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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 45 of file pbmap/pbmap.h.

#include <mrpt/pbmap/PbMap.h>

Inheritance diagram for mrpt::pbmap::PbMap:
Inheritance graph

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< 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
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::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static PbMapPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 48 of file pbmap/pbmap.h.

Constructor & Destructor Documentation

◆ PbMap()

mrpt::pbmap::PbMap::PbMap ( )

Constructor.

Member Function Documentation

◆ _GetBaseClass()

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

◆ Create()

static PbMapPtr mrpt::pbmap::PbMap::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::pbmap::PbMap::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::pbmap::PbMap::duplicate ( ) const
virtual

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::pbmap::PbMap::GetRuntimeClass ( ) const
virtual

◆ loadPbMap()

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

Load a PbMap from the given filePath

◆ MergeWith()

void mrpt::pbmap::PbMap::MergeWith ( PbMap pbm,
Eigen::Matrix4f &  T 
)

Merge two pbmaps

◆ printPbMap()

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

Print PbMap content to a text file

◆ readFromStream()

void mrpt::pbmap::PbMap::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ savePbMap()

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

Save PbMap in the given filePath

◆ writeToStream()

void mrpt::pbmap::PbMap::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_PbMap

mrpt::utils::CLASSINIT mrpt::pbmap::PbMap::_init_PbMap
staticprotected

Definition at line 48 of file pbmap/pbmap.h.

◆ background

unsigned mrpt::pbmap::PbMap::background

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

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::pbmap::PbMap::classinfo
static

Definition at line 48 of file pbmap/pbmap.h.

◆ classPbMap

mrpt::utils::TRuntimeClassId mrpt::pbmap::PbMap::classPbMap
static

Definition at line 48 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 61 of file pbmap/pbmap.h.

◆ 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.

◆ 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 58 of file pbmap/pbmap.h.

◆ outEdgeCloudPtr

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

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

◆ vPlanes

std::vector<Plane> mrpt::pbmap::PbMap::vPlanes



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