mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE > Class Template Reference

Detailed Description

template<class OCTREE, class OCTREE_NODE>
class mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.

This base class represents a 3D map where each voxel may contain an "occupancy" property, RGBD data, etc. depending on the derived class.

As with any other mrpt::maps::CMetricMap, you can obtain a 3D representation of the map calling getAs3DObject() or getAsOctoMapVoxels()

To use octomap's iterators to go through the voxels, use COctoMap::getOctomap()

The octomap library was presented in:

• K. M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard, "OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems" in Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation, 2010. Software available at http://octomap.sf.net/.

See also

CMetricMap, the example in "MRPT/samples/octomap_simple"

Definition at line 48 of file COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >:

Classes
struct	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...
struct	TLikelihoodOptions
	Options used when evaluating "computeObservationLikelihood". More...
struct	TRenderingOptions
	Options for the conversion of a mrpt::maps::COctoMap into a mrpt::opengl::COctoMapVoxels. More...

Public Types
typedef COctoMapBase< OCTREE, OCTREE_NODE >	myself_t
	The type of this MRPT class. More...
typedef OCTREE	octree_t
	The type of the octree class in the "octomap" library. More...
typedef OCTREE_NODE	octree_node_t
	The type of nodes in the octree, in the "octomap" library. More...

Public Member Functions
	COctoMapBase (const double resolution=0.10)
	Constructor, defines the resolution of the octomap (length of each voxel side) More...
virtual	~COctoMapBase ()
OCTREE &	getOctomap ()
	Get a reference to the internal octomap object. More...
virtual bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. More...
virtual void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...
virtual void	getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const =0
	Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. More...
bool	isPointWithinOctoMap (const float x, const float y, const float z) const
	Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped") More...
bool	getPointOccupancy (const float x, const float y, const float z, double &prob_occupancy) const
	Get the occupancy probability [0,1] of a point. More...
void	updateVoxel (const double x, const double y, const double z, bool occupied)
	Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions. More...
void	insertPointCloud (const CPointsMap &ptMap, const float sensor_x, const float sensor_y, const float sensor_z)
	Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference. More...
void	insertRay (const float end_x, const float end_y, const float end_z, const float sensor_x, const float sensor_y, const float sensor_z)
	Just like insertPointCloud but with a single ray. More...
bool	castRay (const mrpt::math::TPoint3D &origin, const mrpt::math::TPoint3D &direction, mrpt::math::TPoint3D &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
	Performs raycasting in 3d, similar to computeRay(). 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=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...
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	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...
Direct access to octomap library methods
double	getResolution () const
unsigned int	getTreeDepth () const
size_t	size () const
size_t	memoryUsage () const
size_t	memoryUsageNode () const
size_t	memoryFullGrid () const
double	volume ()
void	getMetricSize (double &x, double &y, double &z)
	Size of OcTree (all known space) in meters for x, y and z dimension. More...
void	getMetricSize (double &x, double &y, double &z) const
	Size of OcTree (all known space) in meters for x, y and z dimension. More...
void	getMetricMin (double &x, double &y, double &z)
	minimum value of the bounding box of all known space in x, y, z More...
void	getMetricMin (double &x, double &y, double &z) const
	minimum value of the bounding box of all known space in x, y, z More...
void	getMetricMax (double &x, double &y, double &z)
	maximum value of the bounding box of all known space in x, y, z More...
void	getMetricMax (double &x, double &y, double &z) const
	maximum value of the bounding box of all known space in x, y, z More...
size_t	calcNumNodes () const
	Traverses the tree to calculate the total number of nodes. More...
size_t	getNumLeafNodes () const
	Traverses the tree to calculate the total number of leaf nodes. 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
TInsertionOptions	insertionOptions
	The options used when inserting observations in the map. More...
TLikelihoodOptions	likelihoodOptions
TRenderingOptions	renderingOptions
TMapGenericParams	genericMapParams
	Common params to all maps. More...

