mrpt::pbmap::Plane Class Reference

Detailed Description

A class used to store a planar feature (Plane for short).

It is described with geometric features representing the shape and relative location of the patch (area, normal vector, elongation, 3D-convex hull, etc.) and radiometric features (the most representative color).

Definition at line 48 of file Plane.h.

#include <mrpt/pbmap/Plane.h>

Inheritance diagram for mrpt::pbmap::Plane:

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
	Plane ()
void	forcePtsLayOnPlane ()
void	calcConvexHull (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &pointCloud, std::vector< size_t > &indices=DEFAULT_VECTOR)
	! Calculate the plane's convex hull with the monotone chain algorithm. More...
void	calcConvexHullandParams (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &pointCloud, std::vector< size_t > &indices=DEFAULT_VECTOR)
float	compute2DPolygonalArea ()
	Compute the area of a 2D planar polygon patch - using a given normal. More...
void	computeMassCenterAndArea ()
	Compute the patch's convex-hull area and mass center. More...
void	calcElongationAndPpalDir ()
bool	isPlaneNearby (Plane &plane, const float distThreshold)
bool	isSamePlane (Plane &plane, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)
bool	isSamePlane (Eigen::Matrix4f &Rt, Plane &plane_, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)
bool	hasSimilarDominantColor (Plane &plane, const float colorThreshold)
void	mergePlane (Plane &plane)
void	mergePlane2 (Plane &plane)
void	transform (Eigen::Matrix4f &Rt)
void	calcMainColor ()
void	calcMainColor2 ()
void	calcPlaneHistH ()
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
unsigned	id
	! Parameters to allow the plane-based representation of the map by a graph More...
unsigned	numObservations
unsigned	semanticGroup
std::set< unsigned >	nearbyPlanes
std::map< unsigned, unsigned >	neighborPlanes
std::string	label
std::string	label_object
std::string	label_context
Eigen::Vector3f	v3center
	! Geometric description More...
Eigen::Vector3f	v3normal
float	d
Eigen::Matrix4f	information
float	curvature
Eigen::Vector3f	v3PpalDir
float	elongation
float	areaVoxels
float	areaHull
bool	bFullExtent
bool	bFromStructure
unsigned	nFramesAreaIsStable
Eigen::Vector3f	v3colorNrgb
	! Radiometric description More...
float	dominantIntensity
bool	bDominantColor
Eigen::Vector3f	v3colorNrgbDev
Eigen::Vector3f	v3colorC1C2C3
std::vector< float >	hist_H
std::vector< double >	prog_area
std::vector< double >	prog_elongation
std::vector< Eigen::Vector3f >	prog_C1C2C3
std::vector< Eigen::Vector3f >	prog_Nrgb
std::vector< float >	prog_intensity
std::vector< std::vector< float > >	prog_hist_H
std::vector< int32_t >	inliers
	! Convex Hull More...
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	polygonContourPtr
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	outerPolygonPtr
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	planePointCloudPtr

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	*---------------------------------------------—————— 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...

Private Member Functions
void	getPlaneNrgb ()
void	getPlaneC1C2C3 ()

Private Attributes
std::vector< float >	r
std::vector< float >	g
std::vector< float >	b
std::vector< float >	intensity
std::vector< float >	c1
std::vector< float >	c2
std::vector< float >	c3

RTTI stuff
using	Ptr = std::shared_ptr< Plane >
using	ConstPtr = std::shared_ptr< const Plane >
static mrpt::utils::CLASSINIT	_init_Plane
static const mrpt::utils::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "Plane"
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

ConstPtr

using mrpt::pbmap::Plane::ConstPtr = std::shared_ptr<const Plane >

Definition at line 50 of file Plane.h.

Ptr

using mrpt::pbmap::Plane::Ptr = std::shared_ptr< Plane >

A typedef for the associated smart pointer

Definition at line 50 of file Plane.h.

Constructor & Destructor Documentation

Plane()

mrpt::pbmap::Plane::Plane ( )

inline

Definition at line 53 of file Plane.h.

