Detailed Description

A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.

This is a virtual class, thus only a derived class can be instantiated by the user. The user most usually wants to use CSimplePointsMap.

This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:

mrpt::obs::CObservation2DRangeScan: 2D range scans
mrpt::obs::CObservation3DRangeScan: 3D range scans (Kinect, etc...)
mrpt::obs::CObservationRange: IRs, Sonars, etc.
mrpt::obs::CObservationVelodyneScan

Loading and saving in the standard LAS LiDAR point cloud format is supported by installing libLAS and including the header <mrpt/maps/CPointsMaps_liblas.h> in your program. Since MRPT 1.5.0 there is no need to build MRPT against libLAS to use this feature. See LAS functions in libLAS interface for CPointsMap (in.

See also: CMetricMap, CPoint, mrpt::utils::CSerializable

Definition at line 63 of file CPointsMap.h.

#include <mrpt/maps/CPointsMap.h>

Inheritance diagram for mrpt::maps::CPointsMap:

Classes
struct	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...

struct	TLaserRange2DInsertContext
	Helper struct used for internal_loadFromRangeScan2D_prepareOneRange() More...

struct	TLaserRange3DInsertContext
	Helper struct used for internal_loadFromRangeScan3D_prepareOneRange() More...

struct	TLikelihoodOptions
	Options used when evaluating "computeObservationLikelihood" in the derived classes. More...

Public Types
typedef KDTreeCapable< CPointsMap, float, nanoflann::L2_Simple_Adaptor< float, CPointsMap > >	self_t

Public Member Functions
	CPointsMap ()
	Ctor. More...

virtual	~CPointsMap ()
	Virtual destructor. More...

virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const override
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

float	squareDistanceToClosestCorrespondenceT (const mrpt::math::TPoint2D &p0) const

virtual void	addFrom (const CPointsMap &anotherMap)
	Adds all the points from anotherMap to this map, without fusing. More...

void	operator+= (const CPointsMap &anotherMap)
	This operator is synonymous with addFrom. More...

void	insertAnotherMap (const CPointsMap *otherMap, const mrpt::poses::CPose3D &otherPose)
	Insert the contents of another map into this one with some geometric transformation, without fusing close points. More...

size_t	size () const
	Returns the number of stored points in the map. More...

unsigned long	getPoint (size_t index, float &x, float &y, float &z) const
	Access to a given point from map, as a 2D point. More...

unsigned long	getPoint (size_t index, float &x, float &y) const

unsigned long	getPoint (size_t index, double &x, double &y, double &z) const

unsigned long	getPoint (size_t index, double &x, double &y) const

unsigned long	getPoint (size_t index, mrpt::math::TPoint2D &p) const

unsigned long	getPoint (size_t index, mrpt::math::TPoint3D &p) const

virtual void	getPoint (size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const
	Access to a given point from map, and its colors, if the map defines them (othersise, R=G=B=1.0). More...

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, just XYZ. More...

virtual bool	hasColorPoints () const
	Returns true if the point map has a color field for each point. More...

void	setPoint (size_t index, float x, float y, float z)
	Changes a given point from map, with Z defaulting to 0 if not provided. More...

void	setPoint (size_t index, const mrpt::math::TPoint2D &p)

void	setPoint (size_t index, const mrpt::math::TPoint3D &p)

void	setPoint (size_t index, float x, float y)

virtual void	setPoint (size_t index, float x, float y, float z, float R, float G, float B)
	overload (RGB data is ignored in classes without color information) More...

virtual void	setPointWeight (size_t index, unsigned long w)
	Sets the point weight, which is ignored in all classes but those which actually store that field (Note: No checks are done for out-of-bounds index). More...

virtual unsigned int	getPointWeight (size_t index) const
	Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually store that field (Note: No checks are done for out-of-bounds index). More...

void	getPointsBuffer (size_t &outPointsCount, const float &xs, const float &ys, const float *&zs) const
	Provides a direct access to points buffer, or nullptr if there is no points in the map. More...

const std::vector< float > &	getPointsBufferRef_x () const
	Provides a direct access to a read-only reference of the internal point buffer. More...

const std::vector< float > &	getPointsBufferRef_y () const
	Provides a direct access to a read-only reference of the internal point buffer. More...

const std::vector< float > &	getPointsBufferRef_z () const
	Provides a direct access to a read-only reference of the internal point buffer. More...

template<class VECTOR >
void	getAllPoints (VECTOR &xs, VECTOR &ys, VECTOR &zs, size_t decimation=1) const
	Returns a copy of the 2D/3D points as a std::vector of float coordinates. More...

template<class CONTAINER >
void	getAllPoints (CONTAINER &ps, size_t decimation=1) const
	Gets all points as a STL-like container. More...

void	getAllPoints (std::vector< float > &xs, std::vector< float > &ys, size_t decimation=1) const
	Returns a copy of the 2D/3D points as a std::vector of float coordinates. More...

void	getAllPoints (std::vector< mrpt::math::TPoint2D > &ps, size_t decimation=1) const

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 (color, weight, etc) are left to their default values. More...

void	insertPoint (const mrpt::math::TPoint3D &p)

virtual void	insertPoint (float x, float y, float z, float R, float G, float B)
	overload (RGB data is ignored in classes without color information) More...

template<typename VECTOR >
void	setAllPointsTemplate (const VECTOR &X, const VECTOR &Y, const VECTOR &Z=VECTOR())
	Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros). More...

void	setAllPoints (const std::vector< float > &X, const std::vector< float > &Y, const std::vector< float > &Z)
	Set all the points at once from vectors with X,Y and Z coordinates. More...

void	setAllPoints (const std::vector< float > &X, const std::vector< float > &Y)
	Set all the points at once from vectors with X and Y coordinates (Z=0). More...

void	getPointAllFields (const size_t index, std::vector< float > &point_data) const
	Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...

void	setPointAllFields (const size_t index, const std::vector< float > &point_data)
	Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...

void	clipOutOfRangeInZ (float zMin, float zMax)
	Delete points out of the given "z" axis range have been removed. More...

void	clipOutOfRange (const mrpt::math::TPoint2D &point, float maxRange)
	Delete points which are more far than "maxRange" away from the given "point". More...

void	applyDeletionMask (const std::vector< bool > &mask)
	Remove from the map the points marked in a bool's array as "true". More...

virtual void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
	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 &params, TMatchingExtraResults &extraResults) const override
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const 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...

void	compute3DDistanceToMesh (const mrpt::maps::CMetricMap *otherMap2, const mrpt::poses::CPose3D &otherMapPose, float maxDistForCorrespondence, mrpt::utils::TMatchingPairList &correspondences, float &correspondencesRatio)
	Computes the matchings between this and another 3D points map. More...

virtual void	loadFromRangeScan (const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr)=0
	Transform the range scan into a set of cartessian coordinated points. More...

virtual void	loadFromRangeScan (const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr)=0
	Overload of loadFromRangeScan() for 3D range scans (for example, Kinect observations). More...

void	loadFromVelodyneScan (const mrpt::obs::CObservationVelodyneScan &scan, const mrpt::poses::CPose3D *robotPose=nullptr)
	Like loadFromRangeScan() for Velodyne 3D scans. More...

void	fuseWith (CPointsMap anotherMap, float minDistForFuse=0.02f, std::vector< bool > notFusedPoints=nullptr)
	Insert the contents of another map into this one, fusing the previous content with the new one. More...

void	changeCoordinatesReference (const mrpt::poses::CPose2D &b)
	Replace each point by $p'_i = b \oplus p_i$ (pose compounding operator). More...

void	changeCoordinatesReference (const mrpt::poses::CPose3D &b)
	Replace each point by $p'_i = b \oplus p_i$ (pose compounding operator). More...

void	changeCoordinatesReference (const CPointsMap &other, const mrpt::poses::CPose3D &b)
	Copy all the points from "other" map to "this", replacing each point by $p'_i = b \oplus p_i$ (pose compounding operator). More...

virtual bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. More...

bool	empty () const
	STL-like method to check whether the map is empty: More...

virtual void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...

virtual const mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap () const override
	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 () override

float	getLargestDistanceFromOrigin () const
	This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...

float	getLargestDistanceFromOriginNoRecompute (bool &output_is_valid) const
	Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin() More...

void	boundingBox (float &min_x, float &max_x, float &min_y, float &max_y, float &min_z, float &max_z) const
	Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points. More...

void	boundingBox (mrpt::math::TPoint3D &pMin, mrpt::math::TPoint3D &pMax) const

void	extractCylinder (const mrpt::math::TPoint2D &center, const double radius, const double zmin, const double zmax, CPointsMap *outMap)
	Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values. More...

void	extractPoints (const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, CPointsMap *outMap, const double &R=1, const double &G=1, const double &B=1)
	Extracts the points in the map within the area defined by two corners. More...

virtual double	internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) override
	Internal method called by computeObservationLikelihood() More...

void	mark_as_modified () const
	Users normally don't need to call this. 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)
	! 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::CObservation::Ptr &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)

virtual bool	canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

bool	canComputeObservationLikelihood (const mrpt::obs::CObservation::Ptr &obs) const

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) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

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...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

const CPointsMap &	derived () const
	CRTP helper method. More...

