Detailed Description

A class used to store a planar feature (Plane for short).

It is described with geometric features representing the shape and relative location of the patch (area, normal vector, elongation, 3D-convex hull, etc.) and radiometric features (the most representative color).

Definition at line 44 of file Plane.h.

#include <mrpt/pbmap/Plane.h>

Inheritance diagram for mrpt::pbmap::Plane:

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

	Plane ()

void	forcePtsLayOnPlane ()

void	calcConvexHull (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &pointCloud, std::vector< size_t > &indices=DEFAULT_VECTOR)
	! Calculate the plane's convex hull with the monotone chain algorithm. More...

void	calcConvexHullandParams (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &pointCloud, std::vector< size_t > &indices=DEFAULT_VECTOR)

float	compute2DPolygonalArea ()
	Compute the area of a 2D planar polygon patch - using a given normal. More...

void	computeMassCenterAndArea ()
	Compute the patch's convex-hull area and mass center. More...

void	calcElongationAndPpalDir ()

bool	isPlaneNearby (Plane &plane, const float distThreshold)

bool	isSamePlane (Plane &plane, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)

bool	isSamePlane (Eigen::Matrix4f &Rt, Plane &plane_, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)

bool	hasSimilarDominantColor (Plane &plane, const float colorThreshold)

void	mergePlane (Plane &plane)

void	mergePlane2 (Plane &plane)

void	transform (Eigen::Matrix4f &Rt)

void	calcMainColor ()

void	calcMainColor2 ()

void	calcPlaneHistH ()

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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::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
unsigned	id
	! Parameters to allow the plane-based representation of the map by a graph More...

unsigned	numObservations

unsigned	semanticGroup

std::set< unsigned >	nearbyPlanes

std::map< unsigned, unsigned >	neighborPlanes

std::string	label

std::string	label_object

std::string	label_context

Eigen::Vector3f	v3center
	! Geometric description More...

Eigen::Vector3f	v3normal

float	d

Eigen::Matrix4f	information

float	curvature

Eigen::Vector3f	v3PpalDir

float	elongation

float	areaVoxels

float	areaHull

bool	bFullExtent

bool	bFromStructure

unsigned	nFramesAreaIsStable

Eigen::Vector3f	v3colorNrgb
	! Radiometric description More...

float	dominantIntensity

bool	bDominantColor

Eigen::Vector3f	v3colorNrgbDev

Eigen::Vector3f	v3colorC1C2C3

std::vector< float >	hist_H

std::vector< double >	prog_area

std::vector< double >	prog_elongation

std::vector< Eigen::Vector3f >	prog_C1C2C3

std::vector< Eigen::Vector3f >	prog_Nrgb

std::vector< float >	prog_intensity

std::vector< std::vector< float > >	prog_hist_H

std::vector< int32_t >	inliers
	! Convex Hull More...

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	polygonContourPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	outerPolygonPtr

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	planePointCloudPtr

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	*---------------------------------------------------———— 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...

Private Member Functions
void	getPlaneNrgb ()

void	getPlaneC1C2C3 ()

Private Attributes
std::vector< float >	r

std::vector< float >	g

std::vector< float >	b

std::vector< float >	intensity

std::vector< float >	c1

std::vector< float >	c2

std::vector< float >	c3

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

using	ConstPtr = std::shared_ptr< const Plane >

using	UniquePtr = std::unique_ptr< Plane >

using	ConstUniquePtr = std::unique_ptr< const Plane >

static mrpt::rtti::CLASSINIT	_init_Plane

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "Plane"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

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

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::pbmap::Plane::ConstPtr = std::shared_ptr<const Plane >

Definition at line 46 of file Plane.h.

◆ ConstUniquePtr

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

Definition at line 46 of file Plane.h.

◆ Ptr

using mrpt::pbmap::Plane::Ptr = std::shared_ptr< Plane >

A type for the associated smart pointer

Definition at line 46 of file Plane.h.

◆ UniquePtr

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

Definition at line 46 of file Plane.h.

Constructor & Destructor Documentation

◆ Plane()

mrpt::pbmap::Plane::Plane ( )

inline

Definition at line 49 of file Plane.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::pbmap::Plane::_GetBaseClass ( )

staticprotected

◆ calcConvexHull()

void Plane::calcConvexHull	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &	pointCloud,
		std::vector< size_t > &	indices = `DEFAULT_VECTOR`
	)

! Calculate the plane's convex hull with the monotone chain algorithm.

