MRPT  1.9.9
mrpt::pbmap::PbMap Class Reference

Detailed Description

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.

Definition at line 44 of file pbmap/PbMap.h.

#include <mrpt/pbmap/PbMap.h>

Inheritance diagram for mrpt::pbmap::PbMap:

Public Member Functions

 PbMap ()
 
void savePbMap (std::string filePath)
 
void loadPbMap (std::string PbMapFile)
 
void MergeWith (PbMap &pbm, Eigen::Matrix4f &T)
 
void printPbMap (std::string txtFilePbm)
 
virtual mxArraywriteToMatlab () 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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Public Attributes

std::vector< PlanevPlanes
 
std::string label
 
int FloorPlane
 
pcl::PointCloud< PointT >::Ptr globalMapPtr
 
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr edgeCloudPtr
 
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr outEdgeCloudPtr
 
unsigned background
 
unsigned foreground
 
unsigned groundplane
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< PbMap >
 
using ConstPtr = std::shared_ptr< const PbMap >
 
using UniquePtr = std::unique_ptr< PbMap >
 
using ConstUniquePtr = std::unique_ptr< const PbMap >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "PbMap"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 46 of file pbmap/PbMap.h.

◆ ConstUniquePtr

using mrpt::pbmap::PbMap::ConstUniquePtr = std::unique_ptr<const PbMap >

Definition at line 46 of file pbmap/PbMap.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 46 of file pbmap/PbMap.h.

◆ UniquePtr

using mrpt::pbmap::PbMap::UniquePtr = std::unique_ptr< PbMap >

Definition at line 46 of file pbmap/PbMap.h.

Constructor & Destructor Documentation

◆ PbMap()

PbMap::PbMap ( )

Constructor.

Definition at line 33 of file PbMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::pbmap::PbMap::_GetBaseClass ( )
staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::pbmap::PbMap::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::pbmap::PbMap::Create ( Args &&...  args)
inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::pbmap::PbMap::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::pbmap::PbMap::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::pbmap::PbMap::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 191 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getClassName()

static constexpr auto mrpt::pbmap::PbMap::getClassName ( )
inlinestatic

Definition at line 46 of file pbmap/PbMap.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::pbmap::PbMap::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::pbmap::PbMap::GetRuntimeClassIdStatic ( )
static

◆ loadPbMap()

void PbMap::loadPbMap ( std::string  PbMapFile)

Load a PbMap from the given filePath

Definition at line 96 of file PbMap.cpp.

References mrpt::serialization::archiveFrom(), mrpt::io::CFileGZInputStream::close(), and mrpt::io::CFileGZInputStream::open().

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

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◆ MergeWith()

◆ printPbMap()

void PbMap::printPbMap ( std::string  txtFilePbm)

Print PbMap content to a text file

Definition at line 158 of file PbMap.cpp.

◆ savePbMap()

void PbMap::savePbMap ( std::string  filePath)

Save PbMap in the given filePath

Definition at line 85 of file PbMap.cpp.

References mrpt::serialization::archiveFrom(), and mrpt::io::CFileGZOutputStream::close().

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

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◆ serializeFrom() [1/2]

void PbMap::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file PbMap.cpp.

References mrpt::pbmap::Plane::id, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t PbMap::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 41 of file PbMap.cpp.

◆ serializeTo() [1/2]

void PbMap::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 42 of file PbMap.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

Member Data Documentation

◆ background

unsigned mrpt::pbmap::PbMap::background

Definition at line 68 of file pbmap/PbMap.h.

◆ className

constexpr const char* mrpt::pbmap::PbMap::className = "PbMap"
static

Definition at line 46 of file pbmap/PbMap.h.

◆ edgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::edgeCloudPtr

Definition at line 66 of file pbmap/PbMap.h.

◆ FloorPlane

int mrpt::pbmap::PbMap::FloorPlane

Floor plane id

Definition at line 60 of file pbmap/PbMap.h.

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

◆ foreground

unsigned mrpt::pbmap::PbMap::foreground

Definition at line 68 of file pbmap/PbMap.h.

◆ globalMapPtr

pcl::PointCloud<PointT>::Ptr mrpt::pbmap::PbMap::globalMapPtr

Registered point cloud from the RGB-D or Depth frames and visual odometry.

Definition at line 64 of file pbmap/PbMap.h.

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

◆ groundplane

unsigned mrpt::pbmap::PbMap::groundplane

Definition at line 68 of file pbmap/PbMap.h.

◆ label

std::string mrpt::pbmap::PbMap::label

Label to store a semantic attribute

Definition at line 57 of file pbmap/PbMap.h.

◆ outEdgeCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::outEdgeCloudPtr

Definition at line 67 of file pbmap/PbMap.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::pbmap::PbMap::runtimeClassId
staticprotected

Definition at line 46 of file pbmap/PbMap.h.

◆ vPlanes




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