mrpt::maps::CLandmarksMap Class Reference

Detailed Description

A class for storing a map of 3D probabilistic landmarks.

Currently these types of landmarks are defined: (see mrpt::maps::CLandmark)

• For "visual landmarks" from images: features with associated descriptors.
• For laser scanners: each of the range measuremnts, as "occupancy" landmarks.
• For grid maps: "Panoramic descriptor" feature points.
• For range-only localization and SLAM: Beacons. It is also supported the simulation of expected beacon-to-sensor readings, observation likelihood,...
  How to load landmarks from observations:
  When invoking CLandmarksMap::insertObservation(), the values in CLandmarksMap::insertionOptions will determinate the kind of landmarks that will be extracted and fused into the map. Supported feature extraction processes are listed next:

Observation class:	Generated Landmarks:	Comments:
CObservationImage	vlSIFT	1) A SIFT feature is created for each SIFT detected in the image, 2) Correspondences between SIFTs features and existing ones are finded by computeMatchingWith3DLandmarks, 3) The corresponding feaures are fused, and the new ones added, with an initial uncertainty according to insertionOptions
CObservationStereoImages	vlSIFT	Each image is separately procesed by the method for CObservationImage observations
CObservationStereoImages	vlColor	TODO...
CObservation2DRangeScan	glOccupancy	A landmark is added for each range in the scan, with its appropiate covariance matrix derived from the jacobians matrixes.

See also

CMetricMap

Definition at line 74 of file CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Inheritance diagram for mrpt::maps::CLandmarksMap:

Classes
struct	TCustomSequenceLandmarks
	The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation. More...
struct	TFuseOptions
	With this struct options are provided to the fusion process. More...
struct	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...
struct	TInsertionResults
	This struct stores extra results from invoking insertObservation. More...
struct	TLikelihoodOptions
	With this struct options are provided to the likelihood computations. More...
struct	TMapDefinition
struct	TMapDefinitionBase

Public Types
using	landmark_type = mrpt::maps::CLandmark

Public Member Functions
double	internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
	Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map. More...
	CLandmarksMap ()=default
	~CLandmarksMap () override=default
mrpt::maps::CLandmark::TLandmarkID	getMapMaxID ()
float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	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...
bool	saveToTextFile (std::string file)
	Save to a text file. More...
bool	saveToMATLABScript2D (std::string file, const char *style="b", float stdCount=2.0f)
	Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane). More...
bool	saveToMATLABScript3D (std::string file, const char *style="b", float confInterval=0.95f) const
	Save to a MATLAB script which displays 3D error ellipses for the map. More...
size_t	size () const
	Returns the stored landmarks count. More...
double	computeLikelihood_RSLC_2007 (const CLandmarksMap *s, const mrpt::poses::CPose2D &sensorPose)
	Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map. More...
void	loadSiftFeaturesFromImageObservation (const mrpt::obs::CObservationImage &obs, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT))
	Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. More...
void	loadSiftFeaturesFromStereoImageObservation (const mrpt::obs::CObservationStereoImages &obs, mrpt::maps::CLandmark::TLandmarkID fID, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT))
	Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. More...
void	loadOccupancyFeaturesFrom2DRangeScan (const mrpt::obs::CObservation2DRangeScan &obs, const mrpt::poses::CPose3D *robotPose=nullptr, unsigned int downSampleFactor=1)
	Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased) More...
void	computeMatchingWith2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const mrpt::poses::CPose2D &angularDistPivotPoint, mrpt::tfest::TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=nullptr, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false) const
void	computeMatchingWith3DLandmarks (const mrpt::maps::CLandmarksMap *otherMap, mrpt::tfest::TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const
	Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs. More...
void	changeCoordinatesReference (const mrpt::poses::CPose3D &newOrg)
	Changes the reference system of the map to a given 3D pose. More...
void	changeCoordinatesReference (const mrpt::poses::CPose3D &newOrg, const mrpt::maps::CLandmarksMap *otherMap)
	Changes the reference system of the map "otherMap" and save the result in "this" map. More...
void	fuseWith (CLandmarksMap &other, bool justInsertAllOfThem=false)
	Fuses the contents of another map with this one, updating "this" object with the result. More...
double	computeLikelihood_SIFT_LandmarkMap (CLandmarksMap *map, mrpt::tfest::TMatchingPairList *correspondences=nullptr, std::vector< bool > *otherCorrespondences=nullptr)
	Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map. More...
bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. More...
void	simulateBeaconReadings (const mrpt::poses::CPose3D &in_robotPose, const mrpt::poses::CPoint3D &in_sensorLocationOnRobot, mrpt::obs::CObservationBeaconRanges &out_Observations) const
	Simulates a noisy reading toward each of the beacons in the landmarks map, if any. More...
void	simulateRangeBearingReadings (const mrpt::poses::CPose3D &robotPose, const mrpt::poses::CPose3D &sensorLocationOnRobot, mrpt::obs::CObservationBearingRange &observations, bool sensorDetectsIDs=true, const float stdRange=0.01f, const float stdYaw=mrpt::DEG2RAD(0.1f), const float stdPitch=mrpt::DEG2RAD(0.1f), std::vector< size_t > *real_associations=nullptr, const double spurious_count_mean=0, const double spurious_count_std=0) const
	Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any. More...
void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const 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::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...
void	auxParticleFilterCleanUp () override
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". 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)
	! More...
bool	insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	Insert the observation information into this map. More...
bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	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...
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::tfest::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::tfest::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	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::CSimplePointsMap *	getAsSimplePointsMap () 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...
mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap ()
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
struct mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks	landmarks
mrpt::maps::CLandmarksMap::TInsertionOptions	insertionOptions
mrpt::maps::CLandmarksMap::TLikelihoodOptions	likelihoodOptions
struct mrpt::maps::CLandmarksMap::TInsertionResults	insertionResults
struct mrpt::maps::CLandmarksMap::TFuseOptions	fuseOptions
TMapGenericParams	genericMapParams
	Common params to all maps. More...