Definition at line 761 of file Plane.cpp.

References cross().

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

◆ calcConvexHullandParams()

void Plane::calcConvexHullandParams	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &	pointCloud,
		std::vector< size_t > &	indices = `DEFAULT_VECTOR`
	)

Definition at line 829 of file Plane.cpp.

References cross(), and mrpt::math::norm().

◆ calcElongationAndPpalDir()

void Plane::calcElongationAndPpalDir ( )

Calculate plane's elongation and principal direction

Definition at line 331 of file Plane.cpp.

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

◆ calcMainColor()

void Plane::calcMainColor ( )

Calculate plane's main color using "MeanShift" method

dominantIntensity = getHistogramMeanShift(intensity, 767.0, v3colorNrgbDev(2));
cout << "c1c2c3 in " << (getColorEnd - getColorStart)*1000000 << " us\n";

Definition at line 603 of file Plane.cpp.

References mrpt::pbmap::getHistogramMeanShift().

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

◆ calcMainColor2()

void Plane::calcMainColor2 ( )

Definition at line 532 of file Plane.cpp.

References concentrationThreshold, and mrpt::pbmap::getMultiDimMeanShift_color().

◆ calcPlaneHistH()

void Plane::calcPlaneHistH ( )

Definition at line 406 of file Plane.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::pbmap::Plane::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute2DPolygonalArea()

float Plane::compute2DPolygonalArea ( )

Compute the area of a 2D planar polygon patch - using a given normal.

Compute the area of a 2D planar polygon patch.

Parameters

polygonContourPtr	the point cloud (planar)
normal	the plane normal

Definition at line 249 of file Plane.cpp.

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

◆ computeMassCenterAndArea()

void Plane::computeMassCenterAndArea ( )

Compute the patch's convex-hull area and mass center.

Definition at line 285 of file Plane.cpp.

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

◆ Create()

template<typename... Args>

static Ptr mrpt::pbmap::Plane::Create ( Args &&... args )

inlinestatic

Definition at line 46 of file Plane.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::pbmap::Plane::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::pbmap::Plane::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 46 of file Plane.h.

◆ duplicateGetSmartPtr()

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

inlineinherited

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).

Definition at line 168 of file CObject.h.

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

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

◆ forcePtsLayOnPlane()

void Plane::forcePtsLayOnPlane ( )

Force the plane inliers to lay on the plane

Definition at line 220 of file Plane.cpp.

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

◆ getClassName()

static constexpr auto mrpt::pbmap::Plane::getClassName ( )

inlinestatic

Definition at line 46 of file Plane.h.

◆ getPlaneC1C2C3()

void Plane::getPlaneC1C2C3 ( )

private

Definition at line 380 of file Plane.cpp.

◆ getPlaneNrgb()

void Plane::getPlaneNrgb ( )

private

Calculate plane's main color in normalized rgb space

Definition at line 349 of file Plane.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::pbmap::Plane::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::Plane::GetRuntimeClassIdStatic ( )

static

◆ hasSimilarDominantColor()

bool Plane::hasSimilarDominantColor	(	Plane &	plane,
		const float	colorThreshold
	)

Definition at line 1068 of file Plane.cpp.

References bDominantColor, and v3colorNrgb.

◆ isPlaneNearby()

bool Plane::isPlaneNearby	(	Plane &	plane_nearby,
		const float	distThreshold
	)

Returns true when the closest distance between the patches "this" and "plane" is under distThreshold.

Returns true when the closest distance between the patches "this" and the input "plane_nearby" is under distThreshold. This function is approximated

Definition at line 960 of file Plane.cpp.

References mrpt::pbmap::diffPoints(), mrpt::pbmap::dist3D_Segment_to_Segment2(), mrpt::pbmap::getVector3fromPointXYZ(), polygonContourPtr, and v3center.

◆ isSamePlane() [1/2]

bool Plane::isSamePlane	(	Plane &	plane_nearby,
		const float &	cosAngleThreshold,
		const float &	parallelDistThres,
		const float &	proxThreshold
	)

Returns true if the two input planes represent the same physical surface for some given angle and distance thresholds. If the planes are the same they are merged in this and the function returns true. Otherwise it returns false.

Definition at line 1011 of file Plane.cpp.

