A class for storing a map of 3D probabilistic landmarks.
Currently these types of landmarks are defined: (see mrpt::maps::CLandmark)
Observation class: | Generated Landmarks: | Comments: |
CObservationImage | vlSIFT | 1) A SIFT feature is created for each SIFT detected in the image, 2) Correspondences between SIFTs features and existing ones are finded by computeMatchingWith3DLandmarks, 3) The corresponding feaures are fused, and the new ones added, with an initial uncertainty according to insertionOptions |
CObservationStereoImages | vlSIFT | Each image is separately procesed by the method for CObservationImage observations |
CObservationStereoImages | vlColor | TODO... |
CObservation2DRangeScan | glOccupancy | A landmark is added for each range in the scan, with its appropiate covariance matrix derived from the jacobians matrixes. |
Definition at line 59 of file maps/CLandmarksMap.h.
#include <mrpt/maps/CLandmarksMap.h>
Classes | |
struct | TCustomSequenceLandmarks |
The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation. More... | |
struct | TFuseOptions |
With this struct options are provided to the fusion process. More... | |
struct | TInsertionOptions |
With this struct options are provided to the observation insertion process. More... | |
struct | TInsertionResults |
This struct stores extra results from invoking insertObservation. More... | |
struct | TLikelihoodOptions |
With this struct options are provided to the likelihood computations. More... | |
struct | TMapDefinition |
struct | TMapDefinitionBase |
Public Types | |
typedef mrpt::maps::CLandmark | landmark_type |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
double | internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE |
Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map. More... | |
CLandmarksMap () | |
Constructor. More... | |
virtual | ~CLandmarksMap () |
Virtual destructor. More... | |
mrpt::maps::CLandmark::TLandmarkID | getMapMaxID () |
float | compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const MRPT_OVERRIDE |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More... | |
bool | saveToTextFile (std::string file) |
Save to a text file. More... | |
bool | saveToMATLABScript2D (std::string file, const char *style="b", float stdCount=2.0f) |
Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane). More... | |
bool | saveToMATLABScript3D (std::string file, const char *style="b", float confInterval=0.95f) const |
Save to a MATLAB script which displays 3D error ellipses for the map. More... | |
size_t | size () const |
Returns the stored landmarks count. More... | |
double | computeLikelihood_RSLC_2007 (const CLandmarksMap *s, const mrpt::poses::CPose2D &sensorPose) |
Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map. More... | |
void | loadSiftFeaturesFromImageObservation (const mrpt::obs::CObservationImage &obs, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT)) |
Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. More... | |
void | loadSiftFeaturesFromStereoImageObservation (const mrpt::obs::CObservationStereoImages &obs, mrpt::maps::CLandmark::TLandmarkID fID, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT)) |
Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. More... | |
void | loadOccupancyFeaturesFrom2DRangeScan (const mrpt::obs::CObservation2DRangeScan &obs, const mrpt::poses::CPose3D *robotPose=NULL, unsigned int downSampleFactor=1) |
Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased) More... | |
void | computeMatchingWith2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const mrpt::poses::CPose2D &angularDistPivotPoint, mrpt::utils::TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false) const |
void | computeMatchingWith3DLandmarks (const mrpt::maps::CLandmarksMap *otherMap, mrpt::utils::TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const |
Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs. More... | |
void | changeCoordinatesReference (const mrpt::poses::CPose3D &newOrg) |
Changes the reference system of the map to a given 3D pose. More... | |
void | changeCoordinatesReference (const mrpt::poses::CPose3D &newOrg, const mrpt::maps::CLandmarksMap *otherMap) |
Changes the reference system of the map "otherMap" and save the result in "this" map. More... | |
void | fuseWith (CLandmarksMap &other, bool justInsertAllOfThem=false) |
Fuses the contents of another map with this one, updating "this" object with the result. More... | |
double | computeLikelihood_SIFT_LandmarkMap (CLandmarksMap *map, mrpt::utils::TMatchingPairList *correspondences=NULL, std::vector< bool > *otherCorrespondences=NULL) |
Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map. More... | |
bool | isEmpty () const MRPT_OVERRIDE |
Returns true if the map is empty/no observation has been inserted. More... | |
void | simulateBeaconReadings (const mrpt::poses::CPose3D &in_robotPose, const mrpt::poses::CPoint3D &in_sensorLocationOnRobot, mrpt::obs::CObservationBeaconRanges &out_Observations) const |
Simulates a noisy reading toward each of the beacons in the landmarks map, if any. More... | |
void | simulateRangeBearingReadings (const mrpt::poses::CPose3D &robotPose, const mrpt::poses::CPose3D &sensorLocationOnRobot, mrpt::obs::CObservationBearingRange &observations, bool sensorDetectsIDs=true, const float stdRange=0.01f, const float stdYaw=mrpt::utils::DEG2RAD(0.1f), const float stdPitch=mrpt::utils::DEG2RAD(0.1f), vector_size_t *real_associations=NULL, const double spurious_count_mean=0, const double spurious_count_std=0) const |
Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any. More... | |
void | saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More... | |
void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE |
Returns a 3D object representing the map. More... | |
virtual void | auxParticleFilterCleanUp () MRPT_OVERRIDE |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More... | |
void | clear () |
Erase all the contents of the map. More... | |
void | loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. More... | |
void | loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. More... | |
bool | insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) |
Insert the observation information into this map. More... | |
bool | insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL) |
A wrapper for smart pointers, just calls the non-smart pointer version. More... | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More... | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
virtual bool | canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More... | |
bool | canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
double | computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom) |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More... | |
bool | canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More... | |
virtual void | determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const |
Computes the matching between this and another 2D point map, which includes finding: More... | |
virtual void | determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const |
Computes the matchings between this and another 3D points map - method used in 3D-ICP. More... | |
virtual float | squareDistanceToClosestCorrespondence (float x0, float y0) const |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More... | |
virtual const mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () const |
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More... | |
virtual mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () |
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... | |
mrpt::utils::CObjectPtr | 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... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Static Public Attributes | |
static mrpt::utils::TColorf | COLOR_LANDMARKS_IN_3DSCENES |
The color of landmark ellipsoids in CLandmarksMap::getAs3DObject. More... | |
static std::map< std::pair< mrpt::maps::CLandmark::TLandmarkID, mrpt::maps::CLandmark::TLandmarkID >, double > | _mEDD |
Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks. More... | |
static mrpt::maps::CLandmark::TLandmarkID | _mapMaxID |
static bool | _maxIDUpdated |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCMetricMap |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | publishEvent (const mrptEvent &e) const |
Called when you want this object to emit an event to all the observers currently subscribed to this object. More... | |
bool | hasSubscribers () const |
Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Private Member Functions | |
void | internal_clear () MRPT_OVERRIDE |
Internal method called by clear() More... | |
bool | internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE |
Internal method called by insertObservation() More... | |
virtual bool | internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Internal method called by canComputeObservationLikelihood() More... | |
virtual void | OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *) |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More... | |
void | internal_observer_begin (CObserver *) |
void | internal_observer_end (CObserver *) |
Private Attributes | |
std::set< CObserver * > | m_subscribers |
RTTI stuff <br> | |
typedef CLandmarksMapPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CLandmarksMap |
static mrpt::utils::TRuntimeClassId | classCLandmarksMap |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CLandmarksMapPtr | Create () |
Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{ | |
static const size_t | m_private_map_register_id |
ID used to initialize class registration (just ignore it) More... | |
static mrpt::maps::TMetricMapInitializer * | MapDefinition () |
Returns default map definition initializer. More... | |
static CLandmarksMap * | CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
Constructor from a map definition structure: initializes the map and its parameters accordingly. More... | |
static mrpt::maps::CMetricMap * | internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
Definition at line 87 of file maps/CLandmarksMap.h.
typedef CLandmarksMapPtr mrpt::maps::CLandmarksMap::SmartPtr |
A typedef for the associated smart pointer
Definition at line 62 of file maps/CLandmarksMap.h.
mrpt::maps::CLandmarksMap::CLandmarksMap | ( | ) |
Constructor.
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virtual |
Virtual destructor.
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staticprotected |
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virtual |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.
Reimplemented from mrpt::maps::CMetricMap.
