Detailed Description

CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class.

This class implements a Gaussian Markov Random Field (GMRF) estimator, with each voxel being connected to its 6 immediate neighbors (Up, down, left, right, front, back).

See papers:
- "Time-variant gas distribution mapping with obstacle information", Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots, 40(1), 1-16, 2016.

Note that this class does not derive from mrpt::maps::CMetricMap since the estimated values do not have sensor-especific semantics, i.e. the grid can be used to estimate temperature, gas concentration, etc.

Usage:

Define grid size with either constructor or via setSize().
Initialize the map with initialize(). This resets the contents of the map, so previously-added observations will be lost.
Add observations of 3D voxels with insertIndividualReading()

Custom connectivity patterns can be defined with setVoxelsConnectivity().

See also: mrpt::maps::CRandomFieldGridMap3D

Note: [New in MRPT 1.5.0]

Definition at line 78 of file CRandomFieldGridMap3D.h.

#include <mrpt/maps/CRandomFieldGridMap3D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap3D:

Classes
struct	ConnectivityDescriptor
	Base class for user-supplied objects capable of describing voxels connectivity, used to build prior factors of the MRF graph. More...

struct	TInsertionOptions
	Parameters common to any derived class. More...

struct	TObservationGMRF

struct	TPriorFactorGMRF

Public Types
enum	TVoxelInterpolationMethod { gimNearest = 0, gimBilinear }

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CRandomFieldGridMap3D (double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double z_min=-2, double z_max=2, double voxel_size=0.5, bool call_initialize_now=true)
	Constructor. More...

void	clear () override
	Erases all added observations and start again with an empty gridmap. More...

bool	saveAsCSV (const std::string &filName_mean, const std::string &filName_stddev=std::string()) const
	Save the current estimated mean values to a CSV file (compatible with Paraview) with fields `x y z mean_value`. More...

bool	saveAsVtkStructuredGrid (const std::string &fil) const
	Save the current estimated grid to a VTK file (.vts) as a "structured grid". More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewvoxels, double additionalMarginMeters=2.0) override
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z=-1.0, const TRandomFieldVoxel *fill_value=nullptr) override
	Changes the size of the grid, erasing previous contents.If `resolution_z`<0, the same resolution will be used for all dimensions x,y,z as given in `resolution_xy` More...

void	setVoxelsConnectivity (const ConnectivityDescriptor::Ptr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between voxels. More...

bool	insertIndividualReading (const double sensorReading, const double sensorVariance, const mrpt::math::TPoint3D &point, const TVoxelInterpolationMethod method, const bool update_map)
	Direct update of the map with a reading in a given position of the map. More...

void	updateMapEstimation ()
	Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions. More...

void	getAsVtkStructuredGrid (vtkStructuredGrid *output, const std::string &label_mean=std::string("mean"), const std::string &label_stddev=std::string("stddev")) const
	Returns the 3D grid contents as an VTK grid. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z_=-1.0, const TRandomFieldVoxel *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...

void	fill (const TRandomFieldVoxel &value)
	Fills all the cells with the same value. More...

size_t	cellAbsIndexFromCXCYCZ (const int cx, const int cy, const int cz) const
	Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension). More...

TRandomFieldVoxel *	cellByPos (double x, double y, double z)
	Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions. More...

const TRandomFieldVoxel *	cellByPos (double x, double y, double z) const

TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz)
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...

const TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz) const
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...

size_t	getSizeX () const

size_t	getSizeY () const

size_t	getSizeZ () const

size_t	getVoxelCount () const

double	getXMin () const

double	getXMax () const

double	getYMin () const

double	getYMax () const

double	getZMin () const

double	getZMax () const

double	getResolutionXY () const

double	getResolutionZ () const

int	x2idx (double x) const
	Transform a coordinate values into voxel indexes. More...

int	y2idx (double y) const

int	z2idx (double z) const

double	idx2x (int cx) const
	Transform a voxel index into a coordinate value of the voxel central point. More...

double	idx2y (int cy) const

double	idx2z (int cz) const

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions
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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
TInsertionOptions	insertionOptions

Static Public Attributes
static bool	ENABLE_GMRF_PROFILER
	[default:false] Enables a profiler to show a performance report at application end. More...

static const size_t	INVALID_VOXEL_IDX

Protected Member Functions
void	internal_initialize (bool erase_prev_contents=true)
	Internal: called called after each change of resolution, size, etc. More...

std::vector< TRandomFieldVoxel > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...

void	dyngridcommon_writeToStream (mrpt::utils::CStream &out) const
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...

void	dyngridcommon_readFromStream (mrpt::utils::CStream &in)
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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...