Member Function Documentation

_GetBaseClass()

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

staticprotected

calcConvexHull()

void Plane::calcConvexHull	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &	pointCloud,
		std::vector< size_t > &	indices = DEFAULT_VECTOR
	)

! Calculate the plane's convex hull with the monotone chain algorithm.

Definition at line 902 of file Plane.cpp.

References cross().

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and mrpt::pbmap::PbMapMaker::mergePlanes().

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calcConvexHullandParams()

void Plane::calcConvexHullandParams	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &	pointCloud,
		std::vector< size_t > &	indices = DEFAULT_VECTOR
	)

Definition at line 970 of file Plane.cpp.

References cross(), and mrpt::math::norm().

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calcElongationAndPpalDir()

void Plane::calcElongationAndPpalDir

(

)

Calculate plane's elongation and principal direction

Definition at line 472 of file Plane.cpp.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().

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calcMainColor()

void Plane::calcMainColor

(

)

Calculate plane's main color using "MeanShift" method

dominantIntensity = getHistogramMeanShift(intensity, 767.0, v3colorNrgbDev(2));
cout << "c1c2c3 in " << (getColorEnd - getColorStart)*1000000 << " us\n";

Definition at line 744 of file Plane.cpp.

References mrpt::pbmap::getHistogramMeanShift().

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().

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calcMainColor2()

void Plane::calcMainColor2

(

)

Definition at line 673 of file Plane.cpp.

References concentrationThreshold, and mrpt::pbmap::getMultiDimMeanShift_color().

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calcPlaneHistH()

void Plane::calcPlaneHistH

(

)

Definition at line 547 of file Plane.cpp.

clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

compute2DPolygonalArea()

float Plane::compute2DPolygonalArea

(

)

Compute the area of a 2D planar polygon patch - using a given normal.

Compute the area of a 2D planar polygon patch.

Parameters

polygonContourPtr	the point cloud (planar)
normal	the plane normal

Definition at line 390 of file Plane.cpp.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud().

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computeMassCenterAndArea()

void Plane::computeMassCenterAndArea

(

)

Compute the patch's convex-hull area and mass center.

Definition at line 426 of file Plane.cpp.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and mrpt::pbmap::PbMapMaker::mergePlanes().

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Create()

template<typename... Args>

static Ptr mrpt::pbmap::Plane::Create ( Args &&...  args )

inlinestatic

Definition at line 50 of file Plane.h.

CreateObject()

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

static

forcePtsLayOnPlane()

void Plane::forcePtsLayOnPlane

(

)

Force the plane inliers to lay on the plane

Definition at line 361 of file Plane.cpp.

Referenced by mrpt::pbmap::PbMapMaker::mergePlanes().

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getPlaneC1C2C3()

void Plane::getPlaneC1C2C3 ( )

private

Definition at line 521 of file Plane.cpp.

getPlaneNrgb()

void Plane::getPlaneNrgb ( )

private

Calculate plane's main color in normalized rgb space

Definition at line 490 of file Plane.cpp.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::pbmap::Plane::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::pbmap::Plane::GetRuntimeClassIdStatic ( )

static

hasSimilarDominantColor()

bool Plane::hasSimilarDominantColor	(	Plane &	plane,
		const float	colorThreshold
	)

Definition at line 1209 of file Plane.cpp.

References bDominantColor, and v3colorNrgb.

isPlaneNearby()

bool Plane::isPlaneNearby	(	Plane &	plane_nearby,
		const float	distThreshold
	)

Returns true when the closest distance between the patches "this" and "plane" is under distThreshold.

Returns true when the closest distance between the patches "this" and the input "plane_nearby" is under distThreshold. This function is approximated

Definition at line 1101 of file Plane.cpp.

References mrpt::pbmap::diffPoints(), mrpt::pbmap::dist3D_Segment_to_Segment2(), mrpt::pbmap::getVector3fromPointXYZ(), polygonContourPtr, and v3center.

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isSamePlane() [1/2]

bool Plane::isSamePlane	(	Plane &	plane_nearby,
		const float &	cosAngleThreshold,
		const float &	parallelDistThres,
		const float &	proxThreshold
	)

Returns true if the two input planes represent the same physical surface for some given angle and distance thresholds. If the planes are the same they are merged in this and the function returns true. Otherwise it returns false.

