Detailed Description

A 3D occupancy grid map with a regular, even distribution of voxels.

This is a faster alternative to COctoMap, but use with caution with limited map extensions, since it could easily exaust available memory.

Each voxel follows a Bernoulli probability distribution: a value of 0 means certainly occupied, 1 means a certainly empty voxel. Initially 0.5 means uncertainty.

Definition at line 33 of file COccupancyGridMap3D.h.

#include <mrpt/maps/COccupancyGridMap3D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap3D:

Classes
class	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...

class	TLikelihoodOptions
	With this struct options are provided to the observation likelihood computation process. More...

struct	TMapDefinition

struct	TMapDefinitionBase

struct	TRenderingOptions
	Options for the conversion of a mrpt::maps::COccupancyGridMap3D into a mrpt::opengl::COctoMapVoxels. More...

Public Types
enum	TLikelihoodMethod { lmLikelihoodField_Thrun = 0, lmRayTracing }
	The type for selecting a likelihood computation method. More...

using	voxelType = OccGridCellTraits::cellType
	The type of the map voxels: More...

using	voxelTypeUnsigned = OccGridCellTraits::cellTypeUnsigned

using	cell_t = OccGridCellTraits::cellType
	The type of cells. More...

using	traits_t = detail::logoddscell_traits< OccGridCellTraits::cellType >

using	grid_t = mrpt::containers::CDynamicGrid3D< OccGridCellTraits::cellType >

Public Member Functions
	COccupancyGridMap3D (const mrpt::math::TPoint3D &corner_min={-5.0f, -5.0f, -5.0f}, const mrpt::math::TPoint3D &corner_max={5.0f, 5.0f, 5.0f}, float resolution=0.25f)
	Constructor. More...

void	fill (float default_value=0.5f)
	Fills all the voxels with a default value. More...

void	setSize (const mrpt::math::TPoint3D &corner_min, const mrpt::math::TPoint3D &corner_max, double resolution, float default_value=0.5f)
	Change the size of gridmap, erasing all its previous contents. More...

void	resizeGrid (const mrpt::math::TPoint3D &corner_min, const mrpt::math::TPoint3D &corner_max, float new_voxels_default_value=0.5f)
	Change the size of gridmap, maintaining previous contents. More...

void	updateCell (int cx_idx, int cy_idx, int cz_idx, float v)
	Performs the Bayesian fusion of a new observation of a cell. More...

void	setCellFreeness (unsigned int cx, unsigned int cy, unsigned int cz, float value)
	Change the contents [0,1] (0:occupied, 1:free) of a voxel, given its index. More...

float	getCellFreeness (unsigned int cx, unsigned int cy, unsigned int cz) const
	Read the real valued [0,1] (0:occupied, 1:free) contents of a voxel, given its index. More...

void	setFreenessByPos (float x, float y, float z, float value)
	Change the contents [0,1] of a voxel, given its coordinates. More...

float	getFreenessByPos (float x, float y, float z) const
	Read the real valued [0,1] contents of a voxel, given its coordinates. More...

void	insertRay (const mrpt::math::TPoint3D &sensor, const mrpt::math::TPoint3D &end, bool endIsOccupied=true)
	Increases the freeness of a ray segment, and the occupancy of the voxel at its end point (unless endIsOccupied=false). More...

void	insertPointCloud (const mrpt::math::TPoint3D &sensorCenter, const mrpt::maps::CPointsMap &pts, const float maxValidRange=std::numeric_limits< float >::max())
	Calls insertRay() for each point in the point cloud, using as sensor central point (the origin of all rays), the given `sensorCenter`. More...

void	getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const

void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...

void	simulateScanRay (const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const double max_range_meters, const float threshold_free=0.4f, const double noiseStd=.0, const double angleNoiseStd=.0) const
	Simulate just one "ray" in the grid map. More...

double	computeLikelihoodField_Thrun (const CPointsMap &pm, const mrpt::poses::CPose3D &relativePose=mrpt::poses::CPose3D())
	Computes the likelihood [0,1] of a set of points, given the current grid map as reference. More...

bool	isEmpty () const override
	Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map. More...

void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
	See docs in base class: in this class this always returns 0. More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	See docs in base class: in this class this always returns 0. More...

void	saveMetricMapRepresentationToFile (const std::string &f) 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	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	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 void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

virtual const mrpt::maps::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...

void	updateCell_fast_occupied (const unsigned x, const unsigned y, const unsigned z, const cell_t logodd_obs, const cell_t thres)
	Performs Bayesian fusion of a new observation of a cell. More...

void	updateCell_fast_free (const unsigned x, const unsigned y, const unsigned z, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell. 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...