Static Public Attributes
static mrpt::img::TColorf	COLOR_LANDMARKS_IN_3DSCENES
	The color of landmark ellipsoids in CLandmarksMap::getAs3DObject. More...
static std::map< std::pair< mrpt::maps::CLandmark::TLandmarkID, mrpt::maps::CLandmark::TLandmarkID >, double >	_mEDD
	Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks. More...
static mrpt::maps::CLandmark::TLandmarkID	_mapMaxID
static bool	_maxIDUpdated = false

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...
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...

Private Member Functions
void	internal_clear () override
	Internal method called by clear() More...
bool	internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
	Internal method called by insertObservation() More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CLandmarksMap >
using	ConstPtr = std::shared_ptr< const mrpt::maps ::CLandmarksMap >
using	UniquePtr = std::unique_ptr< mrpt::maps ::CLandmarksMap >
using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CLandmarksMap >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::maps" "::" "CLandmarksMap"
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...

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CLandmarksMap,landmarksMap" , & mrpt::maps::CLandmarksMap ::MapDefinition, & mrpt::maps::CLandmarksMap ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...
static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...
static CLandmarksMap *	CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
	Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...
static mrpt::maps::CMetricMap *	internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)

Member Typedef Documentation

ConstPtr

using mrpt::maps::CLandmarksMap::ConstPtr = std::shared_ptr<const mrpt::maps :: CLandmarksMap >

Definition at line 76 of file CLandmarksMap.h.

ConstUniquePtr

using mrpt::maps::CLandmarksMap::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CLandmarksMap >

Definition at line 76 of file CLandmarksMap.h.

landmark_type

using mrpt::maps::CLandmarksMap::landmark_type = mrpt::maps::CLandmark

Definition at line 129 of file CLandmarksMap.h.

Ptr

using mrpt::maps::CLandmarksMap::Ptr = std::shared_ptr< mrpt::maps :: CLandmarksMap >

A type for the associated smart pointer

Definition at line 76 of file CLandmarksMap.h.

UniquePtr

using mrpt::maps::CLandmarksMap::UniquePtr = std::unique_ptr< mrpt::maps :: CLandmarksMap >

Definition at line 76 of file CLandmarksMap.h.

Constructor & Destructor Documentation

CLandmarksMap()

mrpt::maps::CLandmarksMap::CLandmarksMap ( )

default

~CLandmarksMap()

mrpt::maps::CLandmarksMap::~CLandmarksMap ( )

overridedefault

Member Function Documentation

_GetBaseClass()

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

staticprotected

auxParticleFilterCleanUp()

void CLandmarksMap::auxParticleFilterCleanUp ( )

overridevirtual

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 from mrpt::maps::CMetricMap.

Definition at line 2680 of file CLandmarksMap.cpp.

References _maxIDUpdated, and _mEDD.

canComputeObservationLikelihood()

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

obs	The observation.

See also

computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 161 of file CMetricMap.cpp.

canComputeObservationsLikelihood()

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

sf	The observations.

See also

canComputeObservationLikelihood

Definition at line 85 of file CMetricMap.cpp.

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

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changeCoordinatesReference() [1/2]

void CLandmarksMap::changeCoordinatesReference

(

const mrpt::poses::CPose3D &

newOrg

)

Changes the reference system of the map to a given 3D pose.

Definition at line 766 of file CLandmarksMap.cpp.

References mrpt::poses::CPose3D::composePoint(), and mrpt::poses::CPose3D::getHomogeneousMatrix().

Referenced by computeMatchingWith2D(), internal_computeObservationLikelihood(), and internal_insertObservation().

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changeCoordinatesReference() [2/2]

void CLandmarksMap::changeCoordinatesReference	(	const mrpt::poses::CPose3D &	newOrg,
		const mrpt::maps::CLandmarksMap *	otherMap
	)

Changes the reference system of the map "otherMap" and save the result in "this" map.

