51 void reserve(
size_t newLength)
override;
52 void resize(
size_t newLength)
override;
53 void setSize(
size_t newLength)
override;
65 const size_t index, std::vector<float>& point_data)
const override 82 const size_t index,
const std::vector<float>& point_data)
override 105 const CPointsMap& anotherMap,
const size_t nPreviousPoints)
override;
108 template <
class Derived>
110 template <
class Derived>
127 size_t index,
float x,
float y,
float z,
float R,
float G,
133 float x,
float y,
float z,
float R,
float G,
float B)
override;
151 size_t index,
float&
x,
float&
y,
float&
z,
float&
R,
float&
G,
152 float& B)
const override;
159 size_t index,
float&
R,
float&
G,
float& B)
const 206 std::ostream& out)
const override;
226 const std::string& filename,
bool save_as_binary)
const override;
239 template <
class POINTCLOUD>
242 const size_t N = cloud.points.size();
245 const float f = 1.0f / 255.0f;
246 for (
size_t i = 0; i < N; ++i)
248 cloud.points[i].x, cloud.points[i].y, cloud.points[i].z,
249 cloud.points[i].r * f, cloud.points[i].g * f,
250 cloud.points[i].b * f);
254 template <
class POINTCLOUD>
257 const size_t nThis = this->
size();
260 for (
size_t i = 0; i < nThis; ++i)
264 cloud.points[i].r =
static_cast<uint8_t>(
R * 255);
265 cloud.points[i].g =
static_cast<uint8_t>(
G * 255);
266 cloud.points[i].b =
static_cast<uint8_t>(B * 255);
314 #include <mrpt/opengl/pointcloud_adapters.h> 330 static constexpr
bool HAS_RGB =
true;
332 static constexpr
bool HAS_RGBf =
true;
334 static constexpr
bool HAS_RGBu8 =
false;
342 inline size_t size()
const {
return m_obj.
size(); }
348 template <
typename T>
361 template <
typename T>
363 const size_t idx, T&
x, T&
y, T&
z,
float&
r,
float&
g,
float&
b)
const 370 const float r,
const float g,
const float b)
376 template <
typename T>
397 const size_t idx,
float&
r,
float&
g,
float&
b)
const 403 const size_t idx,
const float r,
const float g,
const float b)
432 cmFromHeightRelativeToSensor);
435 cmFromHeightRelativeToSensorJet);
438 cmFromHeightRelativeToSensorGray);
PointCloudAdapter(const mrpt::maps::CColouredPointsMap &obj)
Constructor (accept a const ref for convenience)
void clear()
Erase all the contents of the map.
void setSize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...
void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) override
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
TColouringMethod
The choices for coloring schemes:
Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.
void getPointFast(size_t index, float &x, float &y, float &z) const
Just like getPoint() but without checking out-of-bound index and without returning the point weight...
void insertPointFast(float x, float y, float z=0) override
The virtual method for insertPoint() without calling mark_as_modified()
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
CPointsMap & operator=(const CPointsMap &o)
bool save3D_and_colour_to_text_file(const std::string &file) const
Save to a text file.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
void getPointRGBu8(const size_t idx, uint8_t &r, uint8_t &g, uint8_t &b) const
Get RGBu8 color of i'th point.
TColourOptions()
Initilization of default parameters.
void getPointAllFieldsFast(const size_t index, std::vector< float > &point_data) const override
Get all the data fields for one point as a vector: [X Y Z R G B] Unlike getPointAllFields(), this method does not check for index out of bounds.
void internal_clear() override
Minimum distance from where the points have been seen.
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) override
Set all the data fields for one point as a vector: [X Y Z R G B] Unlike setPointAllFields(), this method does not check for index out of bounds.
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
mrpt::aligned_std_vector< float > m_color_R
The color data.
void setPointColor_fast(size_t index, float R, float G, float B)
Like setPointColor but without checking for out-of-index erors.
void insertPoint(float x, float y, float z=0)
Provides a way to insert (append) individual points into the map: the missing fields of child classes...
void getPointRGBf(const size_t idx, float &r, float &g, float &b) const
Get RGBf color of i'th point.
void setFromPCLPointCloudRGB(const POINTCLOUD &cloud)
Loads a PCL point cloud (WITH RGB information) into this MRPT class (for clouds without RGB data...
mrpt::maps::CColouredPointsMap & m_obj
float coords_t
The type of each point XYZ coordinates.
std::vector< T, mrpt::aligned_allocator_cpp11< T > > aligned_std_vector
GLsizei GLsizei GLuint * obj
TColourOptions colorScheme
The options employed when inserting laser scans in the map.
void resize(const size_t N)
Set number of points (to uninitialized values)
void reserve(size_t newLength) override
Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.