CPointsMap &	derived ()
	CRTP helper method. More...

bool	loadFromPlyFile (const std::string &filename, CStringList file_comments=nullptr, CStringList file_obj_info=nullptr)
	Loads from a PLY file. More...

std::string	getLoadPLYErrorString () const
	Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...

bool	saveToPlyFile (const std::string &filename, bool save_in_binary=false, const CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) const
	Saves to a PLY file. More...

std::string	getSavePLYErrorString () const
	Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...

File input/output methods
bool	load2D_from_text_file (const std::string &file)
	Load from a text file. More...

bool	load3D_from_text_file (const std::string &file)
	Load from a text file. More...

bool	load2Dor3D_from_text_file (const std::string &file, const bool is_3D)
	2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file More...

bool	save2D_to_text_file (const std::string &file) const
	Save to a text file. More...

bool	save3D_to_text_file (const std::string &file) const
	Save to a text file. More...

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) More...

virtual bool	savePCDFile (const std::string &filename, bool save_as_binary) const
	Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL) More...

virtual bool	loadPCDFile (const std::string &filename)
	Load the point cloud from a PCL PCD file (requires MRPT built against PCL) More...

Filter-by-height stuff
void	enableFilterByHeight (bool enable=true)
	Enable/disable the filter-by-height functionality. More...

bool	isFilterByHeightEnabled () const
	Return whether filter-by-height is enabled. More...

void	setHeightFilterLevels (const double _z_min, const double _z_max)
	Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before). More...

void	getHeightFilterLevels (double &_z_min, double &_z_max) const
	Get the min/max Z levels for points to be actually inserted in the map. More...

PCL library support
template<class POINTCLOUD >
void	getPCLPointCloud (POINTCLOUD &cloud) const
	Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>). More...

template<class POINTCLOUD >
void	setFromPCLPointCloud (const POINTCLOUD &cloud)
	Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ). More...

Methods that MUST be implemented by children classes of
KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points. More...

float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class: More...

float	kdtree_distance (const float *p1, const size_t idx_p2, size_t size) const
	Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...

template<typename BBOX >
bool	kdtree_get_bbox (BBOX &bb) const

RTTI classes and functions
mrpt::utils::CObject::Ptr	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...

Public utility methods to query the KD-tree
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...

size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const

size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const

float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...

float	kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const

void	kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
	KD Tree-based search for the TWO closest point to some given 2D coordinates. More...

void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const

std::vector< size_t >	kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates. More...

std::vector< size_t >	kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const

size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const

void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

size_t	kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 3D point. More...

size_t	kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 2D point. More...

void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

Static Public Member Functions
static void	COLOR_3DSCENE (const mrpt::utils::TColorf &value)
	The color of points in getAs3DObject() (default=blue) More...

static mrpt::utils::TColorf	COLOR_3DSCENE ()

Public Attributes
TInsertionOptions	insertionOptions
	The options used when inserting observations in the map. More...

TLikelihoodOptions	likelihoodOptions

TMapGenericParams	genericMapParams
	Common params to all maps. More...

TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches. More...

Protected Member Functions
bool	internal_insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose) override
	This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary. More...

void	base_copyFrom (const CPointsMap &obj)
	Helper method for ::copyFrom() More...

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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...

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...

void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes. More...

PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_face_count (const size_t N) override
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...

virtual void	PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=nullptr) override
	In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...

PLY Export virtual methods to implement in base classes
size_t	PLY_export_get_vertex_count () const override
	In a base class, return the number of vertices. More...

size_t	PLY_export_get_face_count () const override
	In a base class, return the number of faces. More...

virtual void	PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const override
	In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...

PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_vertex_count (const size_t N)=0
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...

Protected Attributes
std::vector< float >	x
	The point coordinates. More...

std::vector< float >	y

std::vector< float >	z

mrpt::obs::CSinCosLookUpTableFor2DScans	m_scans_sincos_cache
	Cache of sin/cos values for the latest 2D scan geometries. More...

float	m_largestDistanceFromOrigin
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...

bool	m_largestDistanceFromOriginIsUpdated
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...

bool	m_boundingBoxIsUpdated

float	m_bb_min_x

float	m_bb_max_x

float	m_bb_min_y

float	m_bb_max_y

float	m_bb_min_z

float	m_bb_max_z

double	m_heightfilter_z_min
	The minimum and maximum height for a certain laser scan to be inserted into this map. More...

double	m_heightfilter_z_max

bool	m_heightfilter_enabled
	Whether or not (default=not) filter the input points by height. More...

Friends
template<class Derived >
struct	detail::loadFromRangeImpl

template<class Derived >
struct	detail::pointmap_traits

RTTI stuff
using	Ptr = std::shared_ptr< CPointsMap >

using	ConstPtr = std::shared_ptr< const CPointsMap >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Pure virtual interfaces to be implemented by any class derived
from CPointsMap
virtual void	reserve (size_t newLength)=0
	Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. More...

virtual void	resize (size_t newLength)=0
	Resizes all point buffers so they can hold the given number of points: newly created points are set to default values, and old contents are not changed. More...

virtual void	setSize (size_t newLength)=0
	Resizes all point buffers so they can hold the given number of points, erasing all previous contents and leaving all points to default values. More...

virtual void	setPointFast (size_t index, float x, float y, float z)=0
	Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified() More...

virtual void	insertPointFast (float x, float y, float z=0)=0
	The virtual method for insertPoint() without calling mark_as_modified() More...

virtual void	copyFrom (const CPointsMap &obj)=0
	Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one. More...

virtual void	getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const =0
	Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...

virtual void	setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data)=0
	Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...

virtual void	addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints)=0
	Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::maps::CPointsMap::ConstPtr = std::shared_ptr<const CPointsMap >

Definition at line 68 of file CPointsMap.h.

◆ Ptr

using mrpt::maps::CPointsMap::Ptr = std::shared_ptr< CPointsMap >

Definition at line 68 of file CPointsMap.h.

◆ self_t

typedef KDTreeCapable<CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > > mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::self_t

inherited

Definition at line 85 of file KDTreeCapable.h.

Constructor & Destructor Documentation

◆ CPointsMap()

CPointsMap::CPointsMap ( )

Ctor.

Definition at line 74 of file CPointsMap.cpp.

References mark_as_modified().

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◆ ~CPointsMap()

CPointsMap::~CPointsMap ( )

virtual

Virtual destructor.

Definition at line 91 of file CPointsMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CPointsMap::_GetBaseClass ( )

staticprotected

◆ addFrom()

void CPointsMap::addFrom ( const CPointsMap & anotherMap )

virtual

Adds all the points from anotherMap to this map, without fusing.

This operation can be also invoked via the "+=" operator, for example:

mrpt::maps::CSimplePointsMap m1, m2;
...
m1.addFrom( m2 );  // Add all points of m2 to m1
m1 += m2;          // Exactly the same than above

Note: The method in CPointsMap is generic but derived classes may redefine this virtual method to another one more optimized.

Definition at line 1651 of file CPointsMap.cpp.

References addFrom_classSpecific(), mark_as_modified(), resize(), size(), x, y, and z.

Referenced by operator+=().

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◆ addFrom_classSpecific()

virtual void mrpt::maps::CPointsMap::addFrom_classSpecific	(	const CPointsMap &	anotherMap,
		const size_t	nPreviousPoints
	)

protectedpure virtual

Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data.

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

Referenced by addFrom(), and insertAnotherMap().

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◆ applyDeletionMask()

void CPointsMap::applyDeletionMask ( const std::vector< bool > & mask )

Remove from the map the points marked in a bool's array as "true".

Exceptions

std::exception If mask size is not equal to points count.

Definition at line 1711 of file CPointsMap.cpp.

References ASSERT_EQUAL_, getPointAllFieldsFast(), mark_as_modified(), resize(), setPointAllFieldsFast(), and size().

Referenced by clipOutOfRange(), clipOutOfRangeInZ(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap(), mrpt::maps::CPointCloudFilterByDistance::filter(), and internal_insertObservation().

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◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

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 in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 289 of file CMetricMap.h.

◆ base_copyFrom()

void CPointsMap::base_copyFrom ( const CPointsMap & obj )

protected

Helper method for ::copyFrom()

Definition at line 1769 of file CPointsMap.cpp.

References mrpt::math::KDTreeCapable< CPointsMap >::kdtree_mark_as_outdated(), m_largestDistanceFromOrigin, m_largestDistanceFromOriginIsUpdated, MRPT_END, MRPT_START, and resize().

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◆ boundingBox() [1/2]

void CPointsMap::boundingBox	(	float &	min_x,
		float &	max_x,
		float &	min_y,
		float &	max_y,
		float &	min_z,
		float &	max_z
	)		const

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.

Definition at line 939 of file CPointsMap.cpp.

References m_bb_max_x, m_bb_max_y, m_bb_max_z, m_bb_min_x, m_bb_min_y, m_bb_min_z, m_boundingBoxIsUpdated, min, reserve(), x, y, and z.

Referenced by boundingBox(), compute3DDistanceToMesh(), determineMatching2D(), determineMatching3D(), and kdtree_get_bbox().

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◆ boundingBox() [2/2]

void mrpt::maps::CPointsMap::boundingBox	(	mrpt::math::TPoint3D &	pMin,
		mrpt::math::TPoint3D &	pMax
	)		const

inline

Definition at line 878 of file CPointsMap.h.

