mrpt::pbmap Namespace Reference

Classes
struct	config_heuristics
	A class used to define the heuristic parameters and thresholds used to match sets of planes. More...
class	ConsistencyTest
struct	frameRGBDandPose
class	PbMap
	A class used to store a Plane-based Map (PbMap). More...
class	PbMapLocaliser
class	PbMapMaker
class	Plane
	A class used to store a planar feature (Plane for short). More...
class	PlaneInferredInfo
	A class used to infer some semantic meaning to the planes of a PbMap. More...
struct	Segment
class	SemanticClustering
class	Subgraph
class	SubgraphMatcher

Typedefs
using	PointT = pcl::PointXYZRGBA

Functions
template<class pointPCL >
Eigen::Vector3f	getVector3fromPointXYZ (pointPCL &pt)
template<class POINT >
Eigen::Vector3f	diffPoints (const POINT &P1, const POINT &P2)
template<class dataType >
Eigen::Matrix< dataType, 3, 1 >	compose (Eigen::Matrix< dataType, 4, 4 > &pose, Eigen::Matrix< dataType, 3, 1 > &point)
template<class dataType >
Eigen::Matrix< dataType, 4, 4 >	compose (Eigen::Matrix< dataType, 4, 4 > &pose1, Eigen::Matrix< dataType, 4, 4 > &pose2)
template<class dataType >
Eigen::Matrix< dataType, 4, 4 >	inverse (Eigen::Matrix< dataType, 4, 4 > &pose)
float	dist3D_Segment_to_Segment2 (Segment S1, Segment S2)
bool	isInHull (PointT &point3D, pcl::PointCloud< PointT >::Ptr hull3D)
template<typename dataType >
dataType	getMode (std::vector< dataType > data, dataType range)
template<typename dataType >
Eigen::Vector4f	getMultiDimMeanShift_color (std::vector< Eigen::Vector4f > &data, dataType &stdDevHist, dataType &concentration)
template<typename dataType >
dataType	getHistogramMeanShift (std::vector< dataType > &data, double range, dataType &stdDevHist_out)
template<class T >
std::ostream &	operator<< (std::ostream &os, const std::vector< T > &v)
	Output a vector as a stream that is space separated. More...

Typedef Documentation

PointT

using mrpt::pbmap::PointT = typedef pcl::PointXYZRGBA

Definition at line 34 of file Miscellaneous.h.

Function Documentation

compose() [1/2]

template<class dataType >

Eigen::Matrix<dataType, 3, 1> mrpt::pbmap::compose	(	Eigen::Matrix< dataType, 4, 4 > &	pose,
		Eigen::Matrix< dataType, 3, 1 > &	point
	)

Compose a 3D-point with a pose.

Definition at line 55 of file Miscellaneous.h.

Referenced by mrpt::pbmap::ConsistencyTest::calcAlignmentError(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and mrpt::pbmap::ConsistencyTest::getRTwithModel().

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compose() [2/2]

template<class dataType >

Eigen::Matrix<dataType, 4, 4> mrpt::pbmap::compose	(	Eigen::Matrix< dataType, 4, 4 > &	pose1,
		Eigen::Matrix< dataType, 4, 4 > &	pose2
	)

Compose two poses.

Definition at line 66 of file Miscellaneous.h.

diffPoints()

template<class POINT >

Eigen::Vector3f mrpt::pbmap::diffPoints ( const POINT &  P1, const POINT &  P2  )

inline

Definition at line 44 of file Miscellaneous.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), dist3D_Segment_to_Segment2(), and mrpt::pbmap::Plane::isPlaneNearby().

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dist3D_Segment_to_Segment2()

float mrpt::pbmap::dist3D_Segment_to_Segment2	(	Segment	S1,
		Segment	S2
	)

Square of the distance between two segments

Definition at line 25 of file Miscellaneous.cpp.

References diffPoints(), mrpt::pbmap::Segment::P0, mrpt::pbmap::Segment::P1, and SMALL_NUM.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), and mrpt::pbmap::Plane::isPlaneNearby().

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getHistogramMeanShift()

template<typename dataType >

dataType mrpt::pbmap::getHistogramMeanShift	(	std::vector< dataType > &	data,
		double	range,
		dataType &	stdDevHist_out
	)

Definition at line 244 of file Miscellaneous.h.

References mrpt::math::stddev(), and mrpt::math::sum().

Referenced by mrpt::pbmap::Plane::calcMainColor().

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getMode()

template<typename dataType >

dataType mrpt::pbmap::getMode	(	std::vector< dataType >	data,
		dataType	range
	)

Definition at line 106 of file Miscellaneous.h.

References mrpt::math::histogram().

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getMultiDimMeanShift_color()

template<typename dataType >

Eigen::Vector4f mrpt::pbmap::getMultiDimMeanShift_color	(	std::vector< Eigen::Vector4f > &	data,
		dataType &	stdDevHist,
		dataType &	concentration
	)

Definition at line 153 of file Miscellaneous.h.

References mrpt::math::cov(), mrpt::math::norm(), mrpt::math::sum(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose().

Referenced by mrpt::pbmap::Plane::calcMainColor2().

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getVector3fromPointXYZ()

template<class pointPCL >

Eigen::Vector3f mrpt::pbmap::getVector3fromPointXYZ

(

pointPCL &

pt

)

Transform the (x,y,z) coordinates of a PCL point into a Eigen::Vector3f.

Definition at line 38 of file Miscellaneous.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::Plane::isPlaneNearby(), and mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground().

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inverse()

template<class dataType >

Eigen::Matrix<dataType, 4, 4> mrpt::pbmap::inverse

(

Eigen::Matrix< dataType, 4, 4 > &

pose

)

Get the pose's inverse.

Definition at line 81 of file Miscellaneous.h.

Referenced by mrpt::vision::pnp::lhm::compute_pose(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath(), mrpt::math::leastSquareLinearFit(), mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::typemeta::TEnumType< ENUMTYPE >::name2value(), mrpt::vision::pnp::posit::posit(), and mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

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isInHull()

bool mrpt::pbmap::isInHull	(	PointT &	point3D,
		pcl::PointCloud< PointT >::Ptr	hull3D
	)

Check if a point lays inside a convex hull

Definition at line 103 of file Miscellaneous.cpp.

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

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operator<<()

template<class T >

std::ostream& mrpt::pbmap::operator<<	(	std::ostream &	os,
		const std::vector< T > &	v
	)

Output a vector as a stream that is space separated.

Parameters

os	Output stream
v	Vector to output

Returns

the stream output

Definition at line 337 of file Miscellaneous.h.