CColouredPointsMap()=default
With this struct options are provided to the observation insertion process.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::aligned_std_vector< float > m_color_B
MRPT_FILL_ENUM_MEMBER(mrpt::maps::CColouredPointsMap::TColouringMethod, cmFromHeightRelativeToSensor)
An adapter to different kinds of point cloud object.
Lightweight 3D point (float version).
void setPointRGB(size_t index, float x, float y, float z, float R, float G, float B) override
Changes a given point from map.
void getPointXYZ_RGBf(const size_t idx, T &x, T &y, T &z, float &r, float &g, float &b) const
Get XYZ_RGBf coordinates of i'th point.
void PLY_import_set_vertex_count(const size_t N) override
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
void insertPointRGB(float x, float y, float z, float R, float G, float B) override
Adds a new point given its coordinates and color (colors range is [0,1])
#define MRPT_ENUM_TYPE_END()
void getPCLPointCloud(POINTCLOUD &cloud) const
Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>).
bool savePCDFile(const std::string &filename, bool save_as_binary) const override
Save the point cloud as a PCL PCD file, in either ASCII or binary format.
A map of 2D/3D points with individual colours (RGB).
GLsizei const GLchar ** string
void setPointFast(size_t index, float x, float y, float z)
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
CColouredPointsMap operator=(const CPointsMap &o)
mrpt::aligned_std_vector< float > m_color_G
void setDimensions(const size_t &height, const size_t &width)
Does nothing as of now.
void getPCLPointCloudXYZRGB(POINTCLOUD &cloud) const
Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZRGB>
void setPointRGBf(const size_t idx, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
mrpt::aligned_std_vector< float > m_z
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
void getPointRGB(size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const override
Retrieves a point and its color (colors range is [0,1])
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
GLdouble GLdouble GLdouble r
mrpt::aligned_std_vector< float > m_y
void setPointXYZ_RGBu8(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const uint8_t r, const uint8_t g, const uint8_t b)
Set XYZ_RGBu8 coordinates of i'th point.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool hasColorPoints() const override
Returns true if the point map has a color field for each point.
void resetPointsMinDist(float defValue=2000.0f)
Reset the minimum-observed-distance buffer for all the points to a predefined value.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
void PLY_export_get_vertex(const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::img::TColorf &pt_color) const override
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point...
void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
See CPointsMap::loadFromRangeScan()
A RGB color - floats in the range [0,1].
void PLY_import_set_vertex(const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::img::TColorf *pt_color=nullptr) override
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point...
CColouredPointsMap(const CPointsMap &o)
void resize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
GLsizei GLsizei GLchar * source
void setPointRGBu8(const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
Set RGBu8 coordinates of i'th point.
The definition of parameters for generating colors from laser scans.
size_t size() const
Get number of points.
void getPointXYZ_RGBu8(const size_t idx, T &x, T &y, T &z, uint8_t &r, uint8_t &g, uint8_t &b) const
Get XYZ_RGBu8 coordinates of i'th point.
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Override of the default 3D scene builder to account for the individual points' color.
void impl_copyFrom(const CPointsMap &obj) override
Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source ...
void setPointXYZ_RGBf(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
GLenum GLsizei GLsizei height
#define MRPT_ENUM_TYPE_BEGIN(_ENUM_TYPE_WITH_NS)
mrpt::aligned_std_vector< float > m_x
The point coordinates.
bool colourFromObservation(const mrpt::obs::CObservationImage &obs, const mrpt::poses::CPose3D &robotPose)
Colour a set of points from a CObservationImage and the global pose of the robot. ...
#define MAP_DEFINITION_END(_CLASS_NAME_)
size_t size() const
Returns the number of stored points in the map.
void getPointColor_fast(size_t index, float &R, float &G, float &B) const
Like getPointColor but without checking for out-of-index erors.
void getPointColor(size_t index, float &R, float &G, float &B) const
Retrieves a point color (colors range is [0,1])
void setPointColor(size_t index, float R, float G, float B)
Changes just the color of a given point from the map.