Implements an NDT based spatial index. More...

#include <ndt_occupancy_map.h>

Public Member Functions
void	addPointCloud (const Eigen::Vector3d &origin, const pcl::PointCloud< PointT > &pc)
void	computeNDTCells (int cellupdatemode=CELL_UPDATE_MODE_SAMPLE_VARIANCE_WITH_RESET)
void	debugToVRML (const char *fname, pcl::PointCloud< PointT > &pc)
std::vector < lslgeneric::NDTCell< PointT > * >	getAllCells ()
bool	getCellForPoint (const PointT &refPoint, NDTCell< PointT > *&cell)
NDTCell< PointT > *	getCellIdx (unsigned int idx)
	return the cell using a specific index (not available for all spatialindexes), will return NULL if the idx is not valid.
std::vector< NDTCell< PointT > * >	getCellsForPoint (const PointT pt, double radius)
std::vector < lslgeneric::NDTCell< PointT > * >	getDynamicCells (unsigned int Timescale, float threshold)
double	getLikelihoodForPoint (PointT pt)
SpatialIndex< PointT > *	getMyIndex () const
std::string	getMyIndexStr () const
	return the spatial index used as a string
void	loadDepthImage (const cv::Mat &depthImage, DepthCamera< PointT > &cameraParams)
pcl::PointCloud< PointT >	loadDepthImageFeatures (const cv::Mat &depthImage, std::vector< cv::KeyPoint > &keypoints, size_t &supportSize, double maxVar, DepthCamera< PointT > &cameraParams, bool estimateParamsDI=false, bool nonMean=false)
void	loadPointCloud (const pcl::PointCloud< PointT > &pc, const std::vector< std::vector< size_t > > &indices)
	each entry in the indices vector contains a set of indices to a NDC cell.
	NDTOccupancyMap ()
	NDTOccupancyMap (SpatialIndex< PointT > *idx, float _resolution)
	NDTOccupancyMap (const NDTOccupancyMap &other)
int	numberOfActiveCells ()
std::vector< NDTCell< PointT > * >	pseudoTransformNDT (Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > T)
void	writeToVRML (const char *filename)
virtual void	writeToVRML (FILE *fout)
virtual void	writeToVRML (FILE *fout, Eigen::Vector3d col)
virtual	~NDTOccupancyMap ()
Protected Member Functions
void	loadPointCloud (const Eigen::Vector3d &origin, const pcl::PointCloud< PointT > &pc)
Protected Attributes
SpatialIndex< PointT > *	index_
bool	isFirstLoad_
float	resolution

Detailed Description

template<typename PointT>
class lslgeneric::NDTOccupancyMap< PointT >

Implements an NDT based spatial index.

This is an interface to a SpatialIndex (custom defined) that contains NDT cells. Provides methods to create from a PointCloud

Definition at line 62 of file ndt_occupancy_map.h.

Constructor & Destructor Documentation

template<typename PointT >

lslgeneric::NDTOccupancyMap< PointT >::NDTOccupancyMap ( ) [inline]

Definition at line 66 of file ndt_occupancy_map.h.

template<typename PointT >

lslgeneric::NDTOccupancyMap< PointT >::NDTOccupancyMap	(	SpatialIndex< PointT > *	idx,
		float	_resolution
	)		`[inline]`

default constructor. The SpatialIndex sent as a paramter is used as a factory every time that loadPointCloud is called. it can/should be deallocated outside the class after the destruction of the NDTMap

Definition at line 74 of file ndt_occupancy_map.h.

template<typename PointT >

lslgeneric::NDTOccupancyMap< PointT >::NDTOccupancyMap ( const NDTOccupancyMap< PointT > & other ) [inline]

Definition at line 84 of file ndt_occupancy_map.h.

template<typename PointT >

virtual lslgeneric::NDTOccupancyMap< PointT >::~NDTOccupancyMap ( ) [inline, virtual]

Definition at line 96 of file ndt_occupancy_map.h.

Member Function Documentation

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::addPointCloud	(	const Eigen::Vector3d &	origin,
		const pcl::PointCloud< PointT > &	pc
	)

Add new pointcloud to map

Parameters:

&origin	is the position of the sensor, from where the scan has been taken from.
&pc	is the pointcloud to be added

Adds a new cloud - NOTE::highly Experimental

Definition at line 167 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::computeNDTCells ( int cellupdatemode = CELL_UPDATE_MODE_SAMPLE_VARIANCE_WITH_RESET )

Helper function, computes the NDTCells

Definition at line 352 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::debugToVRML	(	const char *	fname,
		pcl::PointCloud< PointT > &	pc
	)

Definition at line 822 of file ndt_occupancy_map.hpp.

template<typename PointT >

std::vector< lslgeneric::NDTCell< PointT > * > lslgeneric::NDTOccupancyMap< PointT >::getAllCells ( )

Returns all computed cells from the map

Definition at line 942 of file ndt_occupancy_map.hpp.

template<typename PointT >

bool lslgeneric::NDTOccupancyMap< PointT >::getCellForPoint	(	const PointT &	refPoint,
		NDTCell< PointT > *&	cell
	)

Definition at line 732 of file ndt_occupancy_map.hpp.

template<typename PointT >

NDTCell< PointT > * lslgeneric::NDTOccupancyMap< PointT >::getCellIdx ( unsigned int idx )

return the cell using a specific index (not available for all spatialindexes), will return NULL if the idx is not valid.