References v3center, and v3normal.

◆ isSamePlane() [2/2]

bool Plane::isSamePlane	(	Eigen::Matrix4f &	Rt,
		Plane &	plane_,
		const float &	cosAngleThreshold,
		const float &	parallelDistThres,
		const float &	proxThreshold
	)

Check if the the input plane is the same than this plane for some given angle and distance thresholds. If the planes are the same they are merged in this and the function returns true. Otherwise it returns false.

if(fabs(dist_normal) > parallelDistThres ) // Avoid matching different parallel planes

Definition at line 1034 of file Plane.cpp.

References d, polygonContourPtr, v3center, and v3normal.

◆ mergePlane()

void Plane::mergePlane ( Plane & same_plane_patch )

Merge the two input patches into "updatePlane". Recalculate center, normal vector, area, inlier points (filtered), convex hull, etc.

Merge the input "same_plane_patch" into "this". Recalculate center, normal vector, area, inlier points (filtered), convex hull, etc.

Definition at line 1082 of file Plane.cpp.

References inliers, planePointCloudPtr, polygonContourPtr, and v3normal.

◆ mergePlane2()

void Plane::mergePlane2 ( Plane & plane )

Definition at line 1135 of file Plane.cpp.

References hist_H, inliers, planePointCloudPtr, polygonContourPtr, and v3normal.

◆ operator delete() [1/3]

void mrpt::pbmap::Plane::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 46 of file Plane.h.

◆ operator delete() [2/3]

void mrpt::pbmap::Plane::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 46 of file Plane.h.

◆ operator delete() [3/3]

void mrpt::pbmap::Plane::operator delete ( void * ptr )

inlinenoexcept

Definition at line 46 of file Plane.h.

◆ operator delete[]()

void mrpt::pbmap::Plane::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 46 of file Plane.h.

◆ operator new() [1/3]

void* mrpt::pbmap::Plane::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 46 of file Plane.h.

◆ operator new() [2/3]

static void* mrpt::pbmap::Plane::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 46 of file Plane.h.

◆ operator new() [3/3]

void* mrpt::pbmap::Plane::operator new ( size_t size )

inline

Definition at line 46 of file Plane.h.

◆ operator new[]()

void* mrpt::pbmap::Plane::operator new[] ( size_t size )

inline

Definition at line 46 of file Plane.h.

◆ serializeFrom()

void Plane::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

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 I/O error

in >> v3colorNrgbDev(0) >> v3colorNrgbDev(1) >> v3colorNrgbDev(2);

Implements mrpt::serialization::CSerializable.

Definition at line 172 of file Plane.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t Plane::serializeGetVersion ( ) const

overrideprotectedvirtual

*---------------------------------------------------————

out.WriteBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev(0),3); *---------------------------------------------------------—— in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3normal[0],sizeof(v3normal[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3center[0],sizeof(v3center[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3PpalDir[0],sizeof(v3PpalDir[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgb[0],sizeof(v3colorNrgb[0])*3); / in.ReadBufferFixEndianness<Eigen::Vector3f::Scalar>(&v3colorNrgbDev[0],sizeof(v3colorNrgbDev[0])*3);

Implements mrpt::serialization::CSerializable.

Definition at line 136 of file Plane.cpp.

◆ serializeTo()

void Plane::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::exception On any I/O error

out << v3colorNrgbDev(0) << v3colorNrgbDev(1) << v3colorNrgbDev(2);

Implements mrpt::serialization::CSerializable.

Definition at line 137 of file Plane.cpp.

◆ transform()

void Plane::transform ( Eigen::Matrix4f & Rt )

Definition at line 1179 of file Plane.cpp.

◆ 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 68 of file CSerializable.h.

Member Data Documentation

◆ _init_Plane

mrpt::rtti::CLASSINIT mrpt::pbmap::Plane::_init_Plane

staticprotected

Definition at line 46 of file Plane.h.

◆ areaHull

float mrpt::pbmap::Plane::areaHull

Definition at line 149 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), and mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D().

◆ areaVoxels

float mrpt::pbmap::Plane::areaVoxels

Definition at line 148 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::PlaneInferredInfo::isFullExtent(), mrpt::pbmap::PbMapMaker::mergePlanes(), and mrpt::pbmap::PlaneInferredInfo::searchTheFloor().

