pbmap/PbMap.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

/*  Plane-based Map (PbMap) library
 *  Construction of plane-based maps and localization in it from RGBD Images.
 *  Writen by Eduardo Fernandez-Moral. See docs for <a
 * href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>
 */

#ifndef __PBMAP_H
#define __PBMAP_H

#include <mrpt/config.h>
#if MRPT_HAS_PCL

#include <mrpt/utils/utils_defs.h>

#include <mrpt/utils/CSerializable.h>

#include <mrpt/pbmap/Plane.h>
#include <mrpt/pbmap/Miscellaneous.h>  // For typedef PointT;

//#include <boost/thread/thread.hpp>

namespace mrpt
{
namespace pbmap
{
/** A class used to store a Plane-based Map (PbMap). A PbMap consists of a set
* of planar patches
* described by geometric features (shape, relative position, etc.) and/or
* radiometric features
* (dominant color). It is organized as an annotated, undirected graph, where
* nodes stand for planar
* patches and edges connect neighbor planes when the distance between their
* closest points is under
* a threshold. This graph structure permits to find efficiently the closest
* neighbors of a plane,
* or to select groups of nearby planes representing part of the scene.
*
*\ingroup mrpt_pbmap_grp
*/
class PbMap : public mrpt::utils::CSerializable
{
        DEFINE_SERIALIZABLE(PbMap)

   public:
        /*!Constructor.*/
        PbMap();

        /*!Vector to store the 3D-planes which are the basic characteristic of our
         * map.*/
        std::vector<Plane> vPlanes;

        /*!Label to store a semantic attribute*/
        std::string label;

        /*!Floor plane id*/
        int FloorPlane;

        /*!Registered point cloud from the RGB-D or Depth frames and visual
         * odometry.*/
        pcl::PointCloud<PointT>::Ptr globalMapPtr;

        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr edgeCloudPtr;
        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr outEdgeCloudPtr;
        unsigned background, foreground, groundplane;

        /*!Save PbMap in the given filePath*/
        void savePbMap(std::string filePath);

        /*!Load a PbMap from the given filePath*/
        void loadPbMap(std::string PbMapFile);

        /*!Merge two pbmaps*/
        void MergeWith(PbMap& pbm, Eigen::Matrix4f& T);

        /*! Print PbMap content to a text file*/
        void printPbMap(std::string txtFilePbm);

        //    boost::mutex mtx_pbmap_busy;
};
}
}  // End of namespaces

#endif

#endif