Definition at line 1152 of file Plane.cpp.

References v3center, and v3normal.

isSamePlane() [2/2]

bool Plane::isSamePlane	(	Eigen::Matrix4f &	Rt,
		Plane &	plane_,
		const float &	cosAngleThreshold,
		const float &	parallelDistThres,
		const float &	proxThreshold
	)

Check if the the input plane is the same than this plane for some given angle and distance thresholds. If the planes are the same they are merged in this and the function returns true. Otherwise it returns false.

if(fabs(dist_normal) > parallelDistThres ) // Avoid matching different parallel planes

Definition at line 1175 of file Plane.cpp.

References d, polygonContourPtr, v3center, and v3normal.

mergePlane()

void Plane::mergePlane

(

Plane &

same_plane_patch

)

Merge the two input patches into "updatePlane". Recalculate center, normal vector, area, inlier points (filtered), convex hull, etc.

Merge the input "same_plane_patch" into "this". Recalculate center, normal vector, area, inlier points (filtered), convex hull, etc.

Definition at line 1223 of file Plane.cpp.

References inliers, planePointCloudPtr, polygonContourPtr, and v3normal.

mergePlane2()

void Plane::mergePlane2

(

Plane &

plane

)

Definition at line 1276 of file Plane.cpp.

References hist_H, inliers, planePointCloudPtr, polygonContourPtr, and v3normal.

operator delete() [1/3]

void mrpt::pbmap::Plane::operator delete ( void *  memory, void *  ptr  )

inlinenoexcept

Definition at line 50 of file Plane.h.

operator delete() [2/3]

void mrpt::pbmap::Plane::operator delete ( void *  ptr )

inlinenoexcept

Definition at line 50 of file Plane.h.

operator delete() [3/3]

void mrpt::pbmap::Plane::operator delete ( void *  ptr, const std::nothrow_t &    )

inlinenoexcept

Definition at line 50 of file Plane.h.

operator delete[]()

void mrpt::pbmap::Plane::operator delete[] ( void *  ptr )

inlinenoexcept

Definition at line 50 of file Plane.h.

operator new() [1/3]

void* mrpt::pbmap::Plane::operator new ( size_t  size, const std::nothrow_t &    )

inlinenoexcept

Definition at line 50 of file Plane.h.

operator new() [2/3]

static void* mrpt::pbmap::Plane::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 50 of file Plane.h.

operator new() [3/3]

void* mrpt::pbmap::Plane::operator new ( size_t  size )

inline

Definition at line 50 of file Plane.h.

operator new[]()

void* mrpt::pbmap::Plane::operator new[] ( size_t  size )

inline

Definition at line 50 of file Plane.h.

readFromStream()

void Plane::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

in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3normal[0],sizeof(v3normal[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3center[0],sizeof(v3center[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3PpalDir[0],sizeof(v3PpalDir[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgb[0],sizeof(v3colorNrgb[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev[0],sizeof(v3colorNrgbDev[0])*3);

           in >> v3colorNrgbDev(0) >> v3colorNrgbDev(1) >>

v3colorNrgbDev(2);

in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3normal[0],sizeof(v3normal[0])*3);

/ in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3center[0],sizeof(v3center[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3PpalDir[0],sizeof(v3PpalDir[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgb[0],sizeof(v3colorNrgb[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev[0],sizeof(v3colorNrgbDev[0])*3);

Implements mrpt::utils::CSerializable.

Definition at line 237 of file Plane.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

transform()

void Plane::transform

(

Eigen::Matrix4f &

Rt

)

Definition at line 1320 of file Plane.cpp.