Definition at line 847 of file CLandmarksMap.cpp.

References mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::maps::CLandmark::features, mrpt::poses::CPose3D::getHomogeneousMatrix(), mrpt::maps::CLandmark::ID, landmarks, mrpt::maps::CLandmark::normal, mrpt::maps::CLandmark::pose_cov_11, mrpt::maps::CLandmark::pose_cov_12, mrpt::maps::CLandmark::pose_cov_13, mrpt::maps::CLandmark::pose_cov_22, mrpt::maps::CLandmark::pose_cov_23, mrpt::maps::CLandmark::pose_cov_33, mrpt::maps::CLandmark::pose_mean, mrpt::maps::CLandmark::seenTimesCount, mrpt::maps::CLandmark::timestampLastSeen, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 30 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::ros1bridge::fromROS(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI(), mrpt::maps::CRandomFieldGridMap2D::setSize(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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clone()

virtual mrpt::rtti::CObject* mrpt::maps::CLandmarksMap::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

compute3DMatchingRatio()

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

overridevirtual

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 from mrpt::maps::CMetricMap.

Definition at line 2550 of file CLandmarksMap.cpp.

References mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), CLASS_ID, mrpt::d2f(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::poses::CPose3D::getHomogeneousMatrix(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), landmarks, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt_scalar(), params, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::size(), and mrpt::square().

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computeLikelihood_RSLC_2007()

double CLandmarksMap::computeLikelihood_RSLC_2007	(	const CLandmarksMap *	s,
		const mrpt::poses::CPose2D &	sensorPose
	)

Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map.

This is the implementation of the algorithm reported in the paper: J.L. Blanco, J. Gonzalez, and J.A. Fernandez-Madrigal, "A Consensus-based Approach for Estimating the Observation Likelihood of Accurate Range Sensors", in IEEE International Conference on Robotics and Automation (ICRA), Rome (Italy), Apr 10-14, 2007

Definition at line 1651 of file CLandmarksMap.cpp.

References ASSERT_, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::maps::CLandmark::getPose(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), landmarks, MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_START, mrpt::maps::CLandmark::pose_mean, mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith2D(), size(), mrpt::math::TPoint3D_data< T >::x, mrpt::containers::CDynamicGrid< T >::x2idx(), mrpt::math::TPoint3D_data< T >::y, and mrpt::containers::CDynamicGrid< T >::y2idx().

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computeLikelihood_SIFT_LandmarkMap()

double CLandmarksMap::computeLikelihood_SIFT_LandmarkMap	(	CLandmarksMap *	map,
		mrpt::tfest::TMatchingPairList *	correspondences = nullptr,
		std::vector< bool > *	otherCorrespondences = nullptr
	)

Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map.

See paper: JJAA 2006

Definition at line 1944 of file CLandmarksMap.cpp.

References _mEDD, ASSERT_, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), mrpt::poses::CPointPDFGaussian::cov, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::vision::featSIFT, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::get(), insertionOptions, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), landmarks, likelihoodOptions, MRPT_CHECK_NORMAL_NUMBER, mrpt::math::multiply_HCHt_scalar(), mrpt::maps::CLandmark::pose_mean, mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTLikelihoodMethod, mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance, mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation, mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std, mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist, size(), mrpt::square(), THROW_EXCEPTION, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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computeMatchingWith2D()

void CLandmarksMap::computeMatchingWith2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const mrpt::poses::CPose2D &	angularDistPivotPoint,
		mrpt::tfest::TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = nullptr,
		bool	onlyKeepTheClosest = false,
		bool	onlyUniqueRobust = false
	)		const

Definition at line 561 of file CLandmarksMap.cpp.

References ASSERT_, changeCoordinatesReference(), CLASS_ID, MRPT_END, and MRPT_START.

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computeMatchingWith3DLandmarks()

void CLandmarksMap::computeMatchingWith3DLandmarks	(	const mrpt::maps::CLandmarksMap *	otherMap,
		mrpt::tfest::TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		std::vector< bool > &	otherCorrespondences
	)		const

Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs.

Parameters

otherMap	[IN] The other map.
correspondences	[OUT] The matched pairs between maps.
correspondencesRatio	[OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap
otherCorrespondences	[OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence.

Definition at line 1055 of file CLandmarksMap.cpp.

References ASSERT_, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), mrpt::poses::CPointPDFGaussian::cov, mrpt::d2f(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::vision::featSIFT, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::get(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), landmarks, mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt_scalar(), mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, mrpt::tfest::TMatchingPair::other_z, mrpt::maps::CLandmark::pose_mean, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::size(), mrpt::square(), mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, mrpt::tfest::TMatchingPair::this_z, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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computeObservationLikelihood() [1/2]

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

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns

This method returns a log-likelihood.

See also

Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 170 of file CMetricMap.cpp.

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

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computeObservationLikelihood() [2/2]

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 76 of file CMetricMap.cpp.

computeObservationsLikelihood()

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

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns

This method returns a log-likelihood.