Static Public Member Functions
static float	l2p (const voxelType l)
	Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) More...

static uint8_t	l2p_255 (const voxelType l)
	Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) More...

static voxelType	p2l (const float p)
	Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of voxelType. More...

static void	updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs Bayesian fusion of a new observation of a cell. More...

static void	updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs Bayesian fusion of a new observation of a cell. More...

Public Attributes
TInsertionOptions	insertionOptions
	With this struct options are provided to the observation insertion process. More...

TLikelihoodOptions	likelihoodOptions

TRenderingOptions	renderingOptions

TMapGenericParams	genericMapParams
	Common params to all maps. More...

grid_t	m_grid
	The actual 3D voxels container. More...

Protected Member Functions
void	OnPostSuccesfulInsertObs (const mrpt::obs::CObservation &) override
	See base class. More...

void	internal_clear () override
	Clear the map: It set all voxels to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values). More...

bool	internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
	Insert the observation information into this map. More...

void	internal_insertObservationScan2D (const mrpt::obs::CObservation2DRangeScan &o, const mrpt::poses::CPose3D &robotPose)

void	internal_insertObservationScan3D (const mrpt::obs::CObservation3DRangeScan &o, const mrpt::poses::CPose3D &robotPose)

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...

Static Protected Member Functions
static CLogOddsGridMapLUT< voxelType > &	get_logodd_lut ()
	Lookup tables for log-odds. More...

Protected Attributes
bool	m_is_empty {true}
	True upon construction; used by isEmpty() More...

Private Member Functions
double	internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
	Internal method called by computeObservationLikelihood() More...

bool	internal_canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const override

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::COccupancyGridMap3D >

using	ConstPtr = std::shared_ptr< const mrpt::maps ::COccupancyGridMap3D >

using	UniquePtr = std::unique_ptr< mrpt::maps ::COccupancyGridMap3D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::COccupancyGridMap3D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "COccupancyGridMap3D"

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::COccupancyGridMap3D" , & mrpt::maps::COccupancyGridMap3D ::MapDefinition, & mrpt::maps::COccupancyGridMap3D ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...

static COccupancyGridMap3D *	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

◆ cell_t

using mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::cell_t = OccGridCellTraits::cellType

inherited

The type of cells.

Definition at line 30 of file CLogOddsGridMap3D.h.

◆ ConstPtr

using mrpt::maps::COccupancyGridMap3D::ConstPtr = std::shared_ptr<const mrpt::maps :: COccupancyGridMap3D >

Definition at line 37 of file COccupancyGridMap3D.h.

◆ ConstUniquePtr

using mrpt::maps::COccupancyGridMap3D::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: COccupancyGridMap3D >

Definition at line 37 of file COccupancyGridMap3D.h.

◆ grid_t

using mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::grid_t = mrpt::containers::CDynamicGrid3D<OccGridCellTraits::cellType >

inherited

Definition at line 32 of file CLogOddsGridMap3D.h.

◆ Ptr

using mrpt::maps::COccupancyGridMap3D::Ptr = std::shared_ptr< mrpt::maps :: COccupancyGridMap3D >

A type for the associated smart pointer

Definition at line 37 of file COccupancyGridMap3D.h.

◆ traits_t

using mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::traits_t = detail::logoddscell_traits<OccGridCellTraits::cellType >

inherited

Definition at line 31 of file CLogOddsGridMap3D.h.

◆ UniquePtr

using mrpt::maps::COccupancyGridMap3D::UniquePtr = std::unique_ptr< mrpt::maps :: COccupancyGridMap3D >

Definition at line 37 of file COccupancyGridMap3D.h.

◆ voxelType

using mrpt::maps::COccupancyGridMap3D::voxelType = OccGridCellTraits::cellType

The type of the map voxels:

Definition at line 40 of file COccupancyGridMap3D.h.

◆ voxelTypeUnsigned

using mrpt::maps::COccupancyGridMap3D::voxelTypeUnsigned = OccGridCellTraits::cellTypeUnsigned

Definition at line 41 of file COccupancyGridMap3D.h.

