Detailed Description

This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes.

Definition at line 29 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:

Classes
struct	TOptions
	Configuration of the algorithm: More...

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

CIncrementalMapPartitioner ()

ctor More...

virtual ~CIncrementalMapPartitioner ()

dtor More...

void clear ()

void updatePartitions (std::vector< vector_uint > &partitions)

This method executed only the neccesary part of the partition to take into account the lastest added frames. More...

unsigned int getNodesCount ()

Get the total node count currently in the internal map/graph. More...

void removeSetOfNodes (vector_uint indexesToRemove, bool changeCoordsRef=true)

Remove the stated nodes (0-based indexes) from the internal lists. More...

template<class MATRIX >

void getAdjacencyMatrix (MATRIX &outMatrix) const

Return a copy of the internal adjacency matrix. More...

const mrpt::math::CMatrixDouble & getAdjacencyMatrix () const

Return a const ref to the internal adjacency matrix. More...

const mrpt::maps::CSimpleMap * getSequenceOfFrames () const

Read-only access to the sequence of Sensory Frames. More...

mrpt::maps::CSimpleMap * getSequenceOfFrames ()

Access to the sequence of Sensory Frames. More...

void markAllNodesForReconsideration ()

Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. More...

void getAs3DScene (mrpt::opengl::CSetOfObjects::Ptr &objs, const std::map< uint32_t, int64_t > *renameIndexes=NULL) const

Return a 3D representation of the current state: poses & links between them. More...

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...

Add to the Map Frames

Add a new frame to the current graph

Call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions"

Parameters

frame	The sensed data
robotPose*D	An estimation of the robot global *D pose.

Returns: { The index of the new pose in the internal list, which will be used to refer to the pose in the future. }

See also: updatePartitions

unsigned int addMapFrame (const mrpt::obs::CSensoryFrame::Ptr &frame, const mrpt::poses::CPosePDF::Ptr &robotPose2D)

unsigned int addMapFrame (const mrpt::obs::CSensoryFrame::Ptr &frame, const mrpt::poses::CPose3DPDF::Ptr &robotPose3D)

unsigned int addMapFrame (const mrpt::obs::CSensoryFrame &frame, const mrpt::poses::CPose3DPDF &robotPose3D)

Change Coordinates System

Change the coordinate origin of all stored poses

Used for consistency with future new poses to enter in the system.

void changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)

void changeCoordinatesOriginPoseIndex (const unsigned &newOriginPose)

The new origin is given by the index of the pose that is to become the new origin. 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
mrpt::slam::CIncrementalMapPartitioner::TOptions	options

Protected Member Functions
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...

Private Attributes
mrpt::maps::CSimpleMap	m_individualFrames

std::deque< mrpt::maps::CMultiMetricMap >	m_individualMaps

mrpt::math::CMatrixD	m_A
	Adjacency matrix. More...

std::vector< vector_uint >	m_last_partition
	The last partition. More...

bool	m_last_last_partition_are_new_ones
	This will be true after adding new observations, and before an "updatePartitions" is invoked. More...

std::vector< uint8_t >	m_modified_nodes
	The list of keyframes to consider in the next update. More...

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

using	ConstPtr = std::shared_ptr< const CIncrementalMapPartitioner >

static mrpt::utils::CLASSINIT	_init_CIncrementalMapPartitioner

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CIncrementalMapPartitioner"

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::slam::CIncrementalMapPartitioner::ConstPtr = std::shared_ptr<const CIncrementalMapPartitioner >

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ Ptr

using mrpt::slam::CIncrementalMapPartitioner::Ptr = std::shared_ptr< CIncrementalMapPartitioner >

A typedef for the associated smart pointer

Definition at line 33 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

◆ CIncrementalMapPartitioner()

CIncrementalMapPartitioner::CIncrementalMapPartitioner ( )

ctor

Definition at line 40 of file CIncrementalMapPartitioner.cpp.

References mrpt::utils::clear().