References boundingBox(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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◆ canComputeObservationLikelihood() [1/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation * obs ) const

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). See: Maps and observations compatibility matrix

Parameters

obs	The observation.

See also: computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 180 of file CMetricMap.cpp.

◆ canComputeObservationLikelihood() [2/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation::Ptr & obs ) const

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 121 of file CMetricMap.cpp.

◆ canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame & sf ) const

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). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

Definition at line 86 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

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◆ changeCoordinatesReference() [1/3]

void CPointsMap::changeCoordinatesReference ( const mrpt::poses::CPose2D & b )

Replace each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

Definition at line 613 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint(), and mark_as_modified().

Referenced by changeCoordinatesReference(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), and TEST_F().

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◆ changeCoordinatesReference() [2/3]

void CPointsMap::changeCoordinatesReference ( const mrpt::poses::CPose3D & b )

Replace each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

Definition at line 631 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint(), and mark_as_modified().

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◆ changeCoordinatesReference() [3/3]

void CPointsMap::changeCoordinatesReference	(	const CPointsMap &	other,
		const mrpt::poses::CPose3D &	b
	)

Copy all the points from "other" map to "this", replacing each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

Definition at line 647 of file CPointsMap.cpp.

References changeCoordinatesReference(), and copyFrom().

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◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 31 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), extractCylinder(), extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), load2Dor3D_from_text_file(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), mrpt::vision::projectMatchedFeatures(), mrpt::opengl::CPlanarLaserScan::render_dl(), run_rnav_test(), setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CRandomFieldGridMap2D::setSize(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ clipOutOfRange()

void CPointsMap::clipOutOfRange	(	const mrpt::math::TPoint2D &	point,
		float	maxRange
	)

Delete points which are more far than "maxRange" away from the given "point".

Definition at line 298 of file CPointsMap.cpp.

References applyDeletionMask(), mark_as_modified(), size(), and mrpt::math::square().

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◆ clipOutOfRangeInZ()

void CPointsMap::clipOutOfRangeInZ	(	float	zMin,
		float	zMax
	)

Delete points out of the given "z" axis range have been removed.

Definition at line 280 of file CPointsMap.cpp.

References applyDeletionMask(), mark_as_modified(), and size().

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◆ clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ COLOR_3DSCENE() [1/2]

void CPointsMap::COLOR_3DSCENE ( const mrpt::utils::TColorf & value )

static

The color of points in getAs3DObject() (default=blue)

Definition at line 68 of file CPointsMap.cpp.

References COLOR_3DSCENE_value.

◆ COLOR_3DSCENE() [2/2]

mrpt::utils::TColorf CPointsMap::COLOR_3DSCENE ( )

static

Definition at line 69 of file CPointsMap.cpp.

References COLOR_3DSCENE_value.

◆ compute3DDistanceToMesh()

void CPointsMap::compute3DDistanceToMesh	(	const mrpt::maps::CMetricMap *	otherMap2,
		const mrpt::poses::CPose3D &	otherMapPose,
		float	maxDistForCorrespondence,
		mrpt::utils::TMatchingPairList &	correspondences,
		float &	correspondencesRatio
	)

Computes the matchings between this and another 3D points map.

This method matches each point in the other map with the centroid of the 3 closest points in 3D from this map (if the distance is below a defined threshold).

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
maxDistForCorrespondence	[IN] Maximum 2D linear distance between two points to be matched.
correspondences	[OUT] The detected matchings pairs.
correspondencesRatio	[OUT] The ratio [0,1] of points in otherMap with at least one correspondence.

See also: determineMatching3D

Definition at line 1303 of file CPointsMap.cpp.

References boundingBox(), mrpt::math::distance(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeNClosestPoint3DWithIdx(), MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, size(), x, y, and z.

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◆ compute3DMatchingRatio()

float CPointsMap::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

overridevirtual

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.

Parameters

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

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 818 of file CPointsMap.cpp.

References mrpt::maps::TMatchingExtraResults::correspondencesRatio, determineMatching3D(), mrpt::maps::CMetricMap::getAsSimplePointsMap(), and mrpt::maps::TMatchingRatioParams::maxDistForCorr.

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◆ computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a log-likelihood.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 189 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

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◆ computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 77 of file CMetricMap.cpp.

◆ computeObservationsLikelihood()

double CMetricMap::computeObservationsLikelihood	(	const mrpt::obs::CSensoryFrame &	sf,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See also: canComputeObservationsLikelihood

Definition at line 67 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::auxiliarComputeObservationLikelihood().

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◆ copyFrom()

virtual void mrpt::maps::CPointsMap::copyFrom ( const CPointsMap & obj )

pure virtual

Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one.

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

Referenced by changeCoordinatesReference().

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◆ derived() [1/2]

const CPointsMap & mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 91 of file KDTreeCapable.h.

◆ derived() [2/2]

CPointsMap & mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 96 of file KDTreeCapable.h.

◆ determineMatching2D()

void CPointsMap::determineMatching2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		mrpt::utils::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

overridevirtual

Computes the matching between this and another 2D point map, which includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters

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.

See also: compute3DMatchingRatio

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 317 of file CPointsMap.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_BELOW_, ASSERTMSG_, boundingBox(), CLASS_ID, mrpt::utils::TRuntimeClassId::derivedFrom(), mrpt::utils::TMatchingPairList::filterUniqueRobustPairs(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint2D(), min, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), reserve(), mrpt::math::TPose2D::size(), size(), mrpt::math::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by fuseWith().

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◆ determineMatching3D()

void CPointsMap::determineMatching3D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		mrpt::utils::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

overridevirtual

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:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

Parameters

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.

See also: compute3DMatchingRatio

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 1089 of file CPointsMap.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_BELOW_, ASSERTMSG_, boundingBox(), CLASS_ID, mrpt::poses::CPose3D::composePoint(), mrpt::utils::TRuntimeClassId::derivedFrom(), mrpt::utils::TMatchingPairList::filterUniqueRobustPairs(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint3D(), min, MRPT_END, MRPT_START, size(), and mrpt::math::square().

Referenced by compute3DMatchingRatio(), and mrpt::slam::observationsOverlap().

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◆ empty()

bool mrpt::maps::CPointsMap::empty ( ) const

inline

STL-like method to check whether the map is empty:

Definition at line 831 of file CPointsMap.h.

References isEmpty().

Referenced by mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation().

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◆ enableFilterByHeight()

void mrpt::maps::CPointsMap::enableFilterByHeight ( bool enable = true )

inline

Enable/disable the filter-by-height functionality.

See also: setHeightFilterLevels

Note: Default upon construction is disabled.

Definition at line 911 of file CPointsMap.h.

References m_heightfilter_enabled.

◆ extractCylinder()

void CPointsMap::extractCylinder	(	const mrpt::math::TPoint2D &	center,
		const double	radius,
		const double	zmin,
		const double	zmax,
		CPointsMap *	outMap
	)

Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values.

Definition at line 1264 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), insertPoint(), mrpt::math::square(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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◆ extractPoints()

void CPointsMap::extractPoints	(	const mrpt::math::TPoint3D &	corner1,
		const mrpt::math::TPoint3D &	corner2,
		CPointsMap *	outMap,
		const double &	R = `1`,
		const double &	G = `1`,
		const double &	B = `1`
	)

Extracts the points in the map within the area defined by two corners.

The points are coloured according the R,G,B input data.

Definition at line 1280 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), insertPoint(), min, R, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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◆ fuseWith()

void CPointsMap::fuseWith	(	CPointsMap *	anotherMap,
		float	minDistForFuse = `0.02f`,
		std::vector< bool > *	notFusedPoints = `nullptr`
	)

Insert the contents of another map into this one, fusing the previous content with the new one.

This means that points very close to existing ones will be "fused", rather than "added". This prevents the unbounded increase in size of these class of maps. NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done before calling this method.

Parameters

otherMap	The other map whose points are to be inserted into this one.
minDistForFuse	Minimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
notFusedPoints	If a pointer is supplied, this list will contain at output a list with a "bool" value per point in "this" map. This will be false/true according to that point having been fused or not.

See also: loadFromRangeScan, addFrom

Definition at line 2064 of file CPointsMap.cpp.

References ASSERT_, determineMatching2D(), getPoint(), insertPointFast(), mark_as_modified(), reserve(), setPointWeight(), size(), mrpt::math::square(), and mrpt::math::TPoint3D::x.

Referenced by internal_insertObservation().

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◆ getAllPoints() [1/4]

template<class VECTOR >

void mrpt::maps::CPointsMap::getAllPoints	(	VECTOR &	xs,
		VECTOR &	ys,
		VECTOR &	zs,
		size_t	decimation = `1`
	)		const

inline

Returns a copy of the 2D/3D points as a std::vector of float coordinates.

If decimation is greater than 1, only 1 point out of that number will be saved in the output, effectively performing a subsampling of the points.

See also: getPointsBufferRef_x, getPointsBufferRef_y, getPointsBufferRef_z

Template Parameters

VECTOR can be std::vector<float or double> or any row/column Eigen::Array or Eigen::Matrix (this includes mrpt::math::CVectorFloat and mrpt::math::CVectorDouble).