Member Enumeration Documentation

◆ TLikelihoodMethod

enum mrpt::maps::COccupancyGridMap3D::TLikelihoodMethod

The type for selecting a likelihood computation method.

Enumerator
lmLikelihoodField_Thrun
lmRayTracing

Definition at line 243 of file COccupancyGridMap3D.h.

Constructor & Destructor Documentation

◆ COccupancyGridMap3D()

COccupancyGridMap3D::COccupancyGridMap3D	(	const mrpt::math::TPoint3D &	corner_min = `{-5.0f, -5.0f, -5.0f}`,
		const mrpt::math::TPoint3D &	corner_max = `{5.0f, 5.0f, 5.0f}`,
		float	resolution = `0.25f`
	)

Constructor.

Definition at line 89 of file COccupancyGridMap3D.cpp.

References MRPT_END, MRPT_START, mrpt::maps::COccupancyGridMap3D::TMapDefinition::resolution, and setSize().

Referenced by internal_CreateFromMapDefinition().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::COccupancyGridMap3D::_GetBaseClass ( )

staticprotected

◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

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

Definition at line 282 of file CMetricMap.h.

◆ 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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◆ 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::COccupancyGridMap3D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float COccupancyGridMap3D::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

overridevirtual

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 205 of file COccupancyGridMap3D.cpp.

References THROW_EXCEPTION.

◆ computeLikelihoodField_Thrun()

double mrpt::maps::COccupancyGridMap3D::computeLikelihoodField_Thrun	(	const CPointsMap &	pm,
		const mrpt::poses::CPose3D &	relativePose = `mrpt::poses::CPose3D()`
	)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters

pm	The points map
relativePose	The relative pose of the points map in this map's coordinates, or nullptr for (0,0,0). See "likelihoodOptions" for configuration parameters.

◆ 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::COccupancyGridMap3D::Create ( Args &&... args )

inlinestatic

Definition at line 37 of file COccupancyGridMap3D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::COccupancyGridMap3D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 37 of file COccupancyGridMap3D.h.

◆ CreateFromMapDefinition()

mrpt::maps::COccupancyGridMap3D * mrpt::maps::COccupancyGridMap3D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

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

Definition at line 24 of file COccupancyGridMap3D.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::COccupancyGridMap3D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::COccupancyGridMap3D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 37 of file COccupancyGridMap3D.h.

◆ determineMatching2D()

void COccupancyGridMap3D::determineMatching2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		mrpt::tfest::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

overridevirtual

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 189 of file COccupancyGridMap3D.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ 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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◆ fill()

void COccupancyGridMap3D::fill ( float default_value = 0.5f )

Fills all the voxels with a default value.

Definition at line 152 of file COccupancyGridMap3D.cpp.

References mrpt::containers::CDynamicGrid3D< T, coord_t >::fill(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, and p2l().

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◆ get_logodd_lut()

CLogOddsGridMapLUT< COccupancyGridMap3D::voxelType > & COccupancyGridMap3D::get_logodd_lut ( )

staticprotected

Lookup tables for log-odds.

Definition at line 84 of file COccupancyGridMap3D.cpp.

References logodd_lut.

Referenced by l2p(), l2p_255(), and p2l().

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◆ getAs3DObject()

void COccupancyGridMap3D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

overridevirtual

Returns a 3D object representing the map.

See also: renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 356 of file COccupancyGridMap3D.cpp.

References mrpt::opengl::COctoMapVoxels::Create(), and getAsOctoMapVoxels().

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◆ getAsOctoMapVoxels()

void COccupancyGridMap3D::getAsOctoMapVoxels ( mrpt::opengl::COctoMapVoxels & gl_obj ) const

See also: renderingOptions

Definition at line 214 of file COccupancyGridMap3D.cpp.

Referenced by getAs3DObject().

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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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◆ getCellFreeness()

float mrpt::maps::COccupancyGridMap3D::getCellFreeness	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)		const

inline

Read the real valued [0,1] (0:occupied, 1:free) contents of a voxel, given its index.

Definition at line 142 of file COccupancyGridMap3D.h.

References mrpt::containers::CDynamicGrid3D< T, coord_t >::cellByIndex(), l2p(), and mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid.

Referenced by getAsOctoMapVoxels(), and getFreenessByPos().