Protected Member Functions
virtual void	internal_clear () override
	Internal method called by clear() More...
bool	internal_build_PointCloud_for_observation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose, octomap::point3d &point3d_sensorPt, octomap::Pointcloud &ptr_scan) const
	Builds the list of 3D points in global coordinates for a generic observation. More...
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...

Protected Attributes
OCTREE	m_octomap
	The actual octo-map object. More...

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

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

Member Typedef Documentation

ConstPtr

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

inherited

Definition at line 58 of file CMetricMap.h.

myself_t

template<class OCTREE, class OCTREE_NODE>

typedef COctoMapBase<OCTREE, OCTREE_NODE> mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::myself_t

The type of this MRPT class.

Definition at line 52 of file COctoMapBase.h.

octree_node_t

template<class OCTREE, class OCTREE_NODE>

typedef OCTREE_NODE mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::octree_node_t

The type of nodes in the octree, in the "octomap" library.

Definition at line 56 of file COctoMapBase.h.

octree_t

template<class OCTREE, class OCTREE_NODE>

typedef OCTREE mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::octree_t

The type of the octree class in the "octomap" library.

Definition at line 54 of file COctoMapBase.h.

Ptr

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

inherited

Definition at line 58 of file CMetricMap.h.

Constructor & Destructor Documentation

COctoMapBase()

template<class OCTREE, class OCTREE_NODE>

mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::COctoMapBase ( const double  resolution = 0.10 )

inline

Constructor, defines the resolution of the octomap (length of each voxel side)

Definition at line 60 of file COctoMapBase.h.

~COctoMapBase()

template<class OCTREE, class OCTREE_NODE>

virtual mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::~COctoMapBase ( )

inlinevirtual

Definition at line 64 of file COctoMapBase.h.

Member Function Documentation

_GetBaseClass()

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

staticprotectedinherited

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 289 of file CMetricMap.h.

calcNumNodes()

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::calcNumNodes ( ) const

inline

Traverses the tree to calculate the total number of nodes.

Definition at line 451 of file COctoMapBase.h.

canComputeObservationLikelihood() [1/2]

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 180 of file CMetricMap.cpp.

canComputeObservationLikelihood() [2/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation::Ptr &  obs ) const

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 121 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 86 of file CMetricMap.cpp.

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

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castRay()

template<class OCTREE , class OCTREE_NODE >

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay	(	const mrpt::math::TPoint3D &	origin,
		const mrpt::math::TPoint3D &	direction,
		mrpt::math::TPoint3D &	end,
		bool	ignoreUnknownCells = false,
		double	maxRange = -1.0
	)		const

Performs raycasting in 3d, similar to computeRay().

A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.

Parameters

origin	starting coordinate of ray
direction	A vector pointing in the direction of the raycast. Does not need to be normalized.
end	returns the center of the cell that was hit by the ray, if successful
ignoreUnknownCells	whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit.
maxRange	Maximum range after which the raycast is aborted (<= 0: no limit, default)

Returns

whether or not an occupied cell was hit

Definition at line 238 of file COctoMapBase_impl.h.

clear()

void CMetricMap::clear ( )

inherited

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().

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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().

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compute3DMatchingRatio()

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

virtualinherited

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().

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computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation *  obs, const mrpt::poses::CPose3D &  takenFrom  )

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters

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

Returns

This method returns a log-likelihood.

See also

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

Definition at line 189 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 77 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 67 of file CMetricMap.cpp.

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

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

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determineMatching2D()

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

virtualinherited

Computes the matching between this and another 2D point map, which includes finding:

• The set of points pairs in each map
• The mean squared distance between corresponding pairs.

The algorithm is:

• For each point in "otherMap":
  • Transform the point according to otherMapPose
  • Search with a KD-TREE the closest correspondences in "this" map.
  • Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also

compute3DMatchingRatio

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::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().

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determineMatching3D()

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose3D &  otherMapPose, mrpt::utils::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 142 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

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getAs3DObject()

template<class OCTREE, class OCTREE_NODE>

virtual void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  outObj ) const

inlineoverridevirtual

Returns a 3D object representing the map.

