mrpt::maps::CMetricMap Class Reference

Detailed Description

Declares a virtual base class for all metric maps storage classes.

In this class virtual methods are provided to allow the insertion of any type of "CObservation" objects into the metric map, thus updating the map (doesn't matter if it is a 2D/3D grid, a point map, etc.).

Observations don't include any information about the robot pose, just the raw observation and information about the sensor pose relative to the robot mobile base coordinates origin.

Note that all metric maps implement this mrpt::utils::CObservable interface, emitting the following events:

• mrpt::obs::mrptEventMetricMapClear: Upon call of the clear() method.

mrpt::obs::mrptEventMetricMapInsert: Upon insertion of an observation that effectively modifies the map (e.g. inserting an image into a grid map will NOT raise an event, inserting a laser scan will).

To check what observations are supported by each metric map, see: Maps and observations compatibility matrix

Note

All derived class must implement a static class factory <metric_map_class>::MapDefinition() that builds a default TMetricMapInitializer [New in MRPT 1.3.0]

See also

CObservation, CSensoryFrame, CMultiMetricMap

Definition at line 55 of file CMetricMap.h.

#include <mrpt/maps/CMetricMap.h>

Inheritance diagram for mrpt::maps::CMetricMap:

Public Member Functions
void	clear ()
	Erase all the contents of the map. More...
virtual bool	isEmpty () const =0
	Returns true if the map is empty/no observation has been inserted. 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=NULL)
	Insert the observation information into this map. More...
bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
	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...
bool	canComputeObservationLikelihood (const mrpt::obs::CObservation::Ptr &obs) const
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...
	CMetricMap ()
	Constructor. More...
virtual void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::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::utils::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	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const
	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...
virtual void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const =0
	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...
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const =0
	Returns a 3D object representing the map. 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...
virtual 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...
virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...
RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

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

Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
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...

Private Member Functions
virtual void	internal_clear ()=0
	Internal method called by clear() More...
virtual bool	internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)=0
	Internal method called by insertObservation() More...
virtual double	internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)=0
	Internal method called by computeObservationLikelihood() More...
virtual bool	internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
	Internal method called by canComputeObservationLikelihood() More...
virtual void	OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *)
	Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More...

RTTI stuff
using	Ptr = std::shared_ptr< CMetricMap >
using	ConstPtr = std::shared_ptr< const CMetricMap >
static const mrpt::utils::TRuntimeClassId	runtimeClassId
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

ConstPtr

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

Definition at line 58 of file CMetricMap.h.

Ptr

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

Definition at line 58 of file CMetricMap.h.

Constructor & Destructor Documentation

CMetricMap()

CMetricMap::CMetricMap

(

)

Constructor.

Definition at line 29 of file CMetricMap.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CMetricMap::_GetBaseClass ( )

staticprotected

auxParticleFilterCleanUp()

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

inlinevirtual

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 289 of file CMetricMap.h.

canComputeObservationLikelihood() [1/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation *  obs ) const

virtual

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 180 of file CMetricMap.cpp.

canComputeObservationLikelihood() [2/2]

bool CMetricMap::canComputeObservationLikelihood

(

const mrpt::obs::CObservation::Ptr &

obs

)

const

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 121 of file CMetricMap.cpp.

canComputeObservationsLikelihood()

bool CMetricMap::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.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also

canComputeObservationLikelihood

Definition at line 86 of file CMetricMap.cpp.

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

Here is the call graph for this function:

clear()

void CMetricMap::clear

(

)

Erase all the contents of the map.

Definition at line 31 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::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CPointsMap::load2Dor3D_from_text_file(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), mrpt::vision::projectMatchedFeatures(), mrpt::opengl::CPlanarLaserScan::render_dl(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CRandomFieldGridMap2D::setSize(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

Here is the caller graph for this function:

clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

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

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

Here is the caller graph for this function:

compute3DMatchingRatio()

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

virtual

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 in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CReflectivityGridMap2D.

Definition at line 157 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::maps::CMultiMetricMap::compute3DMatchingRatio().

Here is the caller graph for this function:

computeObservationLikelihood() [1/2]

double CMetricMap::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.

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 189 of file CMetricMap.cpp.

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

Here is the caller graph for this function:

computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

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 77 of file CMetricMap.cpp.

computeObservationsLikelihood()

double CMetricMap::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.

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 67 of file CMetricMap.cpp.

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

determineMatching2D()

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

virtual

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::CMultiMetricMap, and mrpt::maps::CBeaconMap.

Definition at line 127 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Here is the caller graph for this function:

determineMatching3D()

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose3D &  otherMapPose, mrpt::utils::TMatchingPairList &  correspondences, const TMatchingParams &  params, TMatchingExtraResults &  extraResults  ) const

virtual

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 142 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Here is the caller graph for this function:

getAs3DObject()

virtual void mrpt::maps::CMetricMap::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  outObj ) const

pure virtual

Returns a 3D object representing the map.