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◆ getClassName()

static constexpr auto mrpt::maps::COccupancyGridMap3D::getClassName ( )

inlinestatic

Definition at line 37 of file COccupancyGridMap3D.h.

◆ getFreenessByPos()

float mrpt::maps::COccupancyGridMap3D::getFreenessByPos	(	float	x,
		float	y,
		float	z
	)		const

inline

Read the real valued [0,1] contents of a voxel, given its coordinates.

Definition at line 159 of file COccupancyGridMap3D.h.

References getCellFreeness(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, mrpt::containers::CDynamicGrid3D< T, coord_t >::x2idx(), mrpt::containers::CDynamicGrid3D< T, coord_t >::y2idx(), and mrpt::containers::CDynamicGrid3D< T, coord_t >::z2idx().

Referenced by TEST().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::COccupancyGridMap3D::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::COccupancyGridMap3D::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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◆ insertPointCloud()

void COccupancyGridMap3D::insertPointCloud	(	const mrpt::math::TPoint3D &	sensorCenter,
		const mrpt::maps::CPointsMap &	pts,
		const float	maxValidRange = `std::numeric_limits<float>::max()`
	)

Calls insertRay() for each point in the point cloud, using as sensor central point (the origin of all rays), the given sensorCenter.

Parameters

[in] maxValidRange If a point has larger distance from sensorCenter than maxValidRange, it will be considered a non-echo, and NO occupied voxel will be created at the end of the segment.

See also: insertionOptions parameters are observed in this method.

Definition at line 73 of file COccupancyGridMap3D_insert.cpp.

References mrpt::maps::COccupancyGridMap3D::TInsertionOptions::decimation, mrpt::maps::CPointsMap::getPointsBufferRef_x(), mrpt::maps::CPointsMap::getPointsBufferRef_y(), mrpt::maps::CPointsMap::getPointsBufferRef_z(), insertionOptions, insertRay(), MRPT_END, and MRPT_START.

Referenced by internal_insertObservationScan2D(), and internal_insertObservationScan3D().

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◆ insertRay()

void COccupancyGridMap3D::insertRay	(	const mrpt::math::TPoint3D &	sensor,
		const mrpt::math::TPoint3D &	end,
		bool	endIsOccupied = `true`
	)

Increases the freeness of a ray segment, and the occupancy of the voxel at its end point (unless endIsOccupied=false).

Normally, users would prefer the higher-level method CMetricMap::insertObservation()

Definition at line 117 of file COccupancyGridMap3D_insert.cpp.

References mrpt::containers::end(), FRBITS, insertionOptions, mrpt::containers::CDynamicGrid3D< T, coord_t >::isOutOfBounds(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, mrpt::max3(), mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxFreenessUpdateCertainty, mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxOccupancyUpdateCertainty, MRPT_END, MRPT_START, p2l(), mrpt::round(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_free(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_occupied(), mrpt::math::TPoint3D_data< T >::x, mrpt::containers::CDynamicGrid3D< T, coord_t >::x2idx(), mrpt::math::TPoint3D_data< T >::y, mrpt::containers::CDynamicGrid3D< T, coord_t >::y2idx(), mrpt::math::TPoint3D_data< T >::z, and mrpt::containers::CDynamicGrid3D< T, coord_t >::z2idx().

Referenced by insertPointCloud().

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◆ internal_canComputeObservationLikelihood()

bool COccupancyGridMap3D::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation & obs ) const

overrideprivate

Definition at line 25 of file COccupancyGridMap3D_likelihood.cpp.

◆ internal_clear()

void COccupancyGridMap3D::internal_clear ( )

overrideprotectedvirtual

Clear the map: It set all voxels to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).

Implements mrpt::maps::CMetricMap.

Definition at line 139 of file COccupancyGridMap3D.cpp.

References mrpt::containers::CDynamicGrid3D< T, coord_t >::getResolutionXY(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, m_is_empty, mrpt::maps::COccupancyGridMap3D::TMapDefinition::max_x, mrpt::maps::COccupancyGridMap3D::TMapDefinition::max_y, mrpt::maps::COccupancyGridMap3D::TMapDefinition::max_z, mrpt::maps::COccupancyGridMap3D::TMapDefinition::min_x, mrpt::maps::COccupancyGridMap3D::TMapDefinition::min_y, mrpt::maps::COccupancyGridMap3D::TMapDefinition::min_z, and setSize().