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virtualinherited |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
obs | The observation. |
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
sf | The observations. |
void mrpt::maps::CLandmarksMap::changeCoordinatesReference | ( | const mrpt::poses::CPose3D & | newOrg | ) |
Changes the reference system of the map to a given 3D pose.
void mrpt::maps::CLandmarksMap::changeCoordinatesReference | ( | const mrpt::poses::CPose3D & | newOrg, |
const mrpt::maps::CLandmarksMap * | otherMap | ||
) |
Changes the reference system of the map "otherMap" and save the result in "this" map.
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inherited |
Erase all the contents of the map.
Referenced by mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), and mrpt::maps::CReflectivityGridMap2D::clear().
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Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
This method always return 0 for grid maps.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The 6D pose of the other map as seen from "this". |
params | [IN] Matching parameters |
Reimplemented from mrpt::maps::CMetricMap.
double mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007 | ( | const CLandmarksMap * | s, |
const mrpt::poses::CPose2D & | sensorPose | ||
) |
Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map.
This is the implementation of the algorithm reported in the paper: J.L. Blanco, J. Gonzalez, and J.A. Fernandez-Madrigal, "A Consensus-based Approach for Estimating the Observation Likelihood of Accurate Range Sensors", in IEEE International Conference on Robotics and Automation (ICRA), Rome (Italy), Apr 10-14, 2007
double mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap | ( | CLandmarksMap * | map, |
mrpt::utils::TMatchingPairList * | correspondences = NULL , |
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std::vector< bool > * | otherCorrespondences = NULL |
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Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map.
See paper: JJAA 2006
void mrpt::maps::CLandmarksMap::computeMatchingWith2D | ( | const mrpt::maps::CMetricMap * | otherMap, |
const mrpt::poses::CPose2D & | otherMapPose, | ||
float | maxDistForCorrespondence, | ||
float | maxAngularDistForCorrespondence, | ||
const mrpt::poses::CPose2D & | angularDistPivotPoint, | ||
mrpt::utils::TMatchingPairList & | correspondences, | ||
float & | correspondencesRatio, | ||
float * | sumSqrDist = NULL , |
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bool | onlyKeepTheClosest = false , |
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bool | onlyUniqueRobust = false |
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) | const |
void mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks | ( | const mrpt::maps::CLandmarksMap * | otherMap, |
mrpt::utils::TMatchingPairList & | correspondences, | ||
float & | correspondencesRatio, | ||
std::vector< bool > & | otherCorrespondences | ||
) | const |
Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs.
otherMap | [IN] The other map. |
correspondences | [OUT] The matched pairs between maps. |
correspondencesRatio | [OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap |
otherCorrespondences | [OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence. |
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
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inherited |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.
takenFrom | The robot's pose the observation is supposed to be taken from. |
sf | The set of observations in a CSensoryFrame. |
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static |
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static |
Constructor from a map definition structure: initializes the map and its parameters accordingly.
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static |
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virtualinherited |
Computes the matching between this and another 2D point map, which includes finding:
The algorithm is:
This method is the most time critical one into ICP-like algorithms.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The pose of the other map as seen from "this". |
params | [IN] Parameters for the determination of pairings. |
correspondences | [OUT] The detected matchings pairs. |
extraResults | [OUT] Other results. |
Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CMultiMetricMap.
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virtualinherited |
Computes the matchings between this and another 3D points map - method used in 3D-ICP.
This method finds the set of point pairs in each map.
The method is the most time critical one into ICP-like algorithms.
The algorithm is:
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The pose of the other map as seen from "this". |
params | [IN] Parameters for the determination of pairings. |
correspondences | [OUT] The detected matchings pairs. |
extraResults | [OUT] Other results. |
Reimplemented in mrpt::maps::CPointsMap.
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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void mrpt::maps::CLandmarksMap::fuseWith | ( | CLandmarksMap & | other, |
bool | justInsertAllOfThem = false |
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Fuses the contents of another map with this one, updating "this" object with the result.
This process involves fusing corresponding landmarks, then adding the new ones.
other | The other landmarkmap, whose landmarks will be inserted into "this" |
justInsertAllOfThem | If set to "true", all the landmarks in "other" will be inserted into "this" without checking for possible correspondences (may appear duplicates ones, etc...) |
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Returns a 3D object representing the map.
Implements mrpt::maps::CMetricMap.
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inlinevirtualinherited |
Reimplemented in mrpt::maps::CSimplePointsMap, mrpt::maps::CPointsMap, and mrpt::maps::CMultiMetricMap.