See also

canComputeObservationsLikelihood

Definition at line 66 of file CMetricMap.cpp.

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

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Create()

template<typename... Args>

static Ptr mrpt::maps::CLandmarksMap::Create ( Args &&...  args )

inlinestatic

Definition at line 76 of file CLandmarksMap.h.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CLandmarksMap::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 76 of file CLandmarksMap.h.

CreateFromMapDefinition()

mrpt::maps::CLandmarksMap * mrpt::maps::CLandmarksMap::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer &  def )

static

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

Definition at line 48 of file CLandmarksMap.cpp.

CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CLandmarksMap::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CLandmarksMap::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 76 of file CLandmarksMap.h.

determineMatching2D()

void CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose2D &  otherMapPose, mrpt::tfest::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::COccupancyGridMap3D, mrpt::maps::CBeaconMap, and mrpt::maps::CMultiMetricMap.

Definition at line 119 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

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determineMatching3D()

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose3D &  otherMapPose, mrpt::tfest::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 131 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

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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 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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fuseWith()

void CLandmarksMap::fuseWith	(	CLandmarksMap &	other,
		bool	justInsertAllOfThem = false
	)

Fuses the contents of another map with this one, updating "this" object with the result.

This process involves fusing corresponding landmarks, then adding the new ones.

Parameters

other	The other landmarkmap, whose landmarks will be inserted into "this"
justInsertAllOfThem	If set to "true", all the landmarks in "other" will be inserted into "this" without checking for possible correspondences (may appear duplicates ones, etc...)

Definition at line 940 of file CLandmarksMap.cpp.

References mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::system::os::fclose(), mrpt::vision::featNotDefined, mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::get(), mrpt::maps::CLandmark::getPose(), landmarks, MRPT_END, MRPT_START, mrpt::maps::CLandmark::seenTimesCount, mrpt::maps::CLandmark::setPose(), size(), mrpt::maps::CLandmark::timestampLastSeen, and verbose.

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getAs3DObject()

void CLandmarksMap::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  outObj ) const

overridevirtual

Returns a 3D object representing the map.

See also

COLOR_LANDMARKS_IN_3DSCENES

Implements mrpt::maps::CMetricMap.

Definition at line 2466 of file CLandmarksMap.cpp.

References mrpt::poses::CPointPDFGaussian::cov, mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::format(), mrpt::maps::CMetricMap::genericMapParams, landmarks, and mrpt::poses::CPointPDFGaussian::mean.

Referenced by saveMetricMapRepresentationToFile().

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getAsSimplePointsMap() [1/2]

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 nullptr

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

Definition at line 295 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::maps::CMetricMap::getAsSimplePointsMap().

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getAsSimplePointsMap() [2/2]

mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )

inlineinherited

Definition at line 299 of file CMetricMap.h.

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

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getClassName()

static constexpr auto mrpt::maps::CLandmarksMap::getClassName ( )

inlinestatic

Definition at line 76 of file CLandmarksMap.h.

getMapMaxID()

mrpt::maps::CLandmark::TLandmarkID CLandmarksMap::getMapMaxID

(

)

Definition at line 2496 of file CLandmarksMap.cpp.

References _mapMaxID.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CLandmarksMap::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

GetRuntimeClassIdStatic()

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

static

hasSubscribers()

bool mrpt::system::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 53 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

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

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insertObservation()

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation &  obs, const mrpt::poses::CPose3D *  robotPose = nullptr  )

inherited

Insert the observation information into this map.

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

Parameters

obs	The observation
robotPose	The 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 93 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().

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insertObservationPtr()

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservation::Ptr &  obs, const mrpt::poses::CPose3D *  robotPose = nullptr  )

inherited

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

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

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internal_clear()

void CLandmarksMap::internal_clear ( )

overrideprivatevirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 145 of file CLandmarksMap.cpp.

internal_computeObservationLikelihood()

double CLandmarksMap::internal_computeObservationLikelihood ( const mrpt::obs::CObservation &  obs, const mrpt::poses::CPose3D &  takenFrom  )

overridevirtual

Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map.

In the current implementation, this method behaves in a different way according to the nature of the observation's class:

• "mrpt::obs::CObservation2DRangeScan": This calls "computeLikelihood_RSLC_2007".
• "mrpt::obs::CObservationStereoImages": This calls "computeLikelihood_SIFT_LandmarkMap".

  Observation class:	Generated Landmarks:	Comments:
  CObservationImage	vlSIFT	1) A SIFT feature is created for each SIFT detected in the image, 2) Correspondences between SIFTs features and existing ones are found by computeMatchingWith3DLandmarks, 3) The corresponding feaures are fused, and the new ones added, with an initial uncertainty according to insertionOptions
  CObservationStereoImages	vlSIFT	Each image is separately procesed by the method for CObservationImage observations
  CObservationStereoImages	vlColor	TODO...
  CObservation2DRangeScan	glOccupancy	A landmark is added for each range in the scan, with its appropiate covariance matrix derived from the jacobians matrixes.

