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 44 of file pbmap/PbMap.h.

#include <mrpt/pbmap/PbMap.h>

Inheritance diagram for mrpt::pbmap::PbMap:

Public Member Functions
	PbMap ()

void	savePbMap (std::string filePath)

void	loadPbMap (std::string PbMapFile)

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

void	printPbMap (std::string txtFilePbm)

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
std::vector< Plane >	vPlanes

std::string	label

int	FloorPlane

pcl::PointCloud< PointT >::Ptr	globalMapPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	edgeCloudPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	outEdgeCloudPtr

unsigned	background

unsigned	foreground

unsigned	groundplane

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< PbMap >

using	ConstPtr = std::shared_ptr< const PbMap >

using	UniquePtr = std::unique_ptr< PbMap >

using	ConstUniquePtr = std::unique_ptr< const PbMap >

static mrpt::rtti::CLASSINIT	_init_PbMap

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "PbMap"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

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

static std::shared_ptr< CObject >	CreateObject ()

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

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

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

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::pbmap::PbMap::ConstPtr = std::shared_ptr<const PbMap >

Definition at line 46 of file pbmap/PbMap.h.

◆ ConstUniquePtr

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

Definition at line 46 of file pbmap/PbMap.h.

◆ Ptr

using mrpt::pbmap::PbMap::Ptr = std::shared_ptr< PbMap >

A type for the associated smart pointer

Definition at line 46 of file pbmap/PbMap.h.

◆ UniquePtr

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

Definition at line 46 of file pbmap/PbMap.h.

Constructor & Destructor Documentation

◆ PbMap()

PbMap::PbMap ( )

Constructor.

Definition at line 33 of file PbMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::pbmap::PbMap::Create ( Args &&... args )

inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::pbmap::PbMap::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::pbmap::PbMap::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::pbmap::PbMap::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

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

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

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◆ getClassName()

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

inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

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

static

◆ loadPbMap()

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

Load a PbMap from the given filePath

Definition at line 96 of file PbMap.cpp.

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

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

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◆ MergeWith()

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

Merge two pbmaps

Definition at line 119 of file PbMap.cpp.

References globalMapPtr, mrpt::pbmap::Plane::id, mrpt::pbmap::Plane::planePointCloudPtr, mrpt::pbmap::Plane::polygonContourPtr, mrpt::pbmap::Plane::v3center, mrpt::pbmap::Plane::v3normal, mrpt::pbmap::Plane::v3PpalDir, and vPlanes.

◆ printPbMap()

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

Print PbMap content to a text file

Definition at line 158 of file PbMap.cpp.

◆ savePbMap()

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

Save PbMap in the given filePath

Definition at line 85 of file PbMap.cpp.

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

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

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◆ serializeFrom() [1/2]

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

overrideprotectedvirtual

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

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

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file PbMap.cpp.

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

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t PbMap::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

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

Implements mrpt::serialization::CSerializable.

Definition at line 41 of file PbMap.cpp.

◆ serializeTo() [1/2]

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

overrideprotectedvirtual

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

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

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 42 of file PbMap.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ _init_PbMap

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

staticprotected

Definition at line 46 of file pbmap/PbMap.h.

◆ background

unsigned mrpt::pbmap::PbMap::background

Definition at line 68 of file pbmap/PbMap.h.

◆ className

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

static

Definition at line 46 of file pbmap/PbMap.h.

◆ edgeCloudPtr

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

Definition at line 66 of file pbmap/PbMap.h.

◆ FloorPlane

int mrpt::pbmap::PbMap::FloorPlane

Floor plane id

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

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

◆ foreground

unsigned mrpt::pbmap::PbMap::foreground

Definition at line 68 of file pbmap/PbMap.h.

◆ globalMapPtr

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

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

Definition at line 64 of file pbmap/PbMap.h.

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

◆ groundplane

unsigned mrpt::pbmap::PbMap::groundplane

Definition at line 68 of file pbmap/PbMap.h.

◆ label

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

Label to store a semantic attribute

Definition at line 57 of file pbmap/PbMap.h.

◆ outEdgeCloudPtr

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

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

◆ runtimeClassId

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

staticprotected

Definition at line 46 of file pbmap/PbMap.h.

◆ vPlanes

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

Vector to store the 3D-planes which are the basic characteristic of our map.

Definition at line 54 of file pbmap/PbMap.h.

Referenced by mrpt::pbmap::SemanticClustering::arrangeNewGroups(), mrpt::pbmap::SemanticClustering::buildCoVisibilityMatrix(), mrpt::pbmap::SemanticClustering::buildProximityMatrix(), mrpt::pbmap::ConsistencyTest::calcAlignmentError(), mrpt::pbmap::PbMapMaker::checkProximity(), mrpt::pbmap::PbMapLocaliser::compareSubgraphNeighbors(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::ConsistencyTest::estimatePose(), mrpt::pbmap::ConsistencyTest::estimatePoseRANSAC(), mrpt::pbmap::ConsistencyTest::estimatePoseWithCovariance(), mrpt::pbmap::SemanticClustering::evalPartition(), mrpt::pbmap::PbMapLocaliser::getAreaMatch(), mrpt::pbmap::ConsistencyTest::getRTwithModel(), mrpt::pbmap::ConsistencyTest::initPose(), mrpt::pbmap::ConsistencyTest::initPose2D(), mrpt::pbmap::PbMapLocaliser::LoadPreviousPbMaps(), MergeWith(), mrpt::pbmap::PbMapLocaliser::run(), mrpt::pbmap::PbMapMaker::run(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::pbmap::Subgraph::Subgraph(), and mrpt::pbmap::PbMapMaker::viz_cb().

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ PbMap()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ loadPbMap()

◆ MergeWith()

◆ printPbMap()

◆ savePbMap()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ _init_PbMap

◆ background

◆ className

◆ edgeCloudPtr

◆ FloorPlane

◆ foreground

◆ globalMapPtr

◆ groundplane

◆ label

◆ outEdgeCloudPtr

◆ runtimeClassId

◆ vPlanes