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◆ internal_computeObservationLikelihood()

double COccupancyGridMap3D::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

overrideprivatevirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 18 of file COccupancyGridMap3D_likelihood.cpp.

References THROW_EXCEPTION.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * COccupancyGridMap3D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 65 of file COccupancyGridMap3D.cpp.

References COccupancyGridMap3D().

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◆ internal_insertObservation()

bool COccupancyGridMap3D::internal_insertObservation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

overrideprotectedvirtual

Insert the observation information into this map.

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or nullptr (default) if you want to use CPose2D(0,0,deg)

See also: insertionOptions, CObservation::insertObservationInto

Implements mrpt::maps::CMetricMap.

Definition at line 23 of file COccupancyGridMap3D_insert.cpp.

References internal_insertObservationScan2D(), internal_insertObservationScan3D(), MRPT_END, and MRPT_START.

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◆ internal_insertObservationScan2D()

void COccupancyGridMap3D::internal_insertObservationScan2D	(	const mrpt::obs::CObservation2DRangeScan &	o,
		const mrpt::poses::CPose3D &	robotPose
	)

protected

Definition at line 49 of file COccupancyGridMap3D_insert.cpp.

References mrpt::maps::CPointsMap::insertionOptions, insertPointCloud(), MRPT_END, MRPT_START, and mrpt::obs::CObservation2DRangeScan::sensorPose.

Referenced by internal_insertObservation().

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◆ internal_insertObservationScan3D()

void COccupancyGridMap3D::internal_insertObservationScan3D	(	const mrpt::obs::CObservation3DRangeScan &	o,
		const mrpt::poses::CPose3D &	robotPose
	)

protected

Definition at line 93 of file COccupancyGridMap3D_insert.cpp.

References mrpt::poses::CPose3D::changeCoordinatesReference(), mrpt::obs::T3DPointsProjectionParams::decimation, mrpt::maps::COccupancyGridMap3D::TInsertionOptions::decimation_3d_range, insertionOptions, insertPointCloud(), mrpt::obs::CObservation3DRangeScan::maxRange, MRPT_END, MRPT_START, mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot, and mrpt::obs::detail::unprojectInto().

Referenced by internal_insertObservation().

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◆ isEmpty()

bool COccupancyGridMap3D::isEmpty ( ) const

overridevirtual

Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.

Implements mrpt::maps::CMetricMap.

Definition at line 203 of file COccupancyGridMap3D.cpp.

References m_is_empty.

◆ l2p()

static float mrpt::maps::COccupancyGridMap3D::l2p ( const voxelType l )

inlinestatic

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 110 of file COccupancyGridMap3D.h.

References get_logodd_lut().

Referenced by getCellFreeness().

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◆ l2p_255()

static uint8_t mrpt::maps::COccupancyGridMap3D::l2p_255 ( const voxelType l )

inlinestatic

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 116 of file COccupancyGridMap3D.h.

References get_logodd_lut().

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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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◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::COccupancyGridMap3D::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 24 of file COccupancyGridMap3D.cpp.

◆ OnPostSuccesfulInsertObs()

void COccupancyGridMap3D::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation & )

overrideprotectedvirtual

See base class.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 205 of file COccupancyGridMap3D_insert.cpp.

References m_is_empty.

◆ p2l()

static voxelType mrpt::maps::COccupancyGridMap3D::p2l ( const float p )

inlinestatic

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of voxelType.

Definition at line 122 of file COccupancyGridMap3D.h.

References get_logodd_lut().

Referenced by fill(), insertRay(), resizeGrid(), setCellFreeness(), setSize(), and updateCell().

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◆ 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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◆ resizeGrid()

void COccupancyGridMap3D::resizeGrid	(	const mrpt::math::TPoint3D &	corner_min,
		const mrpt::math::TPoint3D &	corner_max,
		float	new_voxels_default_value = `0.5f`
	)

Change the size of gridmap, maintaining previous contents.

Parameters

new_voxels_default_value Value of new voxels, tipically 0.5

See also: setSize()

Definition at line 121 of file COccupancyGridMap3D.cpp.

References mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, m_is_empty, MRPT_END, MRPT_START, p2l(), mrpt::containers::CDynamicGrid3D< T, coord_t >::resize(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ saveMetricMapRepresentationToFile()

void COccupancyGridMap3D::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).

Implements mrpt::maps::CMetricMap.

Definition at line 494 of file COccupancyGridMap3D.cpp.

