Class KeyframePointCloudMap

Defined in File KeyframePointCloudMap.h

Nested Relationships

Nested Types

Inheritance Relationships

Base Types

public mrpt::maps::CMetricMap
public mrpt::maps::NearestNeighborsCapable
public mp2p_icp::IcpPrepareCapable
public mp2p_icp::NearestPointWithCovCapable
public mp2p_icp::MetricMapMergeCapable

Class Documentation

class KeyframePointCloudMap : public mrpt::maps::CMetricMap, public mrpt::maps::NearestNeighborsCapable, public mp2p_icp::IcpPrepareCapable, public mp2p_icp::NearestPointWithCovCapable, public mp2p_icp::MetricMapMergeCapable

An efficient storage class for large point clouds built as keyframes, each having an associated local cloud.

The user of the class is responsible for processing raw observations into mrpt::obs::CObservationPointCloud observations, the only ones allowed as input to the insert*() methods, with points already transformed from the sensor frame to the vehicle (base_link) frame. This can be easily done with mp2p_icp::Generator, plus an optional filtering pipeline.

Each key-frame is responsible of keeping its own KD-tree for NN searches and keeping up-to-date covariances for each point local vicinity.

Basic API for construction and main parameters

using KeyFrameID = uint64_t: key-frame ID, index in the keyframes_ map.

KeyframePointCloudMap() = default: Constructor / default ctor.

~KeyframePointCloudMap()

Data access API

mrpt::math::TBoundingBoxf boundingBox() const override: Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points. Results are cached unless the map is somehow modified to avoid repeated calculations.

API of the NearestNeighborsCapable virtual interface

inline bool nn_has_indices_or_ids() const override

inline size_t nn_index_count() const override

bool nn_single_search(const mrpt::math::TPoint3Df &query, mrpt::math::TPoint3Df &result, float &out_dist_sqr, uint64_t &resultIndexOrID) const override

bool nn_single_search(const mrpt::math::TPoint2Df &query, mrpt::math::TPoint2Df &result, float &out_dist_sqr, uint64_t &resultIndexOrID) const override

void nn_multiple_search(const mrpt::math::TPoint3Df &query, const size_t N, std::vector<mrpt::math::TPoint3Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs) const override

void nn_multiple_search(const mrpt::math::TPoint2Df &query, const size_t N, std::vector<mrpt::math::TPoint2Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs) const override

void nn_radius_search(const mrpt::math::TPoint3Df &query, const float search_radius_sqr, std::vector<mrpt::math::TPoint3Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs, size_t maxPoints) const override

void nn_radius_search(const mrpt::math::TPoint2Df &query, const float search_radius_sqr, std::vector<mrpt::math::TPoint2Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs, size_t maxPoints) const override

template<size_t MAX_KNN> void nn_multiple_search_impl(const mrpt::math::TPoint3Df &query, const size_t N, std::vector<mrpt::math::TPoint3Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs) const

Public virtual methods implementation for IcpPrepareCapable

void icp_get_prepared_as_global(const mrpt::poses::CPose3D &icp_ref_point, const std::optional<mrpt::math::TBoundingBoxf> &local_map_roi = std::nullopt) const override: Prepare the map for ICP with a given point as reference.

void icp_cleanup() const override: Optionally, clean up after ICP is done.

Public virtual methods implementation for MetricMapMergeCapable

void merge_with(const MetricMapMergeCapable &source, const std::optional<mrpt::poses::CPose3D> &otherRelativePose = std::nullopt) override

void transform_map_left_multiply(const mrpt::poses::CPose3D &b) override

Public virtual methods implementation for NearestPointWithCovCapable

void nn_search_cov2cov(const NearestPointWithCovCapable &localMap, const mrpt::poses::CPose3D &localMapPose, const float max_search_distance, mp2p_icp::MatchedPointWithCovList &outPairings) const override

std::size_t point_count() const override

Public virtual methods implementation for CMetricMap

std::string asString() const override: Returns a short description of the map.

void getVisualizationInto(mrpt::opengl::CSetOfObjects &outObj) const override

bool isEmpty() const override: Returns true if the map is empty

void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const 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).

const mrpt::maps::CSimplePointsMap *getAsSimplePointsMap() const override: Returns a cached point cloud view of the entire map. Not efficient at all. Only for MOLA->ROS2 bridge.