Definition at line 513 of file CPointsMap.h.

References ASSERT_, MRPT_END, and MRPT_START.

Referenced by getAllPoints().

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◆ getAllPoints() [2/4]

template<class CONTAINER >

void mrpt::maps::CPointsMap::getAllPoints	(	CONTAINER &	ps,
		size_t	decimation = `1`
	)		const

inline

Gets all points as a STL-like container.

Template Parameters

CONTAINER Any STL-like container of mrpt::math::TPoint3D, mrpt::math::TPoint3Df or anything having members x,y,z. Note that this method is not efficient for large point clouds. Fastest methods are getPointsBuffer() or getPointsBufferRef_x(), getPointsBufferRef_y(), getPointsBufferRef_z()

Definition at line 541 of file CPointsMap.h.

References getAllPoints().

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◆ getAllPoints() [3/4]

void CPointsMap::getAllPoints	(	std::vector< float > &	xs,
		std::vector< float > &	ys,
		size_t	decimation = `1`
	)		const

Returns a copy of the 2D/3D points as a std::vector of float coordinates.

If decimation is greater than 1, only 1 point out of that number will be saved in the output, effectively performing a subsampling of the points.

See also: setAllPoints

Definition at line 863 of file CPointsMap.cpp.

References ASSERT_, MRPT_END, MRPT_START, x, and y.

◆ getAllPoints() [4/4]

void mrpt::maps::CPointsMap::getAllPoints	(	std::vector< mrpt::math::TPoint2D > &	ps,
		size_t	decimation = `1`
	)		const

inline

Definition at line 564 of file CPointsMap.h.

References getAllPoints().

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◆ getAs3DObject()

void CPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

overridevirtual

Returns a 3D object representing the map.

The color of the points is controlled by COLOR_3DSCENE()

See also: mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE

Implements mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 801 of file CPointsMap.cpp.

References COLOR_3DSCENE_value, mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, and POINTSMAPS_3DOBJECT_POINTSIZE_value.

Referenced by TEST_F().

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◆ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CPointsMap::getAsSimplePointsMap ( ) const

inlineoverridevirtual

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 from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap.

Definition at line 843 of file CPointsMap.h.

◆ getAsSimplePointsMap() [2/2]

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CPointsMap::getAsSimplePointsMap ( )

inlineoverridevirtual

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap.

Definition at line 848 of file CPointsMap.h.

◆ getHeightFilterLevels()

void mrpt::maps::CPointsMap::getHeightFilterLevels	(	double &	_z_min,
		double &	_z_max
	)		const

inline

Get the min/max Z levels for points to be actually inserted in the map.

See also: enableFilterByHeight, setHeightFilterLevels

Definition at line 930 of file CPointsMap.h.

References m_heightfilter_z_max, and m_heightfilter_z_min.

◆ getLargestDistanceFromOrigin()

float CPointsMap::getLargestDistanceFromOrigin ( ) const

This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).

Definition at line 839 of file CPointsMap.cpp.

References m_largestDistanceFromOrigin, m_largestDistanceFromOriginIsUpdated, and mrpt::math::square().

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◆ getLargestDistanceFromOriginNoRecompute()

float mrpt::maps::CPointsMap::getLargestDistanceFromOriginNoRecompute ( bool & output_is_valid ) const

inline

Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin()

Definition at line 863 of file CPointsMap.h.

References m_largestDistanceFromOrigin, and m_largestDistanceFromOriginIsUpdated.

◆ getLoadPLYErrorString()

std::string mrpt::utils::PLY_Importer::getLoadPLYErrorString ( ) const

inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 46 of file PLY_import_export.h.

References mrpt::utils::PLY_Importer::m_ply_import_last_error.

◆ getPCLPointCloud()

template<class POINTCLOUD >

void mrpt::maps::CPointsMap::getPCLPointCloud ( POINTCLOUD & cloud ) const

inline

Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>).

Usage example:

mrpt::maps::CPointsCloud       pc;
pcl::PointCloud<pcl::PointXYZ> cloud;
pc.getPCLPointCloud(cloud);

See also: setFromPCLPointCloud, CColouredPointsMap::getPCLPointCloudXYZRGB (for color data)

Definition at line 963 of file CPointsMap.h.

References size().

Referenced by loadPCDFile(), and savePCDFile().

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◆ getPoint() [1/7]

unsigned long CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y,
		float &	z
	)		const

Access to a given point from map, as a 2D point.

First index is 0.

Returns: The return value is the weight of the point (the times it has been fused), or 1 if weights are not used.

Exceptions

Throws std::exception on index out of bound.

See also: setPoint, getPointFast

Definition at line 222 of file CPointsMap.cpp.

References ASSERT_BELOW_, and getPointWeight().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), fuseWith(), getPoint(), internal_insertObservation(), and ransac_data_assoc_run().

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◆ getPoint() [2/7]

unsigned long CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 213 of file CPointsMap.cpp.

References ASSERT_BELOW_, and getPointWeight().

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◆ getPoint() [3/7]

unsigned long CPointsMap::getPoint	(	size_t	index,
		double &	x,
		double &	y,
		double &	z
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 243 of file CPointsMap.cpp.

References ASSERT_BELOW_, and getPointWeight().

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◆ getPoint() [4/7]

unsigned long CPointsMap::getPoint	(	size_t	index,
		double &	x,
		double &	y
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 233 of file CPointsMap.cpp.

References ASSERT_BELOW_, and getPointWeight().

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◆ getPoint() [5/7]

unsigned long mrpt::maps::CPointsMap::getPoint	(	size_t	index,
		mrpt::math::TPoint2D &	p
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 400 of file CPointsMap.h.

References getPoint().

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◆ getPoint() [6/7]

unsigned long mrpt::maps::CPointsMap::getPoint	(	size_t	index,
		mrpt::math::TPoint3D &	p
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 405 of file CPointsMap.h.

References getPoint().

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◆ getPoint() [7/7]

virtual void mrpt::maps::CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y,
		float &	z,
		float &	R,
		float &	G,
		float &	B
	)		const

inlinevirtual

Access to a given point from map, and its colors, if the map defines them (othersise, R=G=B=1.0).

First index is 0.

Returns: The return value is the weight of the point (the times it has been fused)

Exceptions

Throws std::exception on index out of bound.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 416 of file CPointsMap.h.

References getPoint(), and R.

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◆ getPointAllFields()

void mrpt::maps::CPointsMap::getPointAllFields	(	const size_t	index,
		std::vector< float > &	point_data
	)		const

inline

Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

See also: getPointAllFieldsFast, setPointAllFields, setPointAllFieldsFast

Definition at line 649 of file CPointsMap.h.

References ASSERT_BELOW_, getPointAllFieldsFast(), and size().

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◆ getPointAllFieldsFast()

virtual void mrpt::maps::CPointsMap::getPointAllFieldsFast	(	const size_t	index,
		std::vector< float > &	point_data
	)		const

pure virtual

Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

Unlike getPointAllFields(), this method does not check for index out of bounds

See also: getPointAllFields, setPointAllFields, setPointAllFieldsFast

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

Referenced by applyDeletionMask(), and getPointAllFields().

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◆ getPointFast()

void mrpt::maps::CPointsMap::getPointFast	(	size_t	index,
		float &	x,
		float &	y,
		float &	z
	)		const

inline

Just like getPoint() but without checking out-of-bound index and without returning the point weight, just XYZ.

Definition at line 427 of file CPointsMap.h.

Referenced by mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::utils::PointCloudAdapter< mrpt::maps::CSimplePointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::maps::CWeightedPointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::maps::CPointsMap >::getPointXYZ(), and insertAnotherMap().

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◆ getPointsBuffer()

void CPointsMap::getPointsBuffer	(	size_t &	outPointsCount,
		const float *&	xs,
		const float *&	ys,
		const float *&	zs
	)		const

Provides a direct access to points buffer, or nullptr if there is no points in the map.

Definition at line 259 of file CPointsMap.cpp.

References size().

Referenced by mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::insertPointCloud(), internal_insertObservation(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::nav::PlannerTPS_VirtualBase::spaceTransformer(), mrpt::nav::PlannerTPS_VirtualBase::spaceTransformerOneDirectionOnly(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ getPointsBufferRef_x()

const std::vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_x ( ) const

inline

Provides a direct access to a read-only reference of the internal point buffer.

See also: getAllPoints

Definition at line 496 of file CPointsMap.h.

References x.

◆ getPointsBufferRef_y()

const std::vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_y ( ) const

inline

Provides a direct access to a read-only reference of the internal point buffer.

See also: getAllPoints

Definition at line 499 of file CPointsMap.h.

References y.

◆ getPointsBufferRef_z()

const std::vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_z ( ) const

inline

Provides a direct access to a read-only reference of the internal point buffer.

See also: getAllPoints

Definition at line 502 of file CPointsMap.h.

References z.

◆ getPointWeight()

virtual unsigned int mrpt::maps::CPointsMap::getPointWeight ( size_t index ) const

inlinevirtual

Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually store that field (Note: No checks are done for out-of-bounds index).

See also: setPointWeight

Reimplemented in mrpt::maps::CWeightedPointsMap.