◆ serializeFrom() [1/2]

void COccupancyGridMap3D::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 407 of file COccupancyGridMap3D.cpp.

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◆ 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 COccupancyGridMap3D::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 364 of file COccupancyGridMap3D.cpp.

◆ serializeTo() [1/2]

void COccupancyGridMap3D::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 365 of file COccupancyGridMap3D.cpp.

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◆ 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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◆ setCellFreeness()

void mrpt::maps::COccupancyGridMap3D::setCellFreeness	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz,
		float	value
	)

inline

Change the contents [0,1] (0:occupied, 1:free) of a voxel, given its index.

Definition at line 133 of file COccupancyGridMap3D.h.

References mrpt::containers::CDynamicGrid3D< T, coord_t >::cellByIndex(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, and p2l().

Referenced by setFreenessByPos().

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◆ setFreenessByPos()

void mrpt::maps::COccupancyGridMap3D::setFreenessByPos	(	float	x,
		float	y,
		float	z,
		float	value
	)

inline

Change the contents [0,1] of a voxel, given its coordinates.

Definition at line 152 of file COccupancyGridMap3D.h.

References mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, setCellFreeness(), mrpt::containers::CDynamicGrid3D< T, coord_t >::x2idx(), mrpt::containers::CDynamicGrid3D< T, coord_t >::y2idx(), and mrpt::containers::CDynamicGrid3D< T, coord_t >::z2idx().

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◆ setSize()

void COccupancyGridMap3D::setSize	(	const mrpt::math::TPoint3D &	corner_min,
		const mrpt::math::TPoint3D &	corner_max,
		double	resolution,
		float	default_value = `0.5f`
	)

Change the size of gridmap, erasing all its previous contents.

Parameters

resolution	The new size of voxels.
default_value	The value of voxels, tipically 0.5.

See also: ResizeGrid

Definition at line 98 of file COccupancyGridMap3D.cpp.

References ASSERT_ABOVE_, ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, m_is_empty, MRPT_END, MRPT_START, p2l(), mrpt::containers::CDynamicGrid3D< T, coord_t >::setSize(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by COccupancyGridMap3D(), and internal_clear().

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◆ simulateScanRay()

void mrpt::maps::COccupancyGridMap3D::simulateScanRay	(	const double	x,
		const double	y,
		const double	angle_direction,
		float &	out_range,
		bool &	out_valid,
		const double	max_range_meters,
		const float	threshold_free = `0.4f`,
		const double	noiseStd = `.0`,
		const double	angleNoiseStd = `.0`
	)		const

Simulate just one "ray" in the grid map.

This method is used internally to sonarSimulator and laserScanSimulator.

See also: COccupancyGridMap3D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

◆ 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.

◆ updateCell()

void COccupancyGridMap3D::updateCell	(	int	cx_idx,
		int	cy_idx,
		int	cz_idx,
		float	v
	)

Performs the Bayesian fusion of a new observation of a cell.

See also: updateInfoChangeOnly, updateCell_fast_occupied, updateCell_fast_free

Definition at line 159 of file COccupancyGridMap3D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid3D< T, coord_t >::cellByIndex(), mrpt::containers::CDynamicGrid3D< T, coord_t >::isOutOfBounds(), mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid, and p2l().

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◆ updateCell_fast_free() [1/2]

static void mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_free	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs Bayesian fusion of a new observation of a cell.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also: updateCell_fast_occupied

Definition at line 83 of file CLogOddsGridMap3D.h.

Referenced by insertRay().

◆ updateCell_fast_free() [2/2]

void mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_free	(	const unsigned	x,
		const unsigned	y,
		const unsigned	z,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlineinherited

Performs the Bayesian fusion of a new observation of a cell.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
z	Cell index in Z axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also: updateCell_fast_occupied

Definition at line 104 of file CLogOddsGridMap3D.h.

References mrpt::containers::CDynamicGrid3D< T, coord_t >::cellByIndex(), mrpt::maps::CLogOddsGridMap3D< TCELL >::m_grid, and mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_free().

◆ updateCell_fast_occupied() [1/2]

static void mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_occupied	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs Bayesian fusion of a new observation of a cell.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

theCell	The cell to modify
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also: updateCell, updateCell_fast_free

Definition at line 46 of file CLogOddsGridMap3D.h.

Referenced by insertRay().