See also

renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 318 of file COctoMapBase.h.

getAsOctoMapVoxels()

template<class OCTREE, class OCTREE_NODE>

virtual void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getAsOctoMapVoxels ( mrpt::opengl::COctoMapVoxels &  gl_obj ) const

pure virtual

Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.

See also

renderingOptions

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::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 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().

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getAsSimplePointsMap() [2/2]

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

inlinevirtualinherited

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

Definition at line 305 of file CMetricMap.h.

getMetricMax() [1/2]

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMax ( double &  x, double &  y, double &  z  )

inline

maximum value of the bounding box of all known space in x, y, z

Definition at line 440 of file COctoMapBase.h.

getMetricMax() [2/2]

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMax ( double &  x, double &  y, double &  z  ) const

inline

maximum value of the bounding box of all known space in x, y, z

Definition at line 445 of file COctoMapBase.h.

getMetricMin() [1/2]

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMin ( double &  x, double &  y, double &  z  )

inline

minimum value of the bounding box of all known space in x, y, z

Definition at line 430 of file COctoMapBase.h.

getMetricMin() [2/2]

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMin ( double &  x, double &  y, double &  z  ) const

inline

minimum value of the bounding box of all known space in x, y, z

Definition at line 435 of file COctoMapBase.h.

getMetricSize() [1/2]

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricSize ( double &  x, double &  y, double &  z  )

inline

Size of OcTree (all known space) in meters for x, y and z dimension.

Definition at line 420 of file COctoMapBase.h.

getMetricSize() [2/2]

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricSize ( double &  x, double &  y, double &  z  ) const

inline

Size of OcTree (all known space) in meters for x, y and z dimension.

Definition at line 425 of file COctoMapBase.h.

getNumLeafNodes()

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getNumLeafNodes ( ) const

inline

Traverses the tree to calculate the total number of leaf nodes.

Definition at line 453 of file COctoMapBase.h.

getOctomap()

template<class OCTREE, class OCTREE_NODE>

OCTREE& mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getOctomap ( )

inline

Get a reference to the internal octomap object.

Example:

mrpt::maps::COctoMap  map;
...
octomap::OcTree &om = map.getOctomap();

Definition at line 74 of file COctoMapBase.h.

getPointOccupancy()

template<class OCTREE , class OCTREE_NODE >

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getPointOccupancy	(	const float	x,
		const float	y,
		const float	z,
		double &	prob_occupancy
	)		const

Get the occupancy probability [0,1] of a point.

Returns

false if the point is not mapped, in which case the returned "prob" is undefined.

Definition at line 204 of file COctoMapBase_impl.h.

Referenced by TEST().

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getResolution()

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getResolution ( ) const

inline

Definition at line 406 of file COctoMapBase.h.

GetRuntimeClass()

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

overridevirtualinherited

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().

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GetRuntimeClassIdStatic()

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

staticinherited

getTreeDepth()

template<class OCTREE, class OCTREE_NODE>

unsigned int mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getTreeDepth ( ) const

inline

Definition at line 407 of file COctoMapBase.h.

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().

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insertObservation()

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

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 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().

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insertObservationPtr()

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

inherited

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().

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insertPointCloud()

template<class OCTREE , class OCTREE_NODE >

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud	(	const CPointsMap &	ptMap,
		const float	sensor_x,
		const float	sensor_y,
		const float	sensor_z
	)

Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference.

Insertion parameters can be found in insertionOptions.

See also

The generic observation insertion method CMetricMap::insertObservation()

Definition at line 221 of file COctoMapBase_impl.h.

insertRay()

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertRay ( const float  end_x, const float  end_y, const float  end_z, const float  sensor_x, const float  sensor_y, const float  sensor_z  )

inline

Just like insertPointCloud but with a single ray.

