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 45 of file pbmap/PbMap.h.
#include <mrpt/pbmap/PbMap.h>
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) |
Public Attributes | |
std::vector< Plane > | vPlanes |
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 | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef PbMapPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_PbMap |
static mrpt::utils::TRuntimeClassId | classPbMap |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static PbMapPtr | Create () |
typedef PbMapPtr mrpt::pbmap::PbMap::SmartPtr |
A typedef for the associated smart pointer
Definition at line 48 of file pbmap/PbMap.h.
mrpt::pbmap::PbMap::PbMap | ( | ) |
Constructor.
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void mrpt::pbmap::PbMap::loadPbMap | ( | std::string | PbMapFile | ) |
Load a PbMap from the given filePath
void mrpt::pbmap::PbMap::MergeWith | ( | PbMap & | pbm, |
Eigen::Matrix4f & | T | ||
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Merge two pbmaps
void mrpt::pbmap::PbMap::printPbMap | ( | std::string | txtFilePbm | ) |
Print PbMap content to a text file
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void mrpt::pbmap::PbMap::savePbMap | ( | std::string | filePath | ) |
Save PbMap in the given filePath
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Definition at line 48 of file pbmap/PbMap.h.
unsigned mrpt::pbmap::PbMap::background |
Definition at line 68 of file pbmap/PbMap.h.
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Definition at line 48 of file pbmap/PbMap.h.
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Definition at line 48 of file pbmap/PbMap.h.
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::edgeCloudPtr |
Definition at line 66 of file pbmap/PbMap.h.
int mrpt::pbmap::PbMap::FloorPlane |
Floor plane id
Definition at line 61 of file pbmap/PbMap.h.
unsigned mrpt::pbmap::PbMap::foreground |
Definition at line 68 of file pbmap/PbMap.h.
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.
unsigned mrpt::pbmap::PbMap::groundplane |
Definition at line 68 of file pbmap/PbMap.h.
std::string mrpt::pbmap::PbMap::label |
Label to store a semantic attribute
Definition at line 58 of file pbmap/PbMap.h.
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr mrpt::pbmap::PbMap::outEdgeCloudPtr |
Definition at line 67 of file pbmap/PbMap.h.
std::vector<Plane> mrpt::pbmap::PbMap::vPlanes |
Vector to store the 3D-planes which are the basic characteristic of our map.
Definition at line 55 of file pbmap/PbMap.h.
Referenced by mrpt::pbmap::SemanticClustering::arrangeNewGroups(), mrpt::pbmap::SemanticClustering::buildCoVisibilityMatrix(), mrpt::pbmap::SemanticClustering::buildProximityMatrix(), and mrpt::pbmap::SemanticClustering::evalPartition().
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