MRPT  1.9.9
pbmap/PbMap.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 /* Plane-based Map (PbMap) library
11  * Construction of plane-based maps and localization in it from RGBD Images.
12  * Writen by Eduardo Fernandez-Moral. See docs for <a
13  * href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>
14  */
15 
16 #pragma once
17 
18 #include <mrpt/config.h>
19 #if MRPT_HAS_PCL
20 
22 
23 #include <mrpt/pbmap/Miscellaneous.h> // For type PointT;
24 #include <mrpt/pbmap/Plane.h>
25 
26 //#include <boost/thread/thread.hpp>
27 
28 namespace mrpt::pbmap
29 {
30 /** A class used to store a Plane-based Map (PbMap). A PbMap consists of a set
31  * of planar patches
32  * described by geometric features (shape, relative position, etc.) and/or
33  * radiometric features
34  * (dominant color). It is organized as an annotated, undirected graph, where
35  * nodes stand for planar
36  * patches and edges connect neighbor planes when the distance between their
37  * closest points is under
38  * a threshold. This graph structure permits to find efficiently the closest
39  * neighbors of a plane,
40  * or to select groups of nearby planes representing part of the scene.
41  *
42  *\ingroup mrpt_pbmap_grp
43  */
45 {
47 
48  public:
49  /*!Constructor.*/
50  PbMap();
51 
52  /*!Vector to store the 3D-planes which are the basic characteristic of our
53  * map.*/
54  std::vector<Plane> vPlanes;
55 
56  /*!Label to store a semantic attribute*/
58 
59  /*!Floor plane id*/
61 
62  /*!Registered point cloud from the RGB-D or Depth frames and visual
63  * odometry.*/
64  pcl::PointCloud<PointT>::Ptr globalMapPtr;
65 
66  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr edgeCloudPtr;
67  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr outEdgeCloudPtr;
69 
70  /*!Save PbMap in the given filePath*/
71  void savePbMap(std::string filePath);
72 
73  /*!Load a PbMap from the given filePath*/
74  void loadPbMap(std::string PbMapFile);
75 
76  /*!Merge two pbmaps*/
77  void MergeWith(PbMap& pbm, Eigen::Matrix4f& T);
78 
79  /*! Print PbMap content to a text file*/
80  void printPbMap(std::string txtFilePbm);
81 
82  // boost::mutex mtx_pbmap_busy;
83 };
84 } // namespace mrpt::pbmap
85 #endif
unsigned background
Definition: pbmap/PbMap.h:68
void loadPbMap(std::string PbMapFile)
Definition: PbMap.cpp:96
unsigned foreground
Definition: pbmap/PbMap.h:68
unsigned groundplane
Definition: pbmap/PbMap.h:68
GLsizei const GLchar ** string
Definition: glext.h:4116
pcl::PointCloud< PointT >::Ptr globalMapPtr
Definition: pbmap/PbMap.h:64
void printPbMap(std::string txtFilePbm)
Definition: PbMap.cpp:158
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr outEdgeCloudPtr
Definition: pbmap/PbMap.h:67
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr edgeCloudPtr
Definition: pbmap/PbMap.h:66
std::string label
Definition: pbmap/PbMap.h:57
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:30
void savePbMap(std::string filePath)
Definition: PbMap.cpp:85
std::vector< Plane > vPlanes
Definition: pbmap/PbMap.h:54
void MergeWith(PbMap &pbm, Eigen::Matrix4f &T)
Definition: PbMap.cpp:119
A class used to store a Plane-based Map (PbMap).
Definition: pbmap/PbMap.h:44



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