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◆ ~CIncrementalMapPartitioner()

CIncrementalMapPartitioner::~CIncrementalMapPartitioner ( )

virtual

dtor

Definition at line 56 of file CIncrementalMapPartitioner.cpp.

References mrpt::utils::clear().

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Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ addMapFrame() [1/3]

unsigned int CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFrame::Ptr &	frame,
		const mrpt::poses::CPosePDF::Ptr &	robotPose2D
	)

Definition at line 142 of file CIncrementalMapPartitioner.cpp.

References MRPT_END, and MRPT_START.

Referenced by addMapFrame(), mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

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◆ addMapFrame() [2/3]

unsigned int CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFrame::Ptr &	frame,
		const mrpt::poses::CPose3DPDF::Ptr &	robotPose3D
	)

Definition at line 154 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::maps::CMultiMetricMap::compute3DMatchingRatio(), mrpt::maps::CSimpleMap::get(), mrpt::maps::CSimpleMap::insert(), mrpt::maps::CLandmarksMap::TInsertionOptions::insert_Landmarks_from_range_scans, mrpt::maps::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_monocular_images, mrpt::maps::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_stereo_images, mrpt::maps::CLandmarksMap::insertionOptions, m_A, m_individualFrames, m_individualMaps, mrpt::maps::CMultiMetricMap::m_landmarksMap, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, mrpt::maps::CMultiMetricMap::m_pointsMaps, mrpt::maps::TMatchingRatioParams::maxDistForCorr, mrpt::maps::TMatchingRatioParams::maxMahaDistForCorr, mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence, mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence, MRPT_END_WITH_CLEAN_UP, MRPT_START, mrpt::slam::observationsOverlap(), options, mrpt::maps::TSetOfMetricMapInitializers::push_back(), mrpt::maps::CMultiMetricMap::setListOfMaps(), mrpt::maps::CSimpleMap::size(), mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::size(), mrpt::poses::CPose3D::size(), and mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching.

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◆ addMapFrame() [3/3]

unsigned int CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFrame &	frame,
		const mrpt::poses::CPose3DPDF &	robotPose3D
	)

Definition at line 729 of file CIncrementalMapPartitioner.cpp.

References addMapFrame(), and mrpt::utils::CObject::duplicateGetSmartPtr().

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◆ changeCoordinatesOrigin()

void CIncrementalMapPartitioner::changeCoordinatesOrigin ( const mrpt::poses::CPose3D & newOrigin )

Definition at line 591 of file CIncrementalMapPartitioner.cpp.

References mrpt::maps::CSimpleMap::changeCoordinatesOrigin(), and m_individualFrames.

Referenced by changeCoordinatesOriginPoseIndex().

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◆ changeCoordinatesOriginPoseIndex()

void CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex ( const unsigned & newOriginPose )

The new origin is given by the index of the pose that is to become the new origin.

Definition at line 600 of file CIncrementalMapPartitioner.cpp.

References changeCoordinatesOrigin(), mrpt::maps::CSimpleMap::get(), m_individualFrames, MRPT_END, and MRPT_START.

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◆ clear()

void CIncrementalMapPartitioner::clear ( )

Definition at line 121 of file CIncrementalMapPartitioner.cpp.

References mrpt::maps::CSimpleMap::clear(), m_A, m_individualFrames, m_individualMaps, m_last_last_partition_are_new_ones, m_last_partition, and m_modified_nodes.

Referenced by mrpt::slam::CRangeBearingKFSLAM::reset().

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◆ clone()

virtual mrpt::utils::CObject* mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::Create ( Args &&... args )

inlinestatic

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ CreateObject()

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

static

◆ getAdjacencyMatrix() [1/2]

template<class MATRIX >

void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( MATRIX & outMatrix ) const

inline

Return a copy of the internal adjacency matrix.

Definition at line 147 of file CIncrementalMapPartitioner.h.

References m_A.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

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◆ getAdjacencyMatrix() [2/2]

const mrpt::math::CMatrixDouble& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const

inline

Return a const ref to the internal adjacency matrix.