Definition at line 481 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

Referenced by getPoint().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CPointsMap::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap, mrpt::maps::CColouredPointsMap, and mrpt::maps::CWeightedPointsMap.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::maps::CPointsMap::GetRuntimeClassIdStatic ( )

static

◆ getSavePLYErrorString()

std::string mrpt::utils::PLY_Exporter::getSavePLYErrorString ( ) const

inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 104 of file PLY_import_export.h.

References mrpt::utils::PLY_Exporter::m_ply_export_last_error.

◆ hasColorPoints()

virtual bool mrpt::maps::CPointsMap::hasColorPoints ( ) const

inlinevirtual

Returns true if the point map has a color field for each point.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 435 of file CPointsMap.h.

◆ hasSubscribers()

bool mrpt::utils::CObservable::hasSubscribers ( ) const

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 57 of file CObservable.h.

References mrpt::utils::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

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◆ insertAnotherMap()

void CPointsMap::insertAnotherMap	(	const CPointsMap *	otherMap,
		const mrpt::poses::CPose3D &	otherPose
	)

Insert the contents of another map into this one with some geometric transformation, without fusing close points.

Parameters

otherMap	The other map whose points are to be inserted into this one.
otherPose	The pose of the other map in the coordinates of THIS map

See also: fuseWith, addFrom

Definition at line 1738 of file CPointsMap.cpp.

References addFrom_classSpecific(), mrpt::poses::CPose3D::composePoint(), getPointFast(), mark_as_modified(), resize(), setPointFast(), size(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape().

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◆ insertObservation()

bool CMetricMap::insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters

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.

See also: CObservation::insertObservationInto

Definition at line 95 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

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◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr	(	const mrpt::obs::CObservation::Ptr &	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

See: Maps and observations compatibility matrix

Definition at line 109 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ insertPoint() [1/3]

void mrpt::maps::CPointsMap::insertPoint	(	float	x,
		float	y,
		float	z = `0`
	)

inline

Provides a way to insert (append) individual points into the map: the missing fields of child classes (color, weight, etc) are left to their default values.

Definition at line 581 of file CPointsMap.h.

References insertPointFast(), and mark_as_modified().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), extractCylinder(), extractPoints(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), insertPoint(), load2Dor3D_from_text_file(), and run_pc_filter_test().

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◆ insertPoint() [2/3]

void mrpt::maps::CPointsMap::insertPoint ( const mrpt::math::TPoint3D & p )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 587 of file CPointsMap.h.

References insertPoint().

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◆ insertPoint() [3/3]

virtual void mrpt::maps::CPointsMap::insertPoint	(	float	x,
		float	y,
		float	z,
		float	R,
		float	G,
		float	B
	)

inlinevirtual

overload (RGB data is ignored in classes without color information)

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 592 of file CPointsMap.h.

References insertPoint(), MRPT_UNUSED_PARAM, and R.

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◆ insertPointFast()

virtual void mrpt::maps::CPointsMap::insertPointFast	(	float	x,
		float	y,
		float	z = `0`
	)

pure virtual

The virtual method for insertPoint() without calling mark_as_modified()

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

Referenced by fuseWith(), insertPoint(), internal_insertObservation(), setFromPCLPointCloud(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ internal_computeObservationLikelihood()

double CPointsMap::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

overridevirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 1474 of file CPointsMap.cpp.

References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), CLASS_ID, mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::TLikelihoodOptions::decimation, mrpt::obs::CObservation::GetRuntimeClass(), mrpt::poses::CPose3D::isHorizontal(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint2D(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint3D(), mrpt::mrpt::utils::keep_min(), likelihoodOptions, mrpt::maps::CPointsMap::TLikelihoodOptions::max_corr_distance, mrpt::math::TPose2D::phi, mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist, size(), mrpt::math::square(), mrpt::math::TPose2D::x, x, mrpt::math::TPose2D::y, y, and z.

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◆ internal_insertObservation()

bool CPointsMap::internal_insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose
	)

overrideprotectedvirtual

This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary.

See mrpt::maps::CPointsMap for the enumeration of types of observations which are accepted.

Implements mrpt::maps::CMetricMap.

Definition at line 1796 of file CPointsMap.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap, applyDeletionMask(), mrpt::obs::CObservationRange::begin(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::TInsertionOptions::disableDeletion, mrpt::obs::CObservationRange::end(), fuseWith(), mrpt::maps::CPointsMap::TInsertionOptions::fuseWithExisting, getPoint(), getPointsBuffer(), mrpt::maps::CPointsMap::TInsertionOptions::horizontalTolerance, insertionOptions, insertPointFast(), IS_CLASS, mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap, mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::maps::CSimplePointsMap::loadFromRangeScan(), loadFromRangeScan(), loadFromVelodyneScan(), mark_as_modified(), mrpt::obs::CObservationRange::maxSensorDistance, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, MRPT_END, MRPT_START, mrpt::math::CPolygon::PointIntoPolygon(), reserve(), mrpt::utils::round(), mrpt::obs::CObservationRange::sensedData, mrpt::obs::CObservationRange::sensorConeApperture, mrpt::math::CPolygon::setAllVertices(), size(), mrpt::math::TPoint3D::x, x, mrpt::math::TPoint3D::y, y, and mrpt::math::TPoint3D::z.

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◆ isEmpty()

bool CPointsMap::isEmpty ( ) const

overridevirtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::maps::CMetricMap.

Definition at line 657 of file CPointsMap.cpp.

Referenced by empty().

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◆ isFilterByHeightEnabled()

bool mrpt::maps::CPointsMap::isFilterByHeightEnabled ( ) const

inline

Return whether filter-by-height is enabled.

See also: enableFilterByHeight

Definition at line 916 of file CPointsMap.h.

References m_heightfilter_enabled.

◆ kdtree_distance()

float mrpt::maps::CPointsMap::kdtree_distance	(	const float *	p1,
		const size_t	idx_p2,
		size_t	size
	)		const

inline

Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

Definition at line 1025 of file CPointsMap.h.

◆ kdtree_get_bbox()

template<typename BBOX >

bool mrpt::maps::CPointsMap::kdtree_get_bbox ( BBOX & bb ) const

inline

Definition at line 1050 of file CPointsMap.h.

References boundingBox().

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◆ kdtree_get_point_count()

size_t mrpt::maps::CPointsMap::kdtree_get_point_count ( ) const

inline

Must return the number of data points.

Definition at line 1009 of file CPointsMap.h.

References size().

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◆ kdtree_get_pt()

float mrpt::maps::CPointsMap::kdtree_get_pt	(	const size_t	idx,
		int	dim
	)		const

inline

Returns the dim'th component of the idx'th point in the class:

Definition at line 1011 of file CPointsMap.h.

◆ kdtree_mark_as_outdated()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdtree_mark_as_outdated ( ) const

inlineprotectedinherited

To be called by child classes when KD tree data changes.

Definition at line 734 of file KDTreeCapable.h.

Referenced by base_copyFrom(), and mark_as_modified().

◆ kdTreeClosestPoint2D() [1/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x,
		float &	out_y,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 127 of file KDTreeCapable.h.

Referenced by determineMatching2D(), and internal_computeObservationLikelihood().

◆ kdTreeClosestPoint2D() [2/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_dist_sqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 156 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2D() [3/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 180 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2DsqrError() [1/2]

float mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2DsqrError	(	float	x0,
		float	y0
	)		const

inlineinherited

Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.

Definition at line 195 of file KDTreeCapable.h.

Referenced by squareDistanceToClosestCorrespondence().

◆ kdTreeClosestPoint2DsqrError() [2/2]

float mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2DsqrError ( const TPoint2D & p0 ) const

inlineinherited

Definition at line 202 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [1/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_x,
		float &	out_y,
		float &	out_z,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_z	The Z coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint2D

Definition at line 410 of file KDTreeCapable.h.

Referenced by determineMatching3D(), and internal_computeObservationLikelihood().

◆ kdTreeClosestPoint3D() [2/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_dist_sqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 441 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [3/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint3D	(	const TPoint3D &	p0,
		TPoint3D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 466 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2D() [1/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2D	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

Returns: The list of indices

See also: kdTreeClosestPoint2D; kdTreeTwoClosestPoint2D

Definition at line 295 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2D() [2/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2D	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< TPoint2D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 327 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2DIdx() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2DIdx	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D

Definition at line 360 of file KDTreeCapable.h.

Referenced by mrpt::maps::CColouredPointsMap::colourFromObservation().

◆ kdTreeNClosestPoint2DIdx() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2DIdx	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 382 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3D() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 501 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3D() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3D	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< TPoint3D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 594 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DIdx() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3DIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 698 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DIdx() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3DIdx	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 721 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DWithIdx()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3DWithIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_idx	The vector containing the indexes of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 559 of file KDTreeCapable.h.

Referenced by compute3DDistanceToMesh().

◆ kdTreeRadiusSearch2D()

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeRadiusSearch2D	(	const float	x0,
		const float	y0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 2D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 663 of file KDTreeCapable.h.

◆ kdTreeRadiusSearch3D()

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeRadiusSearch3D	(	const float	x0,
		const float	y0,
		const float	z0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 3D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 628 of file KDTreeCapable.h.