Definition at line 370 of file COctoMapBase.h.

internal_build_PointCloud_for_observation()

template<class OCTREE , class OCTREE_NODE >

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation ( const mrpt::obs::CObservation *  obs, const mrpt::poses::CPose3D *  robotPose, octomap::point3d &  point3d_sensorPt, octomap::Pointcloud &  ptr_scan  ) const

protected

Builds the list of 3D points in global coordinates for a generic observation.

Used for both, insertObservation() and computeLikelihood().

Parameters

[out]	point3d_sensorPt	Is a pointer to a "point3D".
[out]	ptr_scan	Is in fact a pointer to "octomap::Pointcloud". Not declared as such to avoid headers dependencies in user code.

Returns

false if the observation kind is not applicable.

Definition at line 22 of file COctoMapBase_impl.h.

internal_clear()

template<class OCTREE, class OCTREE_NODE>

virtual void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_clear ( )

inlineoverrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 457 of file COctoMapBase.h.

internal_computeObservationLikelihood()

template<class OCTREE , class OCTREE_NODE >

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 177 of file COctoMapBase_impl.h.

isEmpty()

template<class OCTREE , class OCTREE_NODE >

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::isEmpty ( ) const

overridevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 142 of file COctoMapBase_impl.h.

isPointWithinOctoMap()

template<class OCTREE, class OCTREE_NODE>

bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::isPointWithinOctoMap ( const float  x, const float  y, const float  z  ) const

inline

Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped")

Definition at line 336 of file COctoMapBase.h.

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 37 of file CMetricMap.cpp.

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

Referenced by mrpt::maps::CMetricMap::loadFromSimpleMap(), 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 109 of file CMetricMap.h.

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

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

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memoryFullGrid()

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::memoryFullGrid ( ) const

inline

Returns

Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)

Definition at line 417 of file COctoMapBase.h.

memoryUsage()

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::memoryUsage ( ) const

inline

Returns

Memory usage of the complete octree in bytes (may vary between architectures)

Definition at line 412 of file COctoMapBase.h.

memoryUsageNode()

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::memoryUsageNode ( ) const

inline

Returns

Memory usage of the a single octree node

Definition at line 414 of file COctoMapBase.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().

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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()

template<class OCTREE , class OCTREE_NODE >

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 148 of file COctoMapBase_impl.h.

size()

template<class OCTREE, class OCTREE_NODE>

size_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::size ( ) const

inline

Returns

The number of nodes in the tree

Definition at line 409 of file COctoMapBase.h.

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 170 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

updateVoxel()

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::updateVoxel ( const double  x, const double  y, const double  z, bool  occupied  )

inline

Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions.

Definition at line 352 of file COctoMapBase.h.

Referenced by TEST().

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volume()

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::volume ( )

inline

Definition at line 418 of file COctoMapBase.h.

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().

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Member Data Documentation

genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

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().

insertionOptions

template<class OCTREE, class OCTREE_NODE>

TInsertionOptions mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertionOptions

The options used when inserting observations in the map.

Definition at line 242 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::insertRay().

likelihoodOptions

template<class OCTREE, class OCTREE_NODE>

TLikelihoodOptions mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::likelihoodOptions

Definition at line 269 of file COctoMapBase.h.

m_octomap

template<class OCTREE, class OCTREE_NODE>

OCTREE mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap

protected

The actual octo-map object.

Definition at line 472 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::calcNumNodes(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getMetricMax(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getMetricMin(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getMetricSize(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getNumLeafNodes(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getOctomap(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getResolution(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getTreeDepth(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::insertRay(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_clear(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::isPointWithinOctoMap(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::memoryFullGrid(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::memoryUsage(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::memoryUsageNode(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::size(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::updateVoxel(), and mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::volume().

renderingOptions

template<class OCTREE, class OCTREE_NODE>

TRenderingOptions mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::renderingOptions

Definition at line 313 of file COctoMapBase.h.

runtimeClassId

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

staticprotectedinherited

Definition at line 58 of file CMetricMap.h.