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns

This method returns a likelihood value > 0.

See also

Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Implements mrpt::maps::CMetricMap.

Definition at line 197 of file CLandmarksMap.cpp.

References mrpt::obs::gnss::Message_NMEA_GGA::content_t::altitude_meters, ASSERT_ABOVE_, changeCoordinatesReference(), CLASS_ID, mrpt::DEG2RAD(), mrpt::math::distance(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::vision::featBeacon, mrpt::obs::gnss::Message_NMEA_GGA::fields, mrpt::obs::CObservation::GetRuntimeClass(), insertionOptions, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::obs::gnss::Message_NMEA_GGA::content_t::latitude_degrees, loadOccupancyFeaturesFrom2DRangeScan(), loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::gnss::Message_NMEA_GGA::content_t::longitude_degrees, mrpt::poses::CPointPDFGaussian::mean, MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_START, mrpt::math::multiply_HCHt_scalar(), mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::obs::gnss::Message_NMEA_GGA::content_t::satellitesUsed, size(), mrpt::square(), mrpt::obs::CObservationBeaconRanges::stdError, mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CLandmarksMap::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer &  def )

static

Definition at line 101 of file CLandmarksMap.cpp.

References mrpt::maps::CLandmark::createOneFeature(), mrpt::vision::featBeacon, mrpt::maps::CLandmark::features, mrpt::maps::CLandmark::ID, mrpt::maps::CLandmarksMap::TMapDefinition::initialBeacons, mrpt::maps::CLandmarksMap::TMapDefinition::insertionOpts, mrpt::maps::CLandmarksMap::TMapDefinition::likelihoodOpts, mrpt::maps::CLandmark::pose_cov_11, mrpt::maps::CLandmark::pose_cov_12, mrpt::maps::CLandmark::pose_cov_13, mrpt::maps::CLandmark::pose_cov_22, mrpt::maps::CLandmark::pose_cov_23, mrpt::maps::CLandmark::pose_cov_33, mrpt::maps::CLandmark::pose_mean, and mrpt::square().

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internal_insertObservation()

bool CLandmarksMap::internal_insertObservation ( const mrpt::obs::CObservation &  obs, const mrpt::poses::CPose3D *  robotPose = nullptr  )

overrideprivatevirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 438 of file CLandmarksMap.cpp.

References changeCoordinatesReference(), CLASS_ID, mrpt::obs::CObservation::GetRuntimeClass(), insertionOptions, loadSiftFeaturesFromImageObservation(), loadSiftFeaturesFromStereoImageObservation(), MRPT_END, and MRPT_START.

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isEmpty()

bool CLandmarksMap::isEmpty ( ) const

overridevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 2381 of file CLandmarksMap.cpp.

References size().

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loadFromProbabilisticPosesAndObservations()

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 done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also

insertObservation, CSimpleMap

Exceptions

std::exception

Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

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

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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loadFromSimpleMap()

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

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 106 of file CMetricMap.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::ros1bridge::MapHdl::loadMap().

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loadOccupancyFeaturesFrom2DRangeScan()

void CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan	(	const mrpt::obs::CObservation2DRangeScan &	obs,
		const mrpt::poses::CPose3D *	robotPose = nullptr,
		unsigned int	downSampleFactor = 1
	)

Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased)

Parameters

obs	The observation
robotPose	The robot pose in the map (Default = the origin) Some options may be applicable from "insertionOptions"

Definition at line 1551 of file CLandmarksMap.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::containers::clear(), mrpt::maps::CLandmark::createOneFeature(), mrpt::vision::featNotDefined, mrpt::maps::CLandmark::features, mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::getScanRangeValidity(), mrpt::obs::CObservation2DRangeScan::getScanSize(), mrpt::math::TPoint3D_< T >::norm(), mrpt::maps::CLandmark::normal, mrpt::maps::CLandmark::pose_cov_11, mrpt::maps::CLandmark::pose_cov_12, mrpt::maps::CLandmark::pose_cov_13, mrpt::maps::CLandmark::pose_cov_22, mrpt::maps::CLandmark::pose_cov_23, mrpt::maps::CLandmark::pose_cov_33, mrpt::maps::CLandmark::pose_mean, mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::maps::CLandmark::seenTimesCount, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::square(), mrpt::obs::CObservation::timestamp, mrpt::maps::CLandmark::timestampLastSeen, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by internal_computeObservationLikelihood().

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loadSiftFeaturesFromImageObservation()

void CLandmarksMap::loadSiftFeaturesFromImageObservation	(	const mrpt::obs::CObservationImage &	obs,
		const mrpt::vision::CFeatureExtraction::TOptions &	feat_options = mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT)
	)

Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map.

Some options may be applicable from "insertionOptions" (insertionOptions.SIFTsLoadDistanceOfTheMean)

Parameters

feat_options

Optionally, you can pass here parameters for changing the default SIFT detector settings.