See also

genericMapParams, TMapGenericParams::enableSaveAs3DObject

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CBeaconMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

getAsSimplePointsMap() [1/2]

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

inlinevirtual

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 NULL

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

Definition at line 301 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

Here is the caller graph for this function:

getAsSimplePointsMap() [2/2]

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

inlinevirtual

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

Definition at line 305 of file CMetricMap.h.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CMetricMap::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CLandmarksMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::maps::CColouredPointsMap, and mrpt::maps::CWeightedPointsMap.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::maps::CBeaconMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith2D(), mrpt::maps::CBeaconMap::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile().

Here is the caller graph for this function:

GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::maps::CMetricMap::GetRuntimeClassIdStatic ( )

static

hasSubscribers()

bool mrpt::utils::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 57 of file CObservable.h.

References mrpt::utils::CObservable::m_subscribers.

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

Here is the caller graph for this function:

insertObservation()

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

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 95 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

Here is the caller graph for this function:

insertObservationPtr()

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

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

See: Maps and observations compatibility matrix

Definition at line 109 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

Here is the caller graph for this function:

internal_canComputeObservationLikelihood()

virtual bool mrpt::maps::CMetricMap::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation *  obs ) const

inlineprivatevirtual

Internal method called by canComputeObservationLikelihood()

Reimplemented in mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CMultiMetricMap.

Definition at line 74 of file CMetricMap.h.

References MRPT_UNUSED_PARAM.

internal_clear()

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

privatepure virtual

Internal method called by clear()

Implemented in mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CColouredPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWeightedPointsMap, mrpt::maps::CSimplePointsMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CLandmarksMap, mrpt::maps::CWirelessPowerGridMap2D, and mrpt::maps::CBeaconMap.

internal_computeObservationLikelihood()

virtual double mrpt::maps::CMetricMap::internal_computeObservationLikelihood ( const mrpt::obs::CObservation *  obs, const mrpt::poses::CPose3D &  takenFrom  )

privatepure virtual

Internal method called by computeObservationLikelihood()

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CMultiMetricMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, and mrpt::maps::CBeaconMap.

internal_insertObservation()

virtual bool mrpt::maps::CMetricMap::internal_insertObservation ( const mrpt::obs::CObservation *  obs, const mrpt::poses::CPose3D *  robotPose = NULL  )

privatepure virtual

Internal method called by insertObservation()

Implemented in mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CColouredOctoMap, mrpt::maps::CLandmarksMap, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::COctoMap.

isEmpty()

virtual bool mrpt::maps::CMetricMap::isEmpty ( ) const

pure virtual

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

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CBeaconMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CHeightGridMap2D, and mrpt::maps::CReflectivityGridMap2D.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Here is the caller graph for this function:

loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations

(

const mrpt::maps::CSimpleMap &

Map

)

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 37 of file CMetricMap.cpp.

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

Referenced by loadFromSimpleMap(), and run_test_pf_localization().

Here is the call graph for this function:

Here is the caller graph for this function:

loadFromSimpleMap()

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

inline

!

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 109 of file CMetricMap.h.

References loadFromProbabilisticPosesAndObservations().

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

Here is the call graph for this function:

Here is the caller graph for this function:

OnPostSuccesfulInsertObs()

virtual void mrpt::maps::CMetricMap::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation *  )

inlineprivatevirtual

Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.

Reimplemented in mrpt::maps::COccupancyGridMap2D.

Definition at line 85 of file CMetricMap.h.

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 47 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(), and mrpt::opengl::COpenGLViewport::render().

Here is the caller graph for this function:

readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

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 error, see CStream::ReadBuffer

See also

CStream

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

saveMetricMapRepresentationToFile()

virtual void mrpt::maps::CMetricMap::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix ) const

pure virtual

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).

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CBeaconMap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CHeightGridMap2D, and mrpt::maps::CReflectivityGridMap2D.

Referenced by mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile().

Here is the caller graph for this function:

squareDistanceToClosestCorrespondence()

float CMetricMap::squareDistanceToClosestCorrespondence ( float  x0, float  y0  ) const

virtual

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 170 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

writeToMatlab()

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

inlinevirtualinherited

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

Returns

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

Definition at line 89 of file CSerializable.h.

writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

Here is the caller graph for this function:

Friends And Related Function Documentation

mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 58 of file CMetricMap.h.

Member Data Documentation

genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

Common params to all maps.

Definition at line 281 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::CBeaconMap::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::maps::CHeightGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), and mrpt::maps::CHeightGridMap2D::writeToStream().

runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::runtimeClassId

staticprotected

Definition at line 58 of file CMetricMap.h.