◆ b

std::vector<float> mrpt::pbmap::Plane::b

private

Definition at line 200 of file Plane.h.

◆ bDominantColor

bool mrpt::pbmap::Plane::bDominantColor

Definition at line 159 of file Plane.h.

Referenced by hasSimilarDominantColor().

◆ bFromStructure

bool mrpt::pbmap::Plane::bFromStructure

Definition at line 151 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and mrpt::pbmap::PlaneInferredInfo::searchTheFloor().

◆ bFullExtent

bool mrpt::pbmap::Plane::bFullExtent

Definition at line 150 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and mrpt::pbmap::PlaneInferredInfo::isFullExtent().

◆ c1

std::vector<float> mrpt::pbmap::Plane::c1

private

Calculate plane's main color in C1C2C3 representation

Definition at line 207 of file Plane.h.

◆ c2

std::vector<float> mrpt::pbmap::Plane::c2

private

Definition at line 208 of file Plane.h.

◆ c3

std::vector<float> mrpt::pbmap::Plane::c3

private

Definition at line 209 of file Plane.h.

◆ className

constexpr const char* mrpt::pbmap::Plane::className = "Plane"

static

Definition at line 46 of file Plane.h.

◆ curvature

float mrpt::pbmap::Plane::curvature

Definition at line 144 of file Plane.h.

◆ d

float mrpt::pbmap::Plane::d

Definition at line 141 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and isSamePlane().

◆ dominantIntensity

float mrpt::pbmap::Plane::dominantIntensity

Definition at line 158 of file Plane.h.

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

◆ elongation

float mrpt::pbmap::Plane::elongation

Definition at line 146 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), and mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D().

◆ g

std::vector<float> mrpt::pbmap::Plane::g

private

Definition at line 199 of file Plane.h.

◆ hist_H

std::vector<float> mrpt::pbmap::Plane::hist_H

Definition at line 163 of file Plane.h.

Referenced by mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), and mergePlane2().

◆ id

unsigned mrpt::pbmap::Plane::id

! Parameters to allow the plane-based representation of the map by a graph

Definition at line 125 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::checkProximity(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), mrpt::pbmap::PbMap::MergeWith(), mrpt::pbmap::PbMapLocaliser::searchPlaneContext(), mrpt::pbmap::PlaneInferredInfo::searchTheFloor(), and mrpt::pbmap::PbMap::serializeFrom().

◆ information

Eigen::Matrix4f mrpt::pbmap::Plane::information

Definition at line 142 of file Plane.h.

◆ inliers

std::vector<int32_t> mrpt::pbmap::Plane::inliers

! Convex Hull

Definition at line 179 of file Plane.h.

Referenced by mergePlane(), and mergePlane2().

◆ intensity

std::vector<float> mrpt::pbmap::Plane::intensity

private

Definition at line 201 of file Plane.h.

◆ label

std::string mrpt::pbmap::Plane::label

Labels to store semantic attributes

Definition at line 132 of file Plane.h.

Referenced by mrpt::pbmap::PlaneInferredInfo::searchTheFloor().

◆ label_context

std::string mrpt::pbmap::Plane::label_context

Definition at line 134 of file Plane.h.

◆ label_object

std::string mrpt::pbmap::Plane::label_object

Definition at line 133 of file Plane.h.

◆ nearbyPlanes

std::set<unsigned> mrpt::pbmap::Plane::nearbyPlanes

Definition at line 128 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::checkProximity(), and mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

◆ neighborPlanes

std::map<unsigned, unsigned> mrpt::pbmap::Plane::neighborPlanes

Definition at line 129 of file Plane.h.

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

◆ nFramesAreaIsStable

unsigned mrpt::pbmap::Plane::nFramesAreaIsStable

Definition at line 152 of file Plane.h.

Referenced by mrpt::pbmap::PlaneInferredInfo::isFullExtent().

◆ numObservations

unsigned mrpt::pbmap::Plane::numObservations

Definition at line 126 of file Plane.h.

◆ outerPolygonPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::Plane::outerPolygonPtr

Definition at line 182 of file Plane.h.

Referenced by mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground().

◆ planePointCloudPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::Plane::planePointCloudPtr

Definition at line 184 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mergePlane(), mergePlane2(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::pbmap::PbMap::MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ polygonContourPtr

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::Plane::polygonContourPtr

Definition at line 180 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), isPlaneNearby(), isSamePlane(), mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground(), mergePlane(), mergePlane2(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::pbmap::PbMap::MergeWith(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ prog_area

std::vector<double> mrpt::pbmap::Plane::prog_area

Definition at line 166 of file Plane.h.