Definition at line 598 of file CLandmarksMap.cpp.

References mrpt::poses::CPoint3D::asTPoint(), mrpt::vision::CFeatureList::begin(), mrpt::obs::CObservationImage::cameraParams, mrpt::poses::CPointPDFGaussian::cov, mrpt::vision::CFeatureExtraction::detectFeatures(), dir, mrpt::vision::CFeatureList::end(), mrpt::maps::CLandmark::features, mrpt::math::generateAxisBaseFromDirection(), mrpt::obs::CObservationImage::image, mrpt::img::TCamera::intrinsicParams, mrpt::poses::CPointPDFGaussian::mean, mrpt::math::multiply_HCHt(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::norm(), mrpt::maps::CLandmark::normal, mrpt::vision::CFeatureExtraction::options, mrpt::vision::pixelTo3D(), mrpt::maps::CLandmark::pose_cov_11, mrpt::maps::CLandmark::pose_cov_12, mrpt::maps::CLandmark::pose_cov_13, mrpt::maps::CLandmark::pose_cov_22, mrpt::maps::CLandmark::pose_cov_23, mrpt::maps::CLandmark::pose_cov_33, mrpt::maps::CLandmark::pose_mean, mrpt::maps::CLandmark::seenTimesCount, mrpt::square(), mrpt::obs::CObservation::timestamp, and mrpt::maps::CLandmark::timestampLastSeen.

Referenced by internal_insertObservation().

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loadSiftFeaturesFromStereoImageObservation()

void CLandmarksMap::loadSiftFeaturesFromStereoImageObservation	(	const mrpt::obs::CObservationStereoImages &	obs,
		mrpt::maps::CLandmark::TLandmarkID	fID,
		const mrpt::vision::CFeatureExtraction::TOptions &	feat_options = mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT)
	)

Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map.

Some options may be applicable from "insertionOptions"

Parameters

feat_options

Optionally, you can pass here parameters for changing the default SIFT detector settings.

Definition at line 681 of file CLandmarksMap.cpp.

References mrpt::vision::TStereoSystemParams::baseline, mrpt::obs::CObservationStereoImages::cameraPose, mrpt::vision::TMatchingOptions::EDD_RATIO, mrpt::vision::TMatchingOptions::epipolar_TH, mrpt::obs::CObservationStereoImages::imageLeft, mrpt::obs::CObservationStereoImages::imageRight, mrpt::img::TCamera::intrinsicParams, mrpt::vision::TStereoSystemParams::K, mrpt::obs::CObservationStereoImages::leftCamera, mrpt::vision::matchFeatures(), mrpt::vision::TMatchingOptions::matching_method, mrpt::vision::TMatchingOptions::maxEDD_TH, mrpt::vision::TStereoSystemParams::maxZ, mrpt::vision::TStereoSystemParams::minZ, mrpt::vision::TMatchingOptions::mmDescriptorSIFT, MRPT_END, MRPT_START, mrpt::vision::projectMatchedFeatures(), mrpt::obs::CObservationStereoImages::rightCameraPose, mrpt::vision::TStereoSystemParams::stdDisp, mrpt::vision::TStereoSystemParams::stdPixel, mrpt::obs::CObservation::timestamp, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().

Referenced by internal_computeObservationLikelihood(), and internal_insertObservation().

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MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CLandmarksMap::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 48 of file CLandmarksMap.cpp.

publishEvent()

void CObservable::publishEvent ( const mrptEvent &  e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 57 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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saveMetricMapRepresentationToFile()

void CLandmarksMap::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix ) const

overridevirtual

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).

In the case of this class, these files are generated:

• "filNamePrefix"+"_3D.m": A script for MATLAB for drawing landmarks as 3D ellipses.
• "filNamePrefix"+"_3D.3DScene": A 3D scene with a "ground plane grid" and the set of ellipsoids in 3D.

Implements mrpt::maps::CMetricMap.

Definition at line 2436 of file CLandmarksMap.cpp.

References mrpt::opengl::CSetOfObjects::Create(), getAs3DObject(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, mrpt::opengl::COpenGLScene::saveToFile(), and saveToMATLABScript3D().

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saveToMATLABScript2D()

bool CLandmarksMap::saveToMATLABScript2D	(	std::string	file,
		const char *	style = "b",
		float	stdCount = 2.0f
	)

Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane).

Parameters

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for possibilities)
stdCount	The ellipsoids will be drawn from the center to "stdCount" times the "standard deviations". (default is 2std = 95% confidence intervals)

Returns

Returns false if any error occured, true elsewere.

Definition at line 1455 of file CLandmarksMap.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::array(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::cov(), mrpt::math::MatrixBase< Scalar, Derived >::eig_symmetric(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), M_2PI, mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose().

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saveToMATLABScript3D()

bool CLandmarksMap::saveToMATLABScript3D	(	std::string	file,
		const char *	style = "b",
		float	confInterval = 0.95f
	)		const

Save to a MATLAB script which displays 3D error ellipses for the map.