Definition at line 244 of file maps/CMetricMap.h.
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inlinevirtualinherited |
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
Otherwise, return NULL
Reimplemented in mrpt::maps::CSimplePointsMap, mrpt::maps::CPointsMap, and mrpt::maps::CMultiMetricMap.
Definition at line 243 of file maps/CMetricMap.h.
mrpt::maps::CLandmark::TLandmarkID mrpt::maps::CLandmarksMap::getMapMaxID | ( | ) |
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::maps::CMetricMap.
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inlineprotectedinherited |
Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.
Definition at line 52 of file CObservable.h.
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inherited |
Insert the observation information into this map.
This method must be implemented in derived classes.
obs | The observation |
robotPose | The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin. |
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inherited |
A wrapper for smart pointers, just calls the non-smart pointer version.
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inlineprivatevirtualinherited |
Internal method called by canComputeObservationLikelihood()
Reimplemented in mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CMultiMetricMap.
Definition at line 71 of file maps/CMetricMap.h.
References MRPT_UNUSED_PARAM.
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privatevirtual |
Internal method called by clear()
Implements mrpt::maps::CMetricMap.
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virtual |
Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map.
In the current implementation, this method behaves in a different way according to the nature of the observation's class:
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
Implements mrpt::maps::CMetricMap.
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static |
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privatevirtual |
Internal method called by insertObservation()
Implements mrpt::maps::CMetricMap.
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privateinherited |
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privateinherited |
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Returns true if the map is empty/no observation has been inserted.
Implements mrpt::maps::CMetricMap.
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inherited |
Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
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inlineinherited |
Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
Definition at line 105 of file maps/CMetricMap.h.
void mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan | ( | const mrpt::obs::CObservation2DRangeScan & | obs, |
const mrpt::poses::CPose3D * | robotPose = NULL , |
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unsigned int | downSampleFactor = 1 |
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) |
Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased)
obs | The observation |
robotPose | The robot pose in the map (Default = the origin) Some options may be applicable from "insertionOptions" |
void mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation | ( | const mrpt::obs::CObservationImage & | obs, |
const mrpt::vision::CFeatureExtraction::TOptions & | feat_options = mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT) |
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) |
Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map.
Some options may be applicable from "insertionOptions" (insertionOptions.SIFTsLoadDistanceOfTheMean)
feat_options | Optionally, you can pass here parameters for changing the default SIFT detector settings. |
void mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation | ( | const mrpt::obs::CObservationStereoImages & | obs, |
mrpt::maps::CLandmark::TLandmarkID | fID, | ||
const mrpt::vision::CFeatureExtraction::TOptions & | feat_options = mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT) |
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) |
Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map.
Some options may be applicable from "insertionOptions"
feat_options | Optionally, you can pass here parameters for changing the default SIFT detector settings. |
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Returns default map definition initializer.
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inlineprivatevirtualinherited |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.
Reimplemented in mrpt::maps::COccupancyGridMap2D.
Definition at line 79 of file maps/CMetricMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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inlinestatic |
Definition at line 62 of file maps/CLandmarksMap.h.
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inline |
Definition at line 62 of file maps/CLandmarksMap.h.
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protectedinherited |
Called when you want this object to emit an event to all the observers currently subscribed to this object.
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protectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
In the case of this class, these files are generated:
Implements mrpt::maps::CMetricMap.
bool mrpt::maps::CLandmarksMap::saveToMATLABScript2D | ( | std::string | file, |
const char * | style = "b" , |
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float | stdCount = 2.0f |
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) |
Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane).
file | The name of the file to save the script to. |
style | The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities) |
stdCount | The ellipsoids will be drawn from the center to "stdCount" times the "standard deviations". (default is 2std = 95% confidence intervals) |
bool mrpt::maps::CLandmarksMap::saveToMATLABScript3D | ( | std::string | file, |
const char * | style = "b" , |
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float | confInterval = 0.95f |
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) | const |
Save to a MATLAB script which displays 3D error ellipses for the map.
file | The name of the file to save the script to. |
style | The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities) |
stdCount | The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals) |
bool mrpt::maps::CLandmarksMap::saveToTextFile | ( | std::string | file | ) |
Save to a text file.