Definition at line 900 of file ndt_occupancy_map.hpp.

template<typename PointT >

std::vector< NDTCell< PointT > * > lslgeneric::NDTOccupancyMap< PointT >::getCellsForPoint	(	const PointT	pt,
		double	radius
	)

Definition at line 711 of file ndt_occupancy_map.hpp.

template<typename PointT >

std::vector< lslgeneric::NDTCell< PointT > * > lslgeneric::NDTOccupancyMap< PointT >::getDynamicCells	(	unsigned int	Timescale,
		float	threshold
	)

Returns all computed cells from the map

Returns dynamic cells from the map

Definition at line 915 of file ndt_occupancy_map.hpp.

template<typename PointT >

double lslgeneric::NDTOccupancyMap< PointT >::getLikelihoodForPoint ( PointT pt )

Definition at line 514 of file ndt_occupancy_map.hpp.

template<typename PointT >

SpatialIndex<PointT>* lslgeneric::NDTOccupancyMap< PointT >::getMyIndex ( ) const [inline]

Definition at line 133 of file ndt_occupancy_map.h.

template<typename PointT >

std::string lslgeneric::NDTOccupancyMap< PointT >::getMyIndexStr ( ) const

return the spatial index used as a string

returns the current spatial index as a string (debugging function)

Definition at line 491 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::loadDepthImage	(	const cv::Mat &	depthImage,
		DepthCamera< PointT > &	cameraParams
	)

Definition at line 246 of file ndt_occupancy_map.hpp.

template<typename PointT >

pcl::PointCloud< PointT > lslgeneric::NDTOccupancyMap< PointT >::loadDepthImageFeatures	(	const cv::Mat &	depthImage,
		std::vector< cv::KeyPoint > &	keypoints,
		size_t &	supportSize,
		double	maxVar,
		DepthCamera< PointT > &	cameraParams,
		bool	estimateParamsDI = `false`,
		bool	nonMean = `false`
	)

Definition at line 254 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::loadPointCloud	(	const pcl::PointCloud< PointT > &	pc,
		const std::vector< std::vector< size_t > > &	indices
	)

each entry in the indices vector contains a set of indices to a NDC cell.

These load methods are not currently supported by the NDTOccupancyMap!

Definition at line 225 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::loadPointCloud	(	const Eigen::Vector3d &	origin,
		const pcl::PointCloud< PointT > &	pc
	)		`[protected]`

Main implemented method for now. Loads a single point cloud into an NDTOccupancyMap.

Definition at line 18 of file ndt_occupancy_map.hpp.

template<typename PointT >

int lslgeneric::NDTOccupancyMap< PointT >::numberOfActiveCells ( )

Definition at line 967 of file ndt_occupancy_map.hpp.

template<typename PointT >

std::vector< NDTCell< PointT > * > lslgeneric::NDTOccupancyMap< PointT >::pseudoTransformNDT ( Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > T )

Definition at line 867 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::writeToVRML ( const char * filename )

output method, saves as vrml the oct tree and all the ellipsoids

Definition at line 402 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::writeToVRML ( FILE * fout ) [virtual]

helper output method

Definition at line 438 of file ndt_occupancy_map.hpp.

template<typename PointT >

void lslgeneric::NDTOccupancyMap< PointT >::writeToVRML	(	FILE *	fout,
		Eigen::Vector3d	col
	)		`[virtual]`

Definition at line 465 of file ndt_occupancy_map.hpp.

Member Data Documentation

template<typename PointT >

SpatialIndex<PointT>* lslgeneric::NDTOccupancyMap< PointT >::index_ [protected]

Definition at line 168 of file ndt_occupancy_map.h.

template<typename PointT >

bool lslgeneric::NDTOccupancyMap< PointT >::isFirstLoad_ [protected]

Definition at line 169 of file ndt_occupancy_map.h.

template<typename PointT >

float lslgeneric::NDTOccupancyMap< PointT >::resolution [protected]

Definition at line 171 of file ndt_occupancy_map.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class lslgeneric::NDTOccupancyMap< PointT >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class lslgeneric::NDTOccupancyMap< PointT >