Protected Attributes
ConnectivityDescriptor::Ptr	m_gmrf_connectivity
	Empty: default. More...

mrpt::graphs::ScalarFactorGraph	m_gmrf

std::vector< std::deque< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information, for each map cell. More...

std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...

std::vector< TRandomFieldVoxel >	m_map
	The cells. More...

double	m_x_min

double	m_x_max

double	m_y_min

double	m_y_max

double	m_z_min

double	m_z_max

double	m_resolution_xy

double	m_resolution_z

size_t	m_size_x

size_t	m_size_y

size_t	m_size_z

size_t	m_size_x_times_y

Private Types
typedef utils::CDynamicGrid3D< TRandomFieldVoxel >	BASE

RTTI stuff
using	Ptr = std::shared_ptr< CRandomFieldGridMap3D >

using	ConstPtr = std::shared_ptr< const CRandomFieldGridMap3D >

static mrpt::utils::CLASSINIT	_init_CRandomFieldGridMap3D

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CRandomFieldGridMap3D"

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

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

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ BASE

typedef utils::CDynamicGrid3D<TRandomFieldVoxel> mrpt::maps::CRandomFieldGridMap3D::BASE

private

Definition at line 83 of file CRandomFieldGridMap3D.h.

◆ ConstPtr

using mrpt::maps::CRandomFieldGridMap3D::ConstPtr = std::shared_ptr<const CRandomFieldGridMap3D >

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ Ptr

using mrpt::maps::CRandomFieldGridMap3D::Ptr = std::shared_ptr< CRandomFieldGridMap3D >

A typedef for the associated smart pointer

Definition at line 85 of file CRandomFieldGridMap3D.h.

Member Enumeration Documentation

◆ TVoxelInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap3D::TVoxelInterpolationMethod

Enumerator
gimNearest
gimBilinear

Definition at line 202 of file CRandomFieldGridMap3D.h.

Constructor & Destructor Documentation

◆ CRandomFieldGridMap3D()

CRandomFieldGridMap3D::CRandomFieldGridMap3D	(	double	x_min = `-2`,
		double	x_max = `2`,
		double	y_min = `-2`,
		double	y_max = `2`,
		double	z_min = `-2`,
		double	z_max = `2`,
		double	voxel_size = `0.5`,
		bool	call_initialize_now = `true`
	)

Constructor.

If you set call_initialize_now to false, the object will be initialized immediately (without the heavy initialization of the GMRF), but you then must call setSize() or clear() later to properly initialize the object before using it to insert observations.

Definition at line 40 of file CRandomFieldGridMap3D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::_GetBaseClass ( )

staticprotected

◆ cellAbsIndexFromCXCYCZ()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ	(	const int	cx,
		const int	cy,
		const int	cz
	)		const

inlineinherited

Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension).

See also: x2idx(), y2idx(), z2idx()

Definition at line 233 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::utils::CDynamicGrid3D< T >::m_size_x, mrpt::utils::CDynamicGrid3D< T >::m_size_x_times_y, mrpt::utils::CDynamicGrid3D< T >::m_size_y, and mrpt::utils::CDynamicGrid3D< T >::m_size_z.

Referenced by insertIndividualReading().

◆ cellByIndex() [1/2]

TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions.

Definition at line 267 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, and mrpt::utils::CDynamicGrid3D< T >::m_map.

◆ cellByIndex() [2/2]

const TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)		const

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions.

Definition at line 277 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, and mrpt::utils::CDynamicGrid3D< T >::m_map.

◆ cellByPos() [1/2]

TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos	(	double	x,
		double	y,
		double	z
	)

inlineinherited

Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions.

Definition at line 248 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::x2idx(), mrpt::utils::CDynamicGrid3D< T >::y2idx(), and mrpt::utils::CDynamicGrid3D< T >::z2idx().

◆ cellByPos() [2/2]

const TRandomFieldVoxel * mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos	(	double	x,
		double	y,
		double	z
	)		const

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 256 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::utils::CDynamicGrid3D< T >::m_map, mrpt::utils::CDynamicGrid3D< T >::x2idx(), mrpt::utils::CDynamicGrid3D< T >::y2idx(), and mrpt::utils::CDynamicGrid3D< T >::z2idx().

◆ clear()

void CRandomFieldGridMap3D::clear ( )

overridevirtual

Erases all added observations and start again with an empty gridmap.

Reimplemented from mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >.

Definition at line 84 of file CRandomFieldGridMap3D.cpp.