In line "i" there are the (x,y,z) mean values of the i'th landmark + type of landmark + # times seen + timestamp + RGB/descriptor + ID
Returns false if any error occured, true elsewere.
void mrpt::maps::CLandmarksMap::simulateBeaconReadings | ( | const mrpt::poses::CPose3D & | in_robotPose, |
const mrpt::poses::CPoint3D & | in_sensorLocationOnRobot, | ||
mrpt::obs::CObservationBeaconRanges & | out_Observations | ||
) | const |
Simulates a noisy reading toward each of the beacons in the landmarks map, if any.
in_robotPose | This robot pose is used to simulate the ranges to each beacon. |
in_sensorLocationOnRobot | The 3D position of the sensor on the robot |
out_Observations | The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range. |
void mrpt::maps::CLandmarksMap::simulateRangeBearingReadings | ( | const mrpt::poses::CPose3D & | robotPose, |
const mrpt::poses::CPose3D & | sensorLocationOnRobot, | ||
mrpt::obs::CObservationBearingRange & | observations, | ||
bool | sensorDetectsIDs = true , |
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const float | stdRange = 0.01f , |
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const float | stdYaw = mrpt::utils::DEG2RAD(0.1f) , |
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const float | stdPitch = mrpt::utils::DEG2RAD(0.1f) , |
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vector_size_t * | real_associations = NULL , |
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const double | spurious_count_mean = 0 , |
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const double | spurious_count_std = 0 |
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) | const |
Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any.
[in] | robotPose | The robot pose. |
[in] | sensorLocationOnRobot | The 3D position of the sensor on the robot |
[out] | observations | The results will be stored here. |
[in] | sensorDetectsIDs | If this is set to false, all the landmarks will be sensed with INVALID_LANDMARK_ID as ID. |
[in] | stdRange | The sigma of the sensor noise in range (meters). |
[in] | stdYaw | The sigma of the sensor noise in yaw (radians). |
[in] | stdPitch | The sigma of the sensor noise in pitch (radians). |
[out] | real_associations | If it's not a NULL pointer, this will contain at the return the real indices of the landmarks in the map in the same order than they appear in out_Observations. Useful when sensorDetectsIDs=false. Spurious readings are assigned a std::string::npos (=-1) index. |
[in] | spurious_count_mean | The mean number of spurious measurements (uniformly distributed in range & angle) to generate. The number of spurious is generated by rounding a random Gaussin number. If both this mean and the std are zero (the default) no spurious readings are generated. |
[in] | spurious_count_std | Read spurious_count_mean above. |
size_t mrpt::maps::CLandmarksMap::size | ( | ) | const |
Returns the stored landmarks count.
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virtualinherited |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
Reimplemented in mrpt::maps::CPointsMap.
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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.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 62 of file maps/CLandmarksMap.h.
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Definition at line 167 of file maps/CLandmarksMap.h.
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Definition at line 168 of file maps/CLandmarksMap.h.
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Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks.
Definition at line 166 of file maps/CLandmarksMap.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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staticinherited |
Definition at line 57 of file maps/CMetricMap.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CSerializable.h.
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Definition at line 62 of file maps/CLandmarksMap.h.
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The color of landmark ellipsoids in CLandmarksMap::getAs3DObject.
Definition at line 85 of file maps/CLandmarksMap.h.
struct VISION_IMPEXP mrpt::maps::CLandmarksMap::TFuseOptions mrpt::maps::CLandmarksMap::fuseOptions |
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inherited |
Common params to all maps.
Definition at line 230 of file maps/CMetricMap.h.
mrpt::maps::CLandmarksMap::TInsertionOptions mrpt::maps::CLandmarksMap::insertionOptions |
struct VISION_IMPEXP mrpt::maps::CLandmarksMap::TInsertionResults mrpt::maps::CLandmarksMap::insertionResults |
struct VISION_IMPEXP mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks mrpt::maps::CLandmarksMap::landmarks |
mrpt::maps::CLandmarksMap::TLikelihoodOptions mrpt::maps::CLandmarksMap::likelihoodOptions |
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static |
ID used to initialize class registration (just ignore it)
Definition at line 540 of file maps/CLandmarksMap.h.
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privateinherited |
Definition at line 42 of file CObservable.h.
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