Definition at line 153 of file CIncrementalMapPartitioner.h.

References m_A.

◆ getAs3DScene()

void CIncrementalMapPartitioner::getAs3DScene	(	mrpt::opengl::CSetOfObjects::Ptr &	objs,
		const std::map< uint32_t, int64_t > *	renameIndexes = `NULL`
	)		const

Return a 3D representation of the current state: poses & links between them.

The previous contents of "objs" will be discarded

Definition at line 619 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::format(), mrpt::maps::CSimpleMap::get(), m_A, m_individualFrames, mrpt::maps::CSimpleMap::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

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◆ getNodesCount()

unsigned int CIncrementalMapPartitioner::getNodesCount ( )

Get the total node count currently in the internal map/graph.

Definition at line 481 of file CIncrementalMapPartitioner.cpp.

References m_individualFrames, and mrpt::maps::CSimpleMap::size().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::GetRuntimeClassIdStatic ( )

static

◆ getSequenceOfFrames() [1/2]

const mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const

inline

Read-only access to the sequence of Sensory Frames.

Definition at line 157 of file CIncrementalMapPartitioner.h.

References m_individualFrames.

◆ getSequenceOfFrames() [2/2]

mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( )

inline

Access to the sequence of Sensory Frames.

Definition at line 165 of file CIncrementalMapPartitioner.h.

References m_individualFrames.

◆ markAllNodesForReconsideration()

void CIncrementalMapPartitioner::markAllNodesForReconsideration ( )

Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs.

Definition at line 578 of file CIncrementalMapPartitioner.cpp.

References m_last_last_partition_are_new_ones, m_last_partition, and m_modified_nodes.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::slam::CRangeBearingKFSLAM::reconsiderPartitionsNow().

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◆ operator delete() [1/3]

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator delete() [2/3]

void mrpt::slam::CIncrementalMapPartitioner::operator delete ( void * ptr )

inlinenoexcept

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator delete() [3/3]

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator delete[]()

void mrpt::slam::CIncrementalMapPartitioner::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator new() [1/3]

void* mrpt::slam::CIncrementalMapPartitioner::operator new ( size_t size )

inline

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator new() [2/3]

void* mrpt::slam::CIncrementalMapPartitioner::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator new() [3/3]

static void* mrpt::slam::CIncrementalMapPartitioner::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ operator new[]()

void* mrpt::slam::CIncrementalMapPartitioner::operator new[] ( size_t size )

inline

Definition at line 33 of file CIncrementalMapPartitioner.h.

◆ readFromStream()

void CIncrementalMapPartitioner::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 692 of file CIncrementalMapPartitioner.cpp.

References m_A, m_individualFrames, m_individualMaps, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ removeSetOfNodes()

void CIncrementalMapPartitioner::removeSetOfNodes	(	vector_uint	indexesToRemove,
		bool	changeCoordsRef = `true`
	)

Remove the stated nodes (0-based indexes) from the internal lists.

If changeCoordsRef is true, coordinates are changed to leave the first node at (0,0,0).

Definition at line 489 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::maps::CSimpleMap::changeCoordinatesOrigin(), mrpt::maps::CSimpleMap::get(), m_A, m_individualFrames, m_individualMaps, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, MRPT_END, MRPT_START, mrpt::maps::CSimpleMap::remove(), and mrpt::maps::CSimpleMap::size().

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◆ updatePartitions()

void CIncrementalMapPartitioner::updatePartitions ( std::vector< vector_uint > & partitions )

This method executed only the neccesary part of the partition to take into account the lastest added frames.

See also: addMapFrame

Definition at line 369 of file CIncrementalMapPartitioner.cpp.

References mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly, m_A, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster, MRPT_END, MRPT_START, options, and mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), and mrpt::slam::CRangeBearingKFSLAM::reconsiderPartitionsNow().

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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 CIncrementalMapPartitioner::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