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 Plane::writeToStream ( mrpt::utils::CStream &  out, int *  out_Version  ) const

overrideprotectedvirtual

*---------------------------------------------——————

out.WriteBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev(0),3); *---------------------------------------------------———— in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3normal[0],sizeof(v3normal[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3center[0],sizeof(v3center[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3PpalDir[0],sizeof(v3PpalDir[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgb[0],sizeof(v3colorNrgb[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev[0],sizeof(v3colorNrgbDev[0])*3);

out.WriteBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgb(0),3); / out.WriteBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev(0),3);

out << v3colorNrgbDev(0) << v3colorNrgbDev(1) << v3colorNrgbDev(2);

Implements mrpt::utils::CSerializable.

Definition at line 138 of file Plane.cpp.

Member Data Documentation

_init_Plane

mrpt::utils::CLASSINIT mrpt::pbmap::Plane::_init_Plane

staticprotected

Definition at line 50 of file Plane.h.

areaHull

float mrpt::pbmap::Plane::areaHull

Definition at line 153 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), and mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D().

areaVoxels

float mrpt::pbmap::Plane::areaVoxels

Definition at line 152 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::PlaneInferredInfo::isFullExtent(), mrpt::pbmap::PbMapMaker::mergePlanes(), and mrpt::pbmap::PlaneInferredInfo::searchTheFloor().

b

std::vector<float> mrpt::pbmap::Plane::b

private

Definition at line 204 of file Plane.h.

bDominantColor

bool mrpt::pbmap::Plane::bDominantColor

Definition at line 163 of file Plane.h.

Referenced by hasSimilarDominantColor().

bFromStructure

bool mrpt::pbmap::Plane::bFromStructure

Definition at line 155 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and mrpt::pbmap::PlaneInferredInfo::searchTheFloor().

bFullExtent

bool mrpt::pbmap::Plane::bFullExtent

Definition at line 154 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and mrpt::pbmap::PlaneInferredInfo::isFullExtent().

c1

std::vector<float> mrpt::pbmap::Plane::c1

private

Calculate plane's main color in C1C2C3 representation

Definition at line 211 of file Plane.h.

c2

std::vector<float> mrpt::pbmap::Plane::c2

private

Definition at line 212 of file Plane.h.

c3

std::vector<float> mrpt::pbmap::Plane::c3

private

Definition at line 213 of file Plane.h.

className

constexpr const char* mrpt::pbmap::Plane::className = "Plane"

static

Definition at line 50 of file Plane.h.

curvature

float mrpt::pbmap::Plane::curvature

Definition at line 148 of file Plane.h.

d

float mrpt::pbmap::Plane::d

Definition at line 145 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and isSamePlane().

dominantIntensity

float mrpt::pbmap::Plane::dominantIntensity

Definition at line 162 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::viz_cb(), and mrpt::pbmap::PbMapMaker::watchProperties().

elongation

float mrpt::pbmap::Plane::elongation

Definition at line 150 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and mrpt::pbmap::PbMapMaker::watchProperties().

g

std::vector<float> mrpt::pbmap::Plane::g

private

Definition at line 203 of file Plane.h.

hist_H

std::vector<float> mrpt::pbmap::Plane::hist_H

Definition at line 167 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), mergePlane2(), and mrpt::pbmap::PbMapMaker::watchProperties().

id

unsigned mrpt::pbmap::Plane::id

! Parameters to allow the plane-based representation of the map by a graph

Definition at line 129 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::checkProximity(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), mrpt::pbmap::PbMap::MergeWith(), mrpt::pbmap::PbMap::readFromStream(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::pbmap::PlaneInferredInfo::searchTheFloor(), and mrpt::pbmap::PbMapMaker::watchProperties().

information

Eigen::Matrix4f mrpt::pbmap::Plane::information

Definition at line 146 of file Plane.h.

inliers

std::vector<int32_t> mrpt::pbmap::Plane::inliers

! Convex Hull

Definition at line 183 of file Plane.h.

Referenced by mergePlane(), and mergePlane2().

intensity

std::vector<float> mrpt::pbmap::Plane::intensity

private

Definition at line 205 of file Plane.h.

label

std::string mrpt::pbmap::Plane::label

Labels to store semantic attributes

Definition at line 136 of file Plane.h.

