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mrpt::pbmap::PbMap Class Reference

Detailed Description

A class used to store a Plane-based Map (PbMap).

A PbMap consists of a set of planar patches described by geometric features (shape, relative position, etc.) and/or radiometric features (dominant color). It is organized as an annotated, undirected graph, where nodes stand for planar patches and edges connect neighbor planes when the distance between their closest points is under a threshold. This graph structure permits to find efficiently the closest neighbors of a plane, or to select groups of nearby planes representing part of the scene.

Definition at line 45 of file PbMap.h.

#include <mrpt/pbmap/PbMap.h>

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

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) 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 ()
 
 PbMap ()
 
void savePbMap (std::string filePath)
 
void loadPbMap (std::string PbMapFile)
 
void MergeWith (PbMap &pbm, Eigen::Matrix4f &T)
 
void printPbMap (std::string txtFilePbm)
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

std::vector< PlanevPlanes
 
std::string label
 
int FloorPlane
 
pcl::PointCloud< PointT >::Ptr globalMapPtr
 
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr edgeCloudPtr
 
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr outEdgeCloudPtr
 
unsigned background
 
unsigned foreground
 
unsigned groundplane
 

Static Public Attributes

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

Protected Member Functions

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...
 

RTTI stuff

typedef PbMapPtr Ptr
 
typedef PbMapPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_PbMap
 
static mrpt::utils::TRuntimeClassId classPbMap
 
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 PbMapPtr Create ()
 

Member Typedef Documentation

typedef PbMapPtr mrpt::pbmap::PbMap::ConstPtr

Definition at line 48 of file PbMap.h.

typedef PbMapPtr mrpt::pbmap::PbMap::Ptr

A typedef for the associated smart pointer

Definition at line 48 of file PbMap.h.

Constructor & Destructor Documentation

PbMap::PbMap ( )

Constructor.

Definition at line 32 of file PbMap.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static PbMapPtr mrpt::pbmap::PbMap::Create ( )
static
static mrpt::utils::CObject* mrpt::pbmap::PbMap::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::pbmap::PbMap::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 const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

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

Load a PbMap from the given filePath

Definition at line 117 of file PbMap.cpp.

References mrpt::utils::CFileGZInputStream::close(), and mrpt::utils::CFileGZInputStream::open().

Referenced by mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps().

void PbMap::MergeWith ( PbMap pbm,
Eigen::Matrix4f &  T 
)
void mrpt::pbmap::PbMap::operator delete ( void ptr)
throw (
)
inline

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Definition at line 48 of file PbMap.h.

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

Print PbMap content to a text file

Definition at line 176 of file PbMap.cpp.

void PbMap::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 66 of file PbMap.cpp.

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

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

Save PbMap in the given filePath

Definition at line 102 of file PbMap.cpp.

References CFileGZOutputStream.

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

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 PbMap::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 43 of file PbMap.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::pbmap::PbMap::_init_PbMap
staticprotected

Definition at line 48 of file PbMap.h.

unsigned mrpt::pbmap::PbMap::background

Definition at line 68 of file PbMap.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::pbmap::PbMap::classinfo
static

Definition at line 48 of file PbMap.h.

mrpt::utils::TRuntimeClassId mrpt::pbmap::PbMap::classPbMap
static

Definition at line 48 of file PbMap.h.

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

Definition at line 66 of file PbMap.h.

int mrpt::pbmap::PbMap::FloorPlane

Floor plane id

Definition at line 61 of file PbMap.h.

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

unsigned mrpt::pbmap::PbMap::foreground

Definition at line 68 of file PbMap.h.

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

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

Definition at line 64 of file PbMap.h.

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

unsigned mrpt::pbmap::PbMap::groundplane

Definition at line 68 of file PbMap.h.

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

Label to store a semantic attribute

Definition at line 58 of file PbMap.h.

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

Definition at line 67 of file PbMap.h.

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



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