◆ kdTreeTwoClosestPoint2D() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeTwoClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x1,
		float &	out_y1,
		float &	out_x2,
		float &	out_y2,
		float &	out_dist_sqr1,
		float &	out_dist_sqr2
	)		const

inlineinherited

KD Tree-based search for the TWO closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x1	The X coordinate of the first correspondence.
out_y1	The Y coordinate of the first correspondence.
out_x2	The X coordinate of the second correspondence.
out_y2	The Y coordinate of the second correspondence.
out_dist_sqr1	The square distance between the query and the first returned point.
out_dist_sqr2	The square distance between the query and the second returned point.

See also: kdTreeClosestPoint2D

Definition at line 228 of file KDTreeCapable.h.

Referenced by squareDistanceToClosestCorrespondence().

◆ kdTreeTwoClosestPoint2D() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeTwoClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut1,
		TPoint2D &	pOut2,
		float &	outDistSqr1,
		float &	outDistSqr2
	)		const

inlineinherited

Definition at line 261 of file KDTreeCapable.h.

◆ load2D_from_text_file()

bool mrpt::maps::CPointsMap::load2D_from_text_file ( const std::string & file )

inline

Load from a text file.

Each line should contain an "X Y" coordinate pair, separated by whitespaces. Returns false if any error occured, true elsewere.

Definition at line 332 of file CPointsMap.h.

References load2Dor3D_from_text_file().

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◆ load2Dor3D_from_text_file()

bool CPointsMap::load2Dor3D_from_text_file	(	const std::string &	file,
		const bool	is_3D
	)

2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file

Definition at line 131 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), insertPoint(), mark_as_modified(), MRPT_END, and MRPT_START.

Referenced by load2D_from_text_file(), and load3D_from_text_file().

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◆ load3D_from_text_file()

bool mrpt::maps::CPointsMap::load3D_from_text_file ( const std::string & file )

inline

Load from a text file.

Each line should contain an "X Y Z" coordinate tuple, separated by whitespaces. Returns false if any error occured, true elsewere.

Definition at line 341 of file CPointsMap.h.

References load2Dor3D_from_text_file().

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◆ loadFromPlyFile()

bool PLY_Importer::loadFromPlyFile	(	const std::string &	filename,
		CStringList *	file_comments = `nullptr`,
		CStringList *	file_obj_info = `nullptr`
	)

inherited

Loads from a PLY file.

Parameters

[in]	filename	The filename to open. It can be either in binary or text format.
[out]	file_comments	If provided (!=nullptr) the list of comment strings stored in the file will be returned.
[out]	file_obj_info	If provided (!=nullptr) the list of "object info" strings stored in the file will be returned.

Returns: false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()

Definition at line 1855 of file PLY_import_export.cpp.

References TVertex::b, TVertex::g, TVertex::intensity, ply_close(), ply_get_comments(), ply_get_element(), ply_get_element_description(), ply_get_obj_info(), ply_get_property(), ply_open_for_reading(), TVertex::r, VAL_NOT_SET, vert_props, TVertex::x, TVertex::y, and TVertex::z.

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◆ loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap & Map )

inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 37 of file CMetricMap.cpp.

References ASSERTMSG_, mrpt::utils::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by mrpt::maps::CMetricMap::loadFromSimpleMap(), and run_test_pf_localization().

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◆ loadFromRangeScan() [1/2]

virtual void mrpt::maps::CPointsMap::loadFromRangeScan	(	const mrpt::obs::CObservation2DRangeScan &	rangeScan,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

pure virtual

Transform the range scan into a set of cartessian coordinated points.

The options in "insertionOptions" are considered in this method.

Parameters

rangeScan	The scan to be inserted into this map
robotPose	Default to (0,0,0\|0deg,0deg,0deg). Changes the frame of reference for the point cloud (i.e. the vehicle/robot pose in world coordinates).

Only ranges marked as "valid=true" in the observation will be inserted

Note: Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific implementation of mrpt::maps::CPointsMap you are using.; The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.

See also: CObservation2DRangeScan, CObservation3DRangeScan

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

Referenced by internal_insertObservation().

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◆ loadFromRangeScan() [2/2]

virtual void mrpt::maps::CPointsMap::loadFromRangeScan	(	const mrpt::obs::CObservation3DRangeScan &	rangeScan,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

pure virtual

Overload of loadFromRangeScan() for 3D range scans (for example, Kinect observations).

Parameters

rangeScan	The scan to be inserted into this map
robotPose	Default to (0,0,0\|0deg,0deg,0deg). Changes the frame of reference for the point cloud (i.e. the vehicle/robot pose in world coordinates).

Note: Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific implementation of mrpt::maps::CPointsMap you are using.; The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.

See also: loadFromVelodyneScan

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

◆ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap & Map )

inlineinherited

!

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 109 of file CMetricMap.h.

References mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations().

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

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◆ loadFromVelodyneScan()

void CPointsMap::loadFromVelodyneScan	(	const mrpt::obs::CObservationVelodyneScan &	scan,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

Like loadFromRangeScan() for Velodyne 3D scans.

Points are translated and rotated according to the sensorPose field in the observation and, if provided, to the robotPose parameter.

Parameters

scan	The Raw LIDAR data to be inserted into this map. It MUST contain point cloud data, generated by calling to mrpt::obs::CObservationVelodyneScan::generatePointCloud() prior to insertion in this map.
robotPose	Default to (0,0,0\|0deg,0deg,0deg). Changes the frame of reference for the point cloud (i.e. the vehicle/robot pose in world coordinates).

See also: loadFromRangeScan

Definition at line 2154 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap, ASSERT_EQUAL_, mrpt::poses::CPose3D::getHomogeneousMatrix(), insertionOptions, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, mark_as_modified(), mrpt::obs::CObservationVelodyneScan::point_cloud, resize(), mrpt::obs::CObservationVelodyneScan::sensorPose, setPoint(), mrpt::obs::CObservationVelodyneScan::TPointCloud::size(), size(), mrpt::obs::CObservationVelodyneScan::TPointCloud::x, mrpt::obs::CObservationVelodyneScan::TPointCloud::y, and mrpt::obs::CObservationVelodyneScan::TPointCloud::z.

Referenced by mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), and internal_insertObservation().

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◆ loadPCDFile()

bool CPointsMap::loadPCDFile ( const std::string & filename )

virtual

Load the point cloud from a PCL PCD file (requires MRPT built against PCL)

Returns: false on any error

Definition at line 1693 of file CPointsMap.cpp.

References getPCLPointCloud(), MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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◆ mark_as_modified()

void mrpt::maps::CPointsMap::mark_as_modified ( ) const

inline

Users normally don't need to call this.

Called by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false, invalidates the kd-tree cache, and such.

Definition at line 1067 of file CPointsMap.h.

References mrpt::math::KDTreeCapable< CPointsMap >::kdtree_mark_as_outdated(), m_boundingBoxIsUpdated, and m_largestDistanceFromOriginIsUpdated.

Referenced by addFrom(), applyDeletionMask(), changeCoordinatesReference(), clipOutOfRange(), clipOutOfRangeInZ(), CPointsMap(), fuseWith(), insertAnotherMap(), insertPoint(), internal_insertObservation(), load2Dor3D_from_text_file(), loadFromVelodyneScan(), setAllPointsTemplate(), and setPoint().

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◆ operator+=()

void mrpt::maps::CPointsMap::operator+= ( const CPointsMap & anotherMap )

inline

This operator is synonymous with addFrom.

See also: addFrom

Definition at line 309 of file CPointsMap.h.

References addFrom().

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◆ PLY_export_get_face_count()

size_t mrpt::maps::CPointsMap::PLY_export_get_face_count ( ) const

inlineoverrideprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 1130 of file CPointsMap.h.

◆ PLY_export_get_vertex()

void CPointsMap::PLY_export_get_vertex	(	const size_t	idx,
		mrpt::math::TPoint3Df &	pt,
		bool &	pt_has_color,
		mrpt::utils::TColorf &	pt_color
	)		const

overrideprotectedvirtual

In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.

Parameters

pt_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Exporter.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 1637 of file CPointsMap.cpp.

References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

◆ PLY_export_get_vertex_count()

size_t CPointsMap::PLY_export_get_vertex_count ( ) const

overrideprotectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

Definition at line 1631 of file CPointsMap.cpp.

References size().

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◆ PLY_import_set_face_count()

virtual void mrpt::maps::CPointsMap::PLY_import_set_face_count ( const size_t N )

inlineoverrideprotectedvirtual

In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.

Implements mrpt::utils::PLY_Importer.

Definition at line 1112 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

◆ PLY_import_set_vertex()

void CPointsMap::PLY_import_set_vertex	(	const size_t	idx,
		const mrpt::math::TPoint3Df &	pt,
		const mrpt::utils::TColorf *	pt_color = `nullptr`
	)

overrideprotectedvirtual

In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.

Parameters

pt_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Importer.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 1622 of file CPointsMap.cpp.

References MRPT_UNUSED_PARAM, setPoint(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

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◆ PLY_import_set_vertex_count()

virtual void mrpt::utils::PLY_Importer::PLY_import_set_vertex_count ( const size_t N )

protectedpure virtualinherited

In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.

