MRPT  1.9.9
mrpt::pbmap Namespace Reference

Classes

struct  config_heuristics
 A class used to define the heuristic parameters and thresholds used to match sets of planes. More...
 
class  ConsistencyTest
 
struct  frameRGBDandPose
 
class  PbMap
 A class used to store a Plane-based Map (PbMap). More...
 
class  PbMapLocaliser
 
class  PbMapMaker
 
class  Plane
 A class used to store a planar feature (Plane for short). More...
 
class  PlaneInferredInfo
 A class used to infer some semantic meaning to the planes of a PbMap. More...
 
struct  Segment
 
class  SemanticClustering
 
class  Subgraph
 
class  SubgraphMatcher
 

Typedefs

using PointT = pcl::PointXYZRGBA
 

Functions

template<class pointPCL >
Eigen::Vector3f getVector3fromPointXYZ (pointPCL &pt)
 
template<class POINT >
Eigen::Vector3f diffPoints (const POINT &P1, const POINT &P2)
 
template<class dataType >
Eigen::Matrix< dataType, 3, 1 > compose (Eigen::Matrix< dataType, 4, 4 > &pose, Eigen::Matrix< dataType, 3, 1 > &point)
 
template<class dataType >
Eigen::Matrix< dataType, 4, 4 > compose (Eigen::Matrix< dataType, 4, 4 > &pose1, Eigen::Matrix< dataType, 4, 4 > &pose2)
 
template<class dataType >
Eigen::Matrix< dataType, 4, 4 > inverse (Eigen::Matrix< dataType, 4, 4 > &pose)
 
float dist3D_Segment_to_Segment2 (Segment S1, Segment S2)
 
bool isInHull (PointT &point3D, pcl::PointCloud< PointT >::Ptr hull3D)
 
template<typename dataType >
dataType getMode (std::vector< dataType > data, dataType range)
 
template<typename dataType >
Eigen::Vector4f getMultiDimMeanShift_color (std::vector< Eigen::Vector4f > &data, dataType &stdDevHist, dataType &concentration)
 
template<typename dataType >
dataType getHistogramMeanShift (std::vector< dataType > &data, double range, dataType &stdDevHist_out)
 
template<class T >
std::ostream & operator<< (std::ostream &os, const std::vector< T > &v)
 Output a vector as a stream that is space separated. More...
 

Typedef Documentation

◆ PointT

using mrpt::pbmap::PointT = typedef pcl::PointXYZRGBA

Definition at line 34 of file Miscellaneous.h.

Function Documentation

◆ compose() [1/2]

template<class dataType >
Eigen::Matrix<dataType, 3, 1> mrpt::pbmap::compose ( Eigen::Matrix< dataType, 4, 4 > &  pose,
Eigen::Matrix< dataType, 3, 1 > &  point 
)

Compose a 3D-point with a pose.

Definition at line 55 of file Miscellaneous.h.

Referenced by mrpt::pbmap::ConsistencyTest::calcAlignmentError(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and mrpt::pbmap::ConsistencyTest::getRTwithModel().

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◆ compose() [2/2]

template<class dataType >
Eigen::Matrix<dataType, 4, 4> mrpt::pbmap::compose ( Eigen::Matrix< dataType, 4, 4 > &  pose1,
Eigen::Matrix< dataType, 4, 4 > &  pose2 
)

Compose two poses.

Definition at line 66 of file Miscellaneous.h.

◆ diffPoints()

template<class POINT >
Eigen::Vector3f mrpt::pbmap::diffPoints ( const POINT &  P1,
const POINT &  P2 
)
inline

Definition at line 44 of file Miscellaneous.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), dist3D_Segment_to_Segment2(), and mrpt::pbmap::Plane::isPlaneNearby().

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◆ dist3D_Segment_to_Segment2()

float mrpt::pbmap::dist3D_Segment_to_Segment2 ( Segment  S1,
Segment  S2 
)

Square of the distance between two segments

Definition at line 25 of file Miscellaneous.cpp.

References diffPoints(), mrpt::pbmap::Segment::P0, mrpt::pbmap::Segment::P1, and SMALL_NUM.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), and mrpt::pbmap::Plane::isPlaneNearby().

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◆ getHistogramMeanShift()

template<typename dataType >
dataType mrpt::pbmap::getHistogramMeanShift ( std::vector< dataType > &  data,
double  range,
dataType &  stdDevHist_out 
)

Definition at line 244 of file Miscellaneous.h.

References mrpt::math::stddev(), and mrpt::math::sum().

Referenced by mrpt::pbmap::Plane::calcMainColor().

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◆ getMode()

template<typename dataType >
dataType mrpt::pbmap::getMode ( std::vector< dataType >  data,
dataType  range 
)

Definition at line 106 of file Miscellaneous.h.

References mrpt::math::histogram().

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◆ getMultiDimMeanShift_color()

template<typename dataType >
Eigen::Vector4f mrpt::pbmap::getMultiDimMeanShift_color ( std::vector< Eigen::Vector4f > &  data,
dataType &  stdDevHist,
dataType &  concentration 
)

Definition at line 153 of file Miscellaneous.h.

References mrpt::math::cov(), mrpt::math::norm(), mrpt::math::sum(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose().

Referenced by mrpt::pbmap::Plane::calcMainColor2().

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◆ getVector3fromPointXYZ()

template<class pointPCL >
Eigen::Vector3f mrpt::pbmap::getVector3fromPointXYZ ( pointPCL &  pt)

Transform the (x,y,z) coordinates of a PCL point into a Eigen::Vector3f.

Definition at line 38 of file Miscellaneous.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::Plane::isPlaneNearby(), and mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground().

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◆ inverse()

template<class dataType >
Eigen::Matrix<dataType, 4, 4> mrpt::pbmap::inverse ( Eigen::Matrix< dataType, 4, 4 > &  pose)

◆ isInHull()

bool mrpt::pbmap::isInHull ( PointT point3D,
pcl::PointCloud< PointT >::Ptr  hull3D 
)

Check if a point lays inside a convex hull

Definition at line 103 of file Miscellaneous.cpp.

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

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◆ operator<<()

template<class T >
std::ostream& mrpt::pbmap::operator<< ( std::ostream &  os,
const std::vector< T > &  v 
)

Output a vector as a stream that is space separated.

Parameters
osOutput stream
vVector to output
Returns
the stream output

Definition at line 337 of file Miscellaneous.h.




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