Parameters

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for possibilities)
stdCount	The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)

Returns

Returns false if any error occured, true elsewere.

Definition at line 1405 of file CLandmarksMap.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

Referenced by saveMetricMapRepresentationToFile().

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saveToTextFile()

bool CLandmarksMap::saveToTextFile

(

std::string

file

)

Save to a text file.

In line "i" there are the (x,y,z) mean values of the i'th landmark + type of landmark + # times seen + timestamp + RGB/descriptor + ID

Returns false if any error occured, true elsewere.

Definition at line 1359 of file CLandmarksMap.cpp.

References ASSERT_, mrpt::system::extractDayTimeFromTimestamp(), mrpt::system::os::fclose(), mrpt::vision::featSIFT, mrpt::system::os::fopen(), mrpt::system::os::fprintf(), INVALID_TIMESTAMP, MRPT_END, and MRPT_START.

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serializeFrom() [1/2]

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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serializeFrom() [2/2]

void CLandmarksMap::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 161 of file CLandmarksMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

serializeGetVersion()

uint8_t CLandmarksMap::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 149 of file CLandmarksMap.cpp.

serializeTo() [1/2]

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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serializeTo() [2/2]

void CLandmarksMap::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 150 of file CLandmarksMap.cpp.

References out.

simulateBeaconReadings()

void CLandmarksMap::simulateBeaconReadings	(	const mrpt::poses::CPose3D &	in_robotPose,
		const mrpt::poses::CPoint3D &	in_sensorLocationOnRobot,
		mrpt::obs::CObservationBeaconRanges &	out_Observations
	)		const

Simulates a noisy reading toward each of the beacons in the landmarks map, if any.

Parameters

in_robotPose	This robot pose is used to simulate the ranges to each beacon.
in_sensorLocationOnRobot	The 3D position of the sensor on the robot
out_Observations	The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range.

Definition at line 2385 of file CLandmarksMap.cpp.

References mrpt::obs::CObservationBeaconRanges::TMeasurement::beaconID, mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::vision::featBeacon, mrpt::system::getCurrentTime(), mrpt::random::getRandomGenerator(), landmarks, mrpt::obs::CObservationBeaconRanges::maxSensorDistance, mrpt::poses::CPointPDFGaussian::mean, mrpt::obs::CObservationBeaconRanges::minSensorDistance, mrpt::obs::CObservationBeaconRanges::sensedData, mrpt::obs::CObservationBeaconRanges::TMeasurement::sensedDistance, mrpt::obs::CObservationBeaconRanges::TMeasurement::sensorLocationOnRobot, mrpt::obs::CObservationBeaconRanges::stdError, and mrpt::obs::CObservation::timestamp.

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simulateRangeBearingReadings()

void CLandmarksMap::simulateRangeBearingReadings	(	const mrpt::poses::CPose3D &	robotPose,
		const mrpt::poses::CPose3D &	sensorLocationOnRobot,
		mrpt::obs::CObservationBearingRange &	observations,
		bool	sensorDetectsIDs = true,
		const float	stdRange = 0.01f,
		const float	stdYaw = mrpt::DEG2RAD(0.1f),
		const float	stdPitch = mrpt::DEG2RAD(0.1f),
		std::vector< size_t > *	real_associations = nullptr,
		const double	spurious_count_mean = 0,
		const double	spurious_count_std = 0
	)		const

Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any.

Parameters

[in]	robotPose	The robot pose.
[in]	sensorLocationOnRobot	The 3D position of the sensor on the robot
[out]	observations	The results will be stored here.
[in]	sensorDetectsIDs	If this is set to false, all the landmarks will be sensed with INVALID_LANDMARK_ID as ID.
[in]	stdRange	The sigma of the sensor noise in range (meters).
[in]	stdYaw	The sigma of the sensor noise in yaw (radians).
[in]	stdPitch	The sigma of the sensor noise in pitch (radians).
[out]	real_associations	If it's not a nullptr pointer, this will contain at the return the real indices of the landmarks in the map in the same order than they appear in out_Observations. Useful when sensorDetectsIDs=false. Spurious readings are assigned a std::string::npos (=-1) index.
[in]	spurious_count_mean	The mean number of spurious measurements (uniformly distributed in range & angle) to generate. The number of spurious is generated by rounding a random Gaussin number. If both this mean and the std are zero (the default) no spurious readings are generated.
[in]	spurious_count_std	Read spurious_count_mean above.

Note

The fields "CObservationBearingRange::fieldOfView_*","CObservationBearingRange::maxSensorDistance" and "CObservationBearingRange::minSensorDistance" MUST BE FILLED OUT before calling this function.

At output, the observation will have CObservationBearingRange::validCovariances set to "false" and the 3 sensor_std_* members correctly set to their values. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range or field of view-

Definition at line 2689 of file CLandmarksMap.cpp.