References mrpt::utils::CDynamicGrid3D< T >::clear().

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◆ clone()

virtual mrpt::utils::CObject* mrpt::maps::CRandomFieldGridMap3D::clone ( ) const

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CRandomFieldGridMap3D::Create ( Args &&... args )

inlinestatic

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::CRandomFieldGridMap3D::CreateObject ( )

static

◆ dyngridcommon_readFromStream()

void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream ( mrpt::utils::CStream & in )

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 337 of file CDynamicGrid3D.h.

Referenced by readFromStream().

◆ dyngridcommon_writeToStream()

void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream ( mrpt::utils::CStream & out ) const

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 327 of file CDynamicGrid3D.h.

Referenced by writeToStream().

◆ fill()

void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::fill ( const TRandomFieldVoxel & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 221 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map.

◆ getAsVtkStructuredGrid()

void CRandomFieldGridMap3D::getAsVtkStructuredGrid	(	vtkStructuredGrid *	output,
		const std::string &	label_mean = `std::string("mean")`,
		const std::string &	label_stddev = `std::string("stddev")`
	)		const

Returns the 3D grid contents as an VTK grid.

Definition at line 447 of file CRandomFieldGridMap3D.cpp.

Referenced by saveAsVtkStructuredGrid().

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◆ getResolutionXY()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionXY ( ) const

inlineinherited

Definition at line 295 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy.

◆ getResolutionZ()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionZ ( ) const

inlineinherited

Definition at line 296 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_z.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClassIdStatic ( )

static

◆ getSizeX()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeX ( ) const

inlineinherited

Definition at line 285 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_x.

Referenced by getAsVtkStructuredGrid().

◆ getSizeY()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeY ( ) const

inlineinherited

Definition at line 286 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_y.

Referenced by getAsVtkStructuredGrid().

◆ getSizeZ()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getSizeZ ( ) const

inlineinherited

Definition at line 287 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_z.

Referenced by getAsVtkStructuredGrid().

◆ getVoxelCount()

size_t mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getVoxelCount ( ) const

inlineinherited

Definition at line 288 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_size_x_times_y, and mrpt::utils::CDynamicGrid3D< T >::m_size_z.

◆ getXMax()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getXMax ( ) const

inlineinherited

Definition at line 290 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_x_max.

◆ getXMin()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getXMin ( ) const

inlineinherited

Definition at line 289 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_x_min.

◆ getYMax()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getYMax ( ) const

inlineinherited

Definition at line 292 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_y_max.

◆ getYMin()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getYMin ( ) const

inlineinherited

Definition at line 291 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_y_min.

◆ getZMax()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getZMax ( ) const

inlineinherited

Definition at line 294 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_z_max.

◆ getZMin()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::getZMin ( ) const

inlineinherited

Definition at line 293 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_z_min.

◆ idx2x()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2x ( int cx ) const

inlineinherited

Transform a voxel index into a coordinate value of the voxel central point.

Definition at line 313 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::utils::CDynamicGrid3D< T >::m_x_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

◆ idx2y()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2y ( int cy ) const

inlineinherited

Definition at line 314 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::utils::CDynamicGrid3D< T >::m_y_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

◆ idx2z()

double mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2z ( int cz ) const

inlineinherited

Definition at line 315 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_resolution_z, and mrpt::utils::CDynamicGrid3D< T >::m_z_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

◆ insertIndividualReading()

bool CRandomFieldGridMap3D::insertIndividualReading	(	const double	sensorReading,
		const double	sensorVariance,
		const mrpt::math::TPoint3D &	point,
		const TVoxelInterpolationMethod	method,
		const bool	update_map
	)

Direct update of the map with a reading in a given position of the map.

Returns: false if point is out of the grid extension.

Parameters

[in]	sensorReading	The value observed in the (x,y,z) position
[in]	sensorVariance	The variance of the sensor observation
[in]	point	The (x,y,z) location
[in]	method	Voxel interpolation method: how many voxels will be affected by the reading
[in]	update_map	Run a global map update after inserting this observation (algorithm-dependant)

Definition at line 338 of file CRandomFieldGridMap3D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_ABOVE_, ASSERTMSG_, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::Lambda, m_gmrf, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, MRPT_END, MRPT_START, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::obsValue, updateMapEstimation(), mrpt::math::TPoint3D::x, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::x2idx(), mrpt::math::TPoint3D::y, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::y2idx(), mrpt::math::TPoint3D::z, and mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::z2idx().

Referenced by TEST().

