMap2D::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

static void* mrpt::maps::CHeightGridMap2D::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 61 of file maps/CHeightGridMap2D.h.

void* mrpt::maps::CHeightGridMap2D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

void* mrpt::maps::CHeightGridMap2D::operator new ( size_t  size)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

void* mrpt::maps::CHeightGridMap2D::operator new[] ( size_t  size)
inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

void CObservable::publishEvent ( const mrptEvent e) const
protectedinherited
void CHeightGridMap2D::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 193 of file CHeightGridMap2D.cpp.

References ASSERT_, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

virtual void mrpt::utils::CDynamicGrid< THeightGridmapCell >::resize ( double  new_x_min,
double  new_x_max,
double  new_y_min,
double  new_y_max,
const THeightGridmapCell &  defaultValueNewCells,
double  additionalMarginMeters = 2.0 
)
inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also
setSize

Definition at line 109 of file CDynamicGrid.h.

void CHeightGridMap2D::saveMetricMapRepresentationToFile ( const std::string filNamePrefix) const
virtual

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.

Definition at line 287 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::saveToTextFile().

bool mrpt::utils::CDynamicGrid< THeightGridmapCell >::saveToTextFile ( const std::string fileName) const
inlineinherited

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns
false on error

Definition at line 280 of file CDynamicGrid.h.

Referenced by saveMetricMapRepresentationToFile().

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::setSize ( const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  resolution,
const THeightGridmapCell *  fill_value = NULL 
)
inlineinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing.

See also
resize, fill

Definition at line 69 of file CDynamicGrid.h.

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.

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 CHeightGridMap2D::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 161 of file CHeightGridMap2D.cpp.

int mrpt::utils::CDynamicGrid< THeightGridmapCell >::x2idx ( double  x) const
inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 241 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid< THeightGridmapCell >::xy2idx ( double  x,
double  y 
) const
inlineinherited

Definition at line 243 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid< THeightGridmapCell >::y2idx ( double  y) const
inlineinherited

Definition at line 242 of file CDynamicGrid.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CHeightGridMap2D::_init_CHeightGridMap2D
staticprotected

Definition at line 61 of file maps/CHeightGridMap2D.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CHeightGridMap2D::classCHeightGridMap2D
static

Definition at line 61 of file maps/CHeightGridMap2D.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::CHeightGridMap2D::classinfo
static

Definition at line 61 of file maps/CHeightGridMap2D.h.

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited
mrpt::maps::CHeightGridMap2D::TInsertionOptions mrpt::maps::CHeightGridMap2D::insertionOptions
std::vector<THeightGridmapCell > mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_map
protectedinherited

The cells.

Definition at line 43 of file CDynamicGrid.h.

Referenced by countObservedCells().

TMapRepresentation mrpt::maps::CHeightGridMap2D::m_mapType

The map representation type of this map.

Definition at line 128 of file maps/CHeightGridMap2D.h.

Referenced by countObservedCells().

const size_t mrpt::maps::CHeightGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D,heightMap,dem" ,& mrpt::maps::CHeightGridMap2D ::MapDefinition,& mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)
static

ID used to initialize class registration (just ignore it)

Definition at line 139 of file maps/CHeightGridMap2D.h.

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_resolution
protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by dem_get_resolution().

size_t mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_size_x
protectedinherited

Definition at line 48 of file CDynamicGrid.h.

Referenced by dem_get_size_x(), and getAs3DObject().

size_t mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_size_y
protectedinherited

Definition at line 48 of file CDynamicGrid.h.

Referenced by dem_get_size_y(), and getAs3DObject().

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_x_max
protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_x_min
protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_y_max
protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_y_min
protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().




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