References mrpt::poses::CPoint3D::asTPoint(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::random::CRandomGenerator::drawUniform(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end(), mrpt::obs::CObservationBearingRange::fieldOfView_pitch, mrpt::obs::CObservationBearingRange::fieldOfView_yaw, mrpt::system::getCurrentTime(), mrpt::random::getRandomGenerator(), INVALID_LANDMARK_ID, mrpt::obs::CObservationBearingRange::TMeasurement::landmarkID, landmarks, mrpt::obs::CObservationBearingRange::maxSensorDistance, mrpt::poses::CPointPDFGaussian::mean, mrpt::obs::CObservationBearingRange::minSensorDistance, mrpt::obs::CObservationBearingRange::TMeasurement::pitch, mrpt::obs::gnss::pitch, mrpt::obs::CObservationBearingRange::TMeasurement::range, mrpt::round_long(), mrpt::obs::CObservationBearingRange::sensedData, mrpt::obs::CObservationBearingRange::sensor_std_pitch, mrpt::obs::CObservationBearingRange::sensor_std_range, mrpt::obs::CObservationBearingRange::sensor_std_yaw, mrpt::obs::CObservationBearingRange::sensorLocationOnRobot, mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::obs::CObservation::timestamp, mrpt::obs::CObservationBearingRange::validCovariances, mrpt::math::wrapToPi(), and mrpt::obs::CObservationBearingRange::TMeasurement::yaw.

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size()

size_t CLandmarksMap::size

(

)

const

Returns the stored landmarks count.

Definition at line 147 of file CLandmarksMap.cpp.

Referenced by computeLikelihood_RSLC_2007(), computeLikelihood_SIFT_LandmarkMap(), fuseWith(), internal_computeObservationLikelihood(), and isEmpty().

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squareDistanceToClosestCorrespondence()

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 153 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

_mapMaxID

mrpt::maps::CLandmark::TLandmarkID CLandmarksMap::_mapMaxID

static

Definition at line 214 of file CLandmarksMap.h.

Referenced by getMapMaxID().

_maxIDUpdated

bool CLandmarksMap::_maxIDUpdated = false

static

Definition at line 215 of file CLandmarksMap.h.

Referenced by auxParticleFilterCleanUp().

_mEDD

std::map< std::pair< mrpt::maps::CLandmark::TLandmarkID, mrpt::maps::CLandmark::TLandmarkID >, double > CLandmarksMap::_mEDD

static

Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks.

Definition at line 213 of file CLandmarksMap.h.

Referenced by auxParticleFilterCleanUp(), and computeLikelihood_SIFT_LandmarkMap().

className

constexpr const char* mrpt::maps::CLandmarksMap::className = "mrpt::maps" "::" "CLandmarksMap"

static

Definition at line 76 of file CLandmarksMap.h.

COLOR_LANDMARKS_IN_3DSCENES

mrpt::img::TColorf mrpt::maps::CLandmarksMap::COLOR_LANDMARKS_IN_3DSCENES

static

The color of landmark ellipsoids in CLandmarksMap::getAs3DObject.

Definition at line 127 of file CLandmarksMap.h.

fuseOptions

struct mrpt::maps::CLandmarksMap::TFuseOptions mrpt::maps::CLandmarksMap::fuseOptions

genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 274 of file CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CReflectivityGridMap2D::serializeFrom(), mrpt::maps::CHeightGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), mrpt::maps::CReflectivityGridMap2D::serializeTo(), and mrpt::maps::CHeightGridMap2D::serializeTo().

insertionOptions

mrpt::maps::CLandmarksMap::TInsertionOptions mrpt::maps::CLandmarksMap::insertionOptions

Referenced by computeLikelihood_SIFT_LandmarkMap(), internal_computeObservationLikelihood(), and internal_insertObservation().

insertionResults

struct mrpt::maps::CLandmarksMap::TInsertionResults mrpt::maps::CLandmarksMap::insertionResults

landmarks

struct mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks mrpt::maps::CLandmarksMap::landmarks

Referenced by changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), compute3DMatchingRatio(), computeLikelihood_RSLC_2007(), computeLikelihood_SIFT_LandmarkMap(), computeMatchingWith3DLandmarks(), fuseWith(), getAs3DObject(), mrpt::vision::projectMatchedFeatures(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), simulateBeaconReadings(), simulateRangeBearingReadings(), mrpt::vision::StereoObs2BRObs(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

likelihoodOptions

mrpt::maps::CLandmarksMap::TLikelihoodOptions mrpt::maps::CLandmarksMap::likelihoodOptions

Referenced by computeLikelihood_SIFT_LandmarkMap().

m_private_map_register_id

const size_t mrpt::maps::CLandmarksMap::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CLandmarksMap,landmarksMap" , & mrpt::maps::CLandmarksMap ::MapDefinition, & mrpt::maps::CLandmarksMap ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 709 of file CLandmarksMap.h.

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CLandmarksMap::runtimeClassId

staticprotected

Definition at line 76 of file CLandmarksMap.h.