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◆ internal_initialize()

void CRandomFieldGridMap3D::internal_initialize ( bool erase_prev_contents = true )

protected

Internal: called called after each change of resolution, size, etc.

to build the prior factor information

Definition at line 90 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERT_EQUAL_, fill(), mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation(), mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF::Lambda, MRPT_LOG_DEBUG_STREAM, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_i, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_j, mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

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◆ m_map_castaway_const()

std::vector<TRandomFieldVoxel >& mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map_castaway_const ( ) const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 321 of file CDynamicGrid3D.h.

References mrpt::utils::CDynamicGrid3D< T >::m_map.

◆ operator delete() [1/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void * ptr )

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator delete() [2/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator delete() [3/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator delete[]()

void mrpt::maps::CRandomFieldGridMap3D::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new() [1/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new() [2/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t size )

inline

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new() [3/3]

static void* mrpt::maps::CRandomFieldGridMap3D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new[]()

void* mrpt::maps::CRandomFieldGridMap3D::operator new[] ( size_t size )

inline

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ readFromStream()

void CRandomFieldGridMap3D::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

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

Implements mrpt::utils::CSerializable.

Definition at line 412 of file CRandomFieldGridMap3D.cpp.

References ASSERT_EQUAL_, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ resize() [1/2]

virtual void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		double	new_z_min,
		double	new_z_max,
		const TRandomFieldVoxel &	defaultValueNewCells,
		double	additionalMarginMeters = `2.0`
	)

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 46 of file CDynamicGrid3D.h.

◆ resize() [2/2]

void CRandomFieldGridMap3D::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		double	new_z_min,
		double	new_z_max,
		const TRandomFieldVoxel &	defaultValueNewvoxels,
		double	additionalMarginMeters = `2.0`
	)

overridevirtual

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 68 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, and MRPT_START.

Referenced by TEST().

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◆ saveAsCSV()

bool mrpt::maps::CRandomFieldGridMap3D::saveAsCSV	(	const std::string &	filName_mean,
		const std::string &	filName_stddev = `std::string()`
	)		const

Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value.

Optionally, std deviations can be also saved to another file with fields x y z stddev_value, if filName_stddev is provided.

Returns: false on error writing to file

See also: saveAsVtkStructuredGrid

Definition at line 254 of file CRandomFieldGridMap3D.cpp.

References mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2x(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2y(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::idx2z(), mrpt::utils::CFileOutputStream::is_open(), mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y, mrpt::utils::CFileOutputStream::open(), and mrpt::utils::CStream::printf().

Referenced by TEST().

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◆ saveAsVtkStructuredGrid()

bool CRandomFieldGridMap3D::saveAsVtkStructuredGrid ( const std::string & fil ) const

Save the current estimated grid to a VTK file (.vts) as a "structured grid".

See also: saveAsCSV

Definition at line 223 of file CRandomFieldGridMap3D.cpp.

References getAsVtkStructuredGrid(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by TEST().

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◆ setSize() [1/2]

void CRandomFieldGridMap3D::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	z_min,
		const double	z_max,
		const double	resolution_xy,
		const double	resolution_z = `-1.0`,
		const TRandomFieldVoxel *	fill_value = `nullptr`
	)

overridevirtual

Changes the size of the grid, erasing previous contents.If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

Changes the size of the grid, erasing previous contents.

See also: resize.

Definition at line 52 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, MRPT_START, and setSize().

Referenced by TEST().

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◆ setSize() [2/2]

virtual void mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	z_min,
		const double	z_max,
		const double	resolution_xy,
		const double	resolution_z_ = `-1.0`,
		const TRandomFieldVoxel *	fill_value = `nullptr`
	)

inlinevirtualinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as nullptr, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default voxel value, but the location of old values may change wrt their old places). If fill_value is not nullptr, it is assured that all cells will have a copy of that value after resizing. If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

See also: resize, fill

Definition at line 173 of file CDynamicGrid3D.h.

◆ setVoxelsConnectivity()

void mrpt::maps::CRandomFieldGridMap3D::setVoxelsConnectivity ( const ConnectivityDescriptor::Ptr & new_connectivity_descriptor )

Sets a custom object to define the connectivity between voxels.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 332 of file CRandomFieldGridMap3D.cpp.

References m_gmrf_connectivity.

◆ updateMapEstimation()

void CRandomFieldGridMap3D::updateMapEstimation ( )

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions.

Definition at line 308 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERTMSG_, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, m_gmrf, mrpt::utils::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, and mrpt::graphs::ScalarFactorGraph::updateEstimation().

Referenced by insertIndividualReading(), and TEST().

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◆ 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()

void CRandomFieldGridMap3D::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

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