Implemented in mrpt::maps::CColouredPointsMap, mrpt::opengl::CPointCloudColoured, mrpt::maps::CWeightedPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::opengl::CPointCloud.

◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 47 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

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◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

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.

Parameters

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.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

◆ reserve()

virtual void mrpt::maps::CPointsMap::reserve ( size_t newLength )

pure virtual

Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.

This is useful for situations where it is approximately known the final size of the map. This method is more efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

Referenced by boundingBox(), determineMatching2D(), fuseWith(), internal_insertObservation(), setFromPCLPointCloud(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ resize()

virtual void mrpt::maps::CPointsMap::resize ( size_t newLength )

pure virtual

Resizes all point buffers so they can hold the given number of points: newly created points are set to default values, and old contents are not changed.

See also: reserve, setPoint, setPointFast, setSize

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

Referenced by addFrom(), applyDeletionMask(), base_copyFrom(), insertAnotherMap(), loadFromVelodyneScan(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CPointsMap >::resize().

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◆ save2D_to_text_file()

bool CPointsMap::save2D_to_text_file ( const std::string & file ) const

Save to a text file.

Each line will contain "X Y" point coordinates. Returns false if any error occured, true elsewere.

Definition at line 97 of file CPointsMap.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

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◆ save3D_to_text_file()

bool CPointsMap::save3D_to_text_file ( const std::string & file ) const

Save to a text file.

Each line will contain "X Y Z" point coordinates. Returns false if any error occured, true elsewere.

Definition at line 114 of file CPointsMap.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

Referenced by saveMetricMapRepresentationToFile().

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◆ saveMetricMapRepresentationToFile()

void mrpt::maps::CPointsMap::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

inlineoverridevirtual

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)

Implements mrpt::maps::CMetricMap.

Definition at line 364 of file CPointsMap.h.

References save3D_to_text_file().

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◆ savePCDFile()

bool CPointsMap::savePCDFile	(	const std::string &	filename,
		bool	save_as_binary
	)		const

virtual

Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL)

Save the point cloud as a PCL PCD file, in either ASCII or binary format.

Returns: false on any error

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 1675 of file CPointsMap.cpp.

References getPCLPointCloud(), MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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◆ saveToPlyFile()

bool PLY_Exporter::saveToPlyFile	(	const std::string &	filename,
		bool	save_in_binary = `false`,
		const CStringList &	file_comments = `CStringList()`,
		const CStringList &	file_obj_info = `CStringList()`
	)		const

inherited

Saves to a PLY file.

Parameters

[in]	filename	The filename to be saved.
[in]	file_comments	If provided (!=nullptr) the list of comment strings stored in the file will be returned.
[in]	file_obj_info	If provided (!=nullptr) the list of "object info" strings stored in the file will be returned.

Returns: false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()

Definition at line 1958 of file PLY_import_export.cpp.

References mrpt::utils::TColorf::B, face_props, mrpt::utils::TColorf::G, TVertex::intensity, PLY_ASCII, PLY_BINARY_BE, PLY_BINARY_LE, ply_close(), ply_describe_property(), ply_element_count(), ply_header_complete(), ply_open_for_writing(), ply_put_comment(), ply_put_element(), ply_put_element_setup(), ply_put_obj_info(), mrpt::utils::TColorf::R, mrpt::utils::CStringList::size(), vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.

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◆ setAllPoints() [1/2]

void mrpt::maps::CPointsMap::setAllPoints	(	const std::vector< float > &	X,
		const std::vector< float > &	Y,
		const std::vector< float > &	Z
	)

inline

Set all the points at once from vectors with X,Y and Z coordinates.

See also: getAllPoints

Definition at line 630 of file CPointsMap.h.

References setAllPointsTemplate().

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

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◆ setAllPoints() [2/2]

void mrpt::maps::CPointsMap::setAllPoints	(	const std::vector< float > &	X,
		const std::vector< float > &	Y
	)

inline

Set all the points at once from vectors with X and Y coordinates (Z=0).

See also: getAllPoints

Definition at line 639 of file CPointsMap.h.

References setAllPointsTemplate().

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◆ setAllPointsTemplate()

template<typename VECTOR >

void mrpt::maps::CPointsMap::setAllPointsTemplate	(	const VECTOR &	X,
		const VECTOR &	Y,
		const VECTOR &	Z = `VECTOR()`
	)

inline

Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros).

Template Parameters

VECTOR can be mrpt::math::CVectorFloat or std::vector<float> or any other column or row Eigen::Matrix.

Definition at line 607 of file CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, mark_as_modified(), setPointFast(), and setSize().

Referenced by setAllPoints().

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◆ setFromPCLPointCloud()

template<class POINTCLOUD >

void mrpt::maps::CPointsMap::setFromPCLPointCloud ( const POINTCLOUD & cloud )

inline

Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ).

Usage example:

pcl::PointCloud<pcl::PointXYZ> cloud;
mrpt::maps::CPointsCloud       pc;
pc.setFromPCLPointCloud(cloud);

See also: getPCLPointCloud, CColouredPointsMap::setFromPCLPointCloudRGB()

Definition at line 992 of file CPointsMap.h.

References mrpt::maps::CMetricMap::clear(), insertPointFast(), and reserve().

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◆ setHeightFilterLevels()

void mrpt::maps::CPointsMap::setHeightFilterLevels	(	const double	_z_min,
		const double	_z_max
	)

inline

Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before).

Definition at line 923 of file CPointsMap.h.

References m_heightfilter_z_max, and m_heightfilter_z_min.

◆ setPoint() [1/5]

void mrpt::maps::CPointsMap::setPoint	(	size_t	index,
		float	x,
		float	y,
		float	z
	)

inline

Changes a given point from map, with Z defaulting to 0 if not provided.

Exceptions

Throws std::exception on index out of bound.

Definition at line 439 of file CPointsMap.h.

References ASSERT_BELOW_, mark_as_modified(), setPointFast(), and size().

Referenced by loadFromVelodyneScan(), PLY_import_set_vertex(), ransac_data_assoc_run(), and setPoint().

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◆ setPoint() [2/5]

void mrpt::maps::CPointsMap::setPoint	(	size_t	index,
		const mrpt::math::TPoint2D &	p
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 446 of file CPointsMap.h.

References setPoint().

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◆ setPoint() [3/5]

void mrpt::maps::CPointsMap::setPoint	(	size_t	index,
		const mrpt::math::TPoint3D &	p
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 451 of file CPointsMap.h.

References setPoint().

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◆ setPoint() [4/5]

void mrpt::maps::CPointsMap::setPoint	(	size_t	index,
		float	x,
		float	y
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 456 of file CPointsMap.h.

References setPoint().

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◆ setPoint() [5/5]

virtual void mrpt::maps::CPointsMap::setPoint	(	size_t	index,
		float	x,
		float	y,
		float	z,
		float	R,
		float	G,
		float	B
	)

inlinevirtual

overload (RGB data is ignored in classes without color information)

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 461 of file CPointsMap.h.

References MRPT_UNUSED_PARAM, R, and setPoint().

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◆ setPointAllFields()

void mrpt::maps::CPointsMap::setPointAllFields	(	const size_t	index,
		const std::vector< float > &	point_data
	)

inline

Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

Unlike setPointAllFields(), this method does not check for index out of bounds

See also: setPointAllFields, getPointAllFields, getPointAllFieldsFast

Definition at line 662 of file CPointsMap.h.

References ASSERT_BELOW_, setPointAllFieldsFast(), and size().

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◆ setPointAllFieldsFast()

virtual void mrpt::maps::CPointsMap::setPointAllFieldsFast	(	const size_t	index,
		const std::vector< float > &	point_data
	)

pure virtual

Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

Unlike setPointAllFields(), this method does not check for index out of bounds

See also: setPointAllFields, getPointAllFields, getPointAllFieldsFast

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

Referenced by applyDeletionMask(), and setPointAllFields().

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◆ setPointFast()

virtual void mrpt::maps::CPointsMap::setPointFast	(	size_t	index,
		float	x,
		float	y,
		float	z
	)

pure virtual

Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified()

See also: setPoint

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

Referenced by insertAnotherMap(), setAllPointsTemplate(), setPoint(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CPointsMap >::setPointXYZ().

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◆ setPointWeight()

virtual void mrpt::maps::CPointsMap::setPointWeight	(	size_t	index,
		unsigned long	w
	)

inlinevirtual

Sets the point weight, which is ignored in all classes but those which actually store that field (Note: No checks are done for out-of-bounds index).

See also: getPointWeight

Reimplemented in mrpt::maps::CWeightedPointsMap.

Definition at line 473 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

Referenced by fuseWith().

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◆ setSize()

virtual void mrpt::maps::CPointsMap::setSize ( size_t newLength )

pure virtual

Resizes all point buffers so they can hold the given number of points, erasing all previous contents and leaving all points to default values.

See also: reserve, setPoint, setPointFast, setSize

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

Referenced by setAllPointsTemplate().

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◆ size()

size_t mrpt::maps::CPointsMap::size ( ) const

inline

Returns the number of stored points in the map.

Definition at line 385 of file CPointsMap.h.