◆ updateCell_fast_occupied() [2/2]

void mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::updateCell_fast_occupied	(	const unsigned	x,
		const unsigned	y,
		const unsigned	z,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlineinherited

Performs Bayesian fusion of a new observation of a cell.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
z	Cell index in Z axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also: updateCell, updateCell_fast_free

Definition at line 67 of file CLogOddsGridMap3D.h.

References mrpt::containers::CDynamicGrid3D< T, coord_t >::cellByIndex(), mrpt::maps::CLogOddsGridMap3D< TCELL >::m_grid, and mrpt::maps::CLogOddsGridMap3D< TCELL >::updateCell_fast_occupied().

◆ 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

◆ className

constexpr const char* mrpt::maps::COccupancyGridMap3D::className = "mrpt::maps" "::" "COccupancyGridMap3D"

static

Definition at line 37 of file COccupancyGridMap3D.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 274 of file CMetricMap.h.

◆ insertionOptions

TInsertionOptions mrpt::maps::COccupancyGridMap3D::insertionOptions

With this struct options are provided to the observation insertion process.

See also: CObservation::insertIntoGridMap

Definition at line 240 of file COccupancyGridMap3D.h.

Referenced by insertPointCloud(), insertRay(), internal_insertObservationScan3D(), serializeFrom(), and serializeTo().

◆ likelihoodOptions

TLikelihoodOptions mrpt::maps::COccupancyGridMap3D::likelihoodOptions

Definition at line 302 of file COccupancyGridMap3D.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_grid

grid_t mrpt::maps::CLogOddsGridMap3D< OccGridCellTraits::cellType >::m_grid

inherited

The actual 3D voxels container.

Definition at line 35 of file CLogOddsGridMap3D.h.

Referenced by fill(), getAsOctoMapVoxels(), getCellFreeness(), getFreenessByPos(), insertRay(), internal_clear(), resizeGrid(), serializeFrom(), serializeTo(), setCellFreeness(), setFreenessByPos(), setSize(), and updateCell().

◆ m_is_empty

bool mrpt::maps::COccupancyGridMap3D::m_is_empty {true}

protected

True upon construction; used by isEmpty()

Definition at line 48 of file COccupancyGridMap3D.h.

Referenced by internal_clear(), isEmpty(), OnPostSuccesfulInsertObs(), resizeGrid(), serializeFrom(), and setSize().

◆ m_private_map_register_id

const size_t mrpt::maps::COccupancyGridMap3D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::COccupancyGridMap3D" , & mrpt::maps::COccupancyGridMap3D ::MapDefinition, & mrpt::maps::COccupancyGridMap3D ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 399 of file COccupancyGridMap3D.h.

◆ renderingOptions

TRenderingOptions mrpt::maps::COccupancyGridMap3D::renderingOptions

Definition at line 335 of file COccupancyGridMap3D.h.

Referenced by getAsOctoMapVoxels(), serializeFrom(), and serializeTo().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::COccupancyGridMap3D::runtimeClassId

staticprotected

Definition at line 37 of file COccupancyGridMap3D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

RTTI stuff

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

Member Typedef Documentation

◆ cell_t

◆ ConstPtr

◆ ConstUniquePtr

◆ grid_t

◆ Ptr

◆ traits_t

◆ UniquePtr

◆ voxelType

◆ voxelTypeUnsigned

Member Enumeration Documentation

◆ TLikelihoodMethod

Constructor & Destructor Documentation

◆ COccupancyGridMap3D()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ canComputeObservationLikelihood()

◆ canComputeObservationsLikelihood()

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeLikelihoodField_Thrun()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateAlloc()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ CreateUnique()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ fill()

◆ get_logodd_lut()

◆ getAs3DObject()

◆ getAsOctoMapVoxels()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getCellFreeness()

◆ getClassName()

◆ getFreenessByPos()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ insertPointCloud()

◆ insertRay()

◆ internal_canComputeObservationLikelihood()

◆ internal_clear()

◆ internal_computeObservationLikelihood()

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()

◆ internal_insertObservationScan2D()

◆ internal_insertObservationScan3D()

◆ isEmpty()

◆ l2p()

◆ l2p_255()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()

◆ MapDefinition()

◆ OnPostSuccesfulInsertObs()

◆ p2l()

◆ publishEvent()

◆ resizeGrid()

◆ saveMetricMapRepresentationToFile()