Referenced by mrpt::pbmap::PlaneInferredInfo::searchTheFloor().

label_context

std::string mrpt::pbmap::Plane::label_context

Definition at line 138 of file Plane.h.

label_object

std::string mrpt::pbmap::Plane::label_object

Definition at line 137 of file Plane.h.

nearbyPlanes

std::set<unsigned> mrpt::pbmap::Plane::nearbyPlanes

Definition at line 132 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::checkProximity(), and mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

neighborPlanes

std::map<unsigned, unsigned> mrpt::pbmap::Plane::neighborPlanes

Definition at line 133 of file Plane.h.

Referenced by mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

nFramesAreaIsStable

unsigned mrpt::pbmap::Plane::nFramesAreaIsStable

Definition at line 156 of file Plane.h.

Referenced by mrpt::pbmap::PlaneInferredInfo::isFullExtent().

numObservations

unsigned mrpt::pbmap::Plane::numObservations

Definition at line 130 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

outerPolygonPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::Plane::outerPolygonPtr

Definition at line 186 of file Plane.h.

Referenced by mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground().

planePointCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::Plane::planePointCloudPtr

Definition at line 188 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mergePlane(), mergePlane2(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::pbmap::PbMap::MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

polygonContourPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::Plane::polygonContourPtr

Definition at line 184 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), isPlaneNearby(), isSamePlane(), mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground(), mergePlane(), mergePlane2(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::pbmap::PbMap::MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

prog_area

std::vector<double> mrpt::pbmap::Plane::prog_area

Definition at line 170 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

prog_C1C2C3

std::vector<Eigen::Vector3f> mrpt::pbmap::Plane::prog_C1C2C3

Definition at line 174 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

prog_elongation

std::vector<double> mrpt::pbmap::Plane::prog_elongation

Definition at line 171 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

prog_hist_H

std::vector<std::vector<float> > mrpt::pbmap::Plane::prog_hist_H

Definition at line 177 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

prog_intensity

std::vector<float> mrpt::pbmap::Plane::prog_intensity

Definition at line 176 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

prog_Nrgb

std::vector<Eigen::Vector3f> mrpt::pbmap::Plane::prog_Nrgb

Definition at line 175 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

r

std::vector<float> mrpt::pbmap::Plane::r

private

Definition at line 202 of file Plane.h.

runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::pbmap::Plane::runtimeClassId

staticprotected

Definition at line 50 of file Plane.h.

semanticGroup

unsigned mrpt::pbmap::Plane::semanticGroup

Definition at line 131 of file Plane.h.

v3center

Eigen::Vector3f mrpt::pbmap::Plane::v3center

! Geometric description

Definition at line 143 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::PbMapMaker::areSamePlane(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), isPlaneNearby(), isSamePlane(), mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground(), mrpt::pbmap::PbMap::MergeWith(), mrpt::pbmap::PlaneInferredInfo::searchTheFloor(), and mrpt::pbmap::PbMapMaker::viz_cb().

v3colorC1C2C3

Eigen::Vector3f mrpt::pbmap::Plane::v3colorC1C2C3

Definition at line 166 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

v3colorNrgb

Eigen::Vector3f mrpt::pbmap::Plane::v3colorNrgb

! Radiometric description

Definition at line 161 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), hasSimilarDominantColor(), mrpt::pbmap::PbMapMaker::viz_cb(), and mrpt::pbmap::PbMapMaker::watchProperties().

v3colorNrgbDev

Eigen::Vector3f mrpt::pbmap::Plane::v3colorNrgbDev

Definition at line 164 of file Plane.h.

v3normal

Eigen::Vector3f mrpt::pbmap::Plane::v3normal

Definition at line 144 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::PbMapMaker::areSamePlane(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), isSamePlane(), mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground(), mergePlane(), mergePlane2(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::pbmap::PbMap::MergeWith(), mrpt::pbmap::PlaneInferredInfo::searchTheFloor(), and mrpt::pbmap::PbMapMaker::viz_cb().

v3PpalDir

Eigen::Vector3f mrpt::pbmap::Plane::v3PpalDir

Definition at line 149 of file Plane.h.

Referenced by mrpt::pbmap::PbMap::MergeWith().