◆ prog_C1C2C3

std::vector<Eigen::Vector3f> mrpt::pbmap::Plane::prog_C1C2C3

Definition at line 170 of file Plane.h.

◆ prog_elongation

std::vector<double> mrpt::pbmap::Plane::prog_elongation

Definition at line 167 of file Plane.h.

◆ prog_hist_H

std::vector<std::vector<float> > mrpt::pbmap::Plane::prog_hist_H

Definition at line 173 of file Plane.h.

◆ prog_intensity

std::vector<float> mrpt::pbmap::Plane::prog_intensity

Definition at line 172 of file Plane.h.

◆ prog_Nrgb

std::vector<Eigen::Vector3f> mrpt::pbmap::Plane::prog_Nrgb

Definition at line 171 of file Plane.h.

◆ r

std::vector<float> mrpt::pbmap::Plane::r

private

Definition at line 198 of file Plane.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::pbmap::Plane::runtimeClassId

staticprotected

Definition at line 46 of file Plane.h.

◆ semanticGroup

unsigned mrpt::pbmap::Plane::semanticGroup

Definition at line 127 of file Plane.h.

◆ v3center

Eigen::Vector3f mrpt::pbmap::Plane::v3center

! Geometric description

Definition at line 139 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::PbMapMaker::areSamePlane(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), isPlaneNearby(), isSamePlane(), mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground(), mrpt::pbmap::PbMap::MergeWith(), mrpt::pbmap::PlaneInferredInfo::searchTheFloor(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ v3colorC1C2C3

Eigen::Vector3f mrpt::pbmap::Plane::v3colorC1C2C3

Definition at line 162 of file Plane.h.

◆ v3colorNrgb

Eigen::Vector3f mrpt::pbmap::Plane::v3colorNrgb

! Radiometric description

Definition at line 157 of file Plane.h.

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

◆ v3colorNrgbDev

Eigen::Vector3f mrpt::pbmap::Plane::v3colorNrgbDev

Definition at line 160 of file Plane.h.

◆ v3normal

Eigen::Vector3f mrpt::pbmap::Plane::v3normal

Definition at line 140 of file Plane.h.

Referenced by mrpt::pbmap::PbMapMaker::arePlanesNearby(), mrpt::pbmap::PbMapMaker::areSamePlane(), mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraints2D(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry(), mrpt::pbmap::SubgraphMatcher::evalUnaryConstraintsOdometry2D(), isSamePlane(), mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground(), mergePlane(), mergePlane2(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::pbmap::PbMap::MergeWith(), mrpt::pbmap::PlaneInferredInfo::searchTheFloor(), and mrpt::pbmap::PbMapMaker::viz_cb().

◆ v3PpalDir

Eigen::Vector3f mrpt::pbmap::Plane::v3PpalDir

Definition at line 145 of file Plane.h.

Referenced by mrpt::pbmap::PbMap::MergeWith().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ Plane()

Member Function Documentation

◆ _GetBaseClass()

◆ calcConvexHull()

◆ calcConvexHullandParams()

◆ calcElongationAndPpalDir()

◆ calcMainColor()

◆ calcMainColor2()

◆ calcPlaneHistH()

◆ clone()

◆ compute2DPolygonalArea()

◆ computeMassCenterAndArea()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ forcePtsLayOnPlane()

◆ getClassName()

◆ getPlaneC1C2C3()

◆ getPlaneNrgb()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ hasSimilarDominantColor()

◆ isPlaneNearby()

◆ isSamePlane() [1/2]

◆ isSamePlane() [2/2]

◆ mergePlane()

◆ mergePlane2()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ transform()

◆ writeToMatlab()

Member Data Documentation

◆ _init_Plane

◆ areaHull

◆ areaVoxels

◆ b

◆ bDominantColor

◆ bFromStructure

◆ bFullExtent

◆ c1

◆ c2

◆ c3

◆ className

◆ curvature

◆ d

◆ dominantIntensity

◆ elongation

◆ g

◆ hist_H

◆ id

◆ information

◆ inliers

◆ intensity

◆ label

◆ label_context

◆ label_object