Referenced by addFrom(), mrpt::maps::CWeightedPointsMap::addFrom_classSpecific(), mrpt::maps::CColouredPointsMap::addFrom_classSpecific(), applyDeletionMask(), clipOutOfRange(), clipOutOfRangeInZ(), compute3DDistanceToMesh(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), determineMatching2D(), determineMatching3D(), mrpt::maps::CPointCloudFilterByDistance::filter(), fuseWith(), getPCLPointCloud(), getPointAllFields(), getPointsBuffer(), insertAnotherMap(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), internal_computeObservationLikelihood(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), internal_insertObservation(), kdtree_get_point_count(), loadFromVelodyneScan(), PLY_export_get_vertex_count(), ransac_data_assoc_run(), run_pc_filter_test(), mrpt::maps::CColouredPointsMap::savePCDFile(), mrpt::maps::CColouredPointsMap::setPoint(), setPoint(), setPointAllFields(), mrpt::utils::PointCloudAdapter< mrpt::maps::CSimplePointsMap >::size(), mrpt::utils::PointCloudAdapter< mrpt::maps::CWeightedPointsMap >::size(), mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::size(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CPointsMap >::size().

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◆ squareDistanceToClosestCorrespondence()

float CPointsMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const

overridevirtual

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 896 of file CPointsMap.cpp.

References ASSERT_, mrpt::math::closestFromPointToLine(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeTwoClosestPoint2D(), and mrpt::math::square().

Referenced by squareDistanceToClosestCorrespondenceT().

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◆ squareDistanceToClosestCorrespondenceT()

float mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT ( const mrpt::math::TPoint2D & p0 ) const

inline

Definition at line 193 of file CPointsMap.h.

References squareDistanceToClosestCorrespondence(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

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.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

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.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, 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.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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Friends And Related Function Documentation

◆ detail::loadFromRangeImpl

template<class Derived >

friend struct detail::loadFromRangeImpl

friend

Definition at line 1147 of file CPointsMap.h.

◆ detail::pointmap_traits

template<class Derived >

friend struct detail::pointmap_traits

friend

Definition at line 1149 of file CPointsMap.h.

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 68 of file CPointsMap.h.

Member Data Documentation

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 281 of file CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CBeaconMap::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), getAs3DObject(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::maps::CHeightGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), and mrpt::maps::CHeightGridMap2D::writeToStream().

◆ insertionOptions

TInsertionOptions mrpt::maps::CPointsMap::insertionOptions

The options used when inserting observations in the map.

Definition at line 256 of file CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), internal_build_points_map_from_scan2D(), internal_insertObservation(), loadFromVelodyneScan(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::opengl::CPlanarLaserScan::render_dl(), and run_rnav_test().

◆ kdtree_search_params

TKDTreeSearchParams mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdtree_search_params

inherited

Parameters to tune the ANN searches.

Definition at line 105 of file KDTreeCapable.h.

◆ likelihoodOptions

TLikelihoodOptions mrpt::maps::CPointsMap::likelihoodOptions

Definition at line 293 of file CPointsMap.h.

Referenced by internal_computeObservationLikelihood().

◆ m_bb_max_x

float mrpt::maps::CPointsMap::m_bb_max_x

mutableprotected

Definition at line 1092 of file CPointsMap.h.

Referenced by boundingBox().

◆ m_bb_max_y

float mrpt::maps::CPointsMap::m_bb_max_y

mutableprotected

Definition at line 1092 of file CPointsMap.h.

Referenced by boundingBox().

◆ m_bb_max_z

float mrpt::maps::CPointsMap::m_bb_max_z

mutableprotected

Definition at line 1092 of file CPointsMap.h.

Referenced by boundingBox().

◆ m_bb_min_x

float mrpt::maps::CPointsMap::m_bb_min_x

mutableprotected

Definition at line 1092 of file CPointsMap.h.

Referenced by boundingBox().

◆ m_bb_min_y

float mrpt::maps::CPointsMap::m_bb_min_y

mutableprotected

Definition at line 1092 of file CPointsMap.h.

Referenced by boundingBox().

◆ m_bb_min_z

float mrpt::maps::CPointsMap::m_bb_min_z

mutableprotected

Definition at line 1092 of file CPointsMap.h.

Referenced by boundingBox().

◆ m_boundingBoxIsUpdated

bool mrpt::maps::CPointsMap::m_boundingBoxIsUpdated

mutableprotected

Definition at line 1091 of file CPointsMap.h.

Referenced by boundingBox(), and mark_as_modified().

◆ m_heightfilter_enabled

bool mrpt::maps::CPointsMap::m_heightfilter_enabled

protected

Whether or not (default=not) filter the input points by height.

See also: m_heightfilter_z_min, m_heightfilter_z_max

Definition at line 1143 of file CPointsMap.h.

Referenced by enableFilterByHeight(), and isFilterByHeightEnabled().

◆ m_heightfilter_z_max

double mrpt::maps::CPointsMap::m_heightfilter_z_max

protected

Definition at line 1139 of file CPointsMap.h.

Referenced by getHeightFilterLevels(), and setHeightFilterLevels().

◆ m_heightfilter_z_min

double mrpt::maps::CPointsMap::m_heightfilter_z_min

protected

The minimum and maximum height for a certain laser scan to be inserted into this map.

See also: m_heightfilter_enabled

Definition at line 1139 of file CPointsMap.h.

Referenced by getHeightFilterLevels(), and setHeightFilterLevels().

◆ m_largestDistanceFromOrigin

float mrpt::maps::CPointsMap::m_largestDistanceFromOrigin

mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also: getLargestDistanceFromOrigin

Definition at line 1084 of file CPointsMap.h.

Referenced by base_copyFrom(), getLargestDistanceFromOrigin(), and getLargestDistanceFromOriginNoRecompute().

◆ m_largestDistanceFromOriginIsUpdated

bool mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated

mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also: getLargestDistanceFromOrigin

Definition at line 1089 of file CPointsMap.h.

Referenced by base_copyFrom(), getLargestDistanceFromOrigin(), getLargestDistanceFromOriginNoRecompute(), and mark_as_modified().

◆ m_scans_sincos_cache

mrpt::obs::CSinCosLookUpTableFor2DScans mrpt::maps::CPointsMap::m_scans_sincos_cache

protected

Cache of sin/cos values for the latest 2D scan geometries.

Definition at line 1079 of file CPointsMap.h.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::CPointsMap::runtimeClassId

staticprotected

Definition at line 68 of file CPointsMap.h.

◆ x

std::vector<float> mrpt::maps::CPointsMap::x

protected

The point coordinates.

Definition at line 1076 of file CPointsMap.h.

Referenced by addFrom(), boundingBox(), compute3DDistanceToMesh(), getAllPoints(), getPointsBufferRef_x(), internal_computeObservationLikelihood(), and internal_insertObservation().

◆ y

std::vector<float> mrpt::maps::CPointsMap::y

protected

Definition at line 1076 of file CPointsMap.h.

Referenced by addFrom(), boundingBox(), compute3DDistanceToMesh(), getAllPoints(), getPointsBufferRef_y(), internal_computeObservationLikelihood(), and internal_insertObservation().

◆ z

std::vector<float> mrpt::maps::CPointsMap::z

protected

Definition at line 1076 of file CPointsMap.h.

Referenced by addFrom(), boundingBox(), compute3DDistanceToMesh(), getPointsBufferRef_z(), and internal_computeObservationLikelihood().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Pure virtual interfaces to be implemented by any class derived

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ self_t

Constructor & Destructor Documentation

◆ CPointsMap()

◆ ~CPointsMap()

Member Function Documentation

◆ _GetBaseClass()

◆ addFrom()

◆ addFrom_classSpecific()

◆ applyDeletionMask()

◆ auxParticleFilterCleanUp()

◆ base_copyFrom()

◆ boundingBox() [1/2]

◆ boundingBox() [2/2]

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ changeCoordinatesReference() [1/3]

◆ changeCoordinatesReference() [2/3]

◆ changeCoordinatesReference() [3/3]

◆ clear()

◆ clipOutOfRange()

◆ clipOutOfRangeInZ()

◆ clone()

◆ COLOR_3DSCENE() [1/2]

◆ COLOR_3DSCENE() [2/2]

◆ compute3DDistanceToMesh()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ copyFrom()

◆ derived() [1/2]

◆ derived() [2/2]

◆ determineMatching2D()

◆ determineMatching3D()

◆ empty()

◆ enableFilterByHeight()

◆ extractCylinder()

◆ extractPoints()

◆ fuseWith()

◆ getAllPoints() [1/4]

◆ getAllPoints() [2/4]

◆ getAllPoints() [3/4]

◆ getAllPoints() [4/4]

◆ getAs3DObject()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getHeightFilterLevels()

◆ getLargestDistanceFromOrigin()

◆ getLargestDistanceFromOriginNoRecompute()

◆ getLoadPLYErrorString()

◆ getPCLPointCloud()

◆ getPoint() [1/7]

◆ getPoint() [2/7]

◆ getPoint() [3/7]

◆ getPoint() [4/7]

◆ getPoint() [5/7]

◆ getPoint() [6/7]

◆ getPoint() [7/7]

◆ getPointAllFields()

◆ getPointAllFieldsFast()

◆ getPointFast()

◆ getPointsBuffer()

◆ getPointsBufferRef_x()

◆ getPointsBufferRef_y()

◆ getPointsBufferRef_z()