MRPT  1.9.9
CWeightedPointsMap.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/maps/CPointsMap.h>
12 #include <mrpt/math/CMatrixF.h>
16 
17 namespace mrpt
18 {
19 namespace maps
20 {
21 /** A cloud of points in 2D or 3D, which can be built from a sequence of laser
22  * scans.
23  * This class stores the coordinates (x,y,z) and a "weight", or counter of
24  * how many times that point has been seen, used only if points fusion is
25  * enabled in the options structure.
26  * \sa CMetricMap, CPoint, mrpt::serialization::CSerializable, CSimplePointsMap
27  * \ingroup mrpt_maps_grp
28  */
30 {
32 
33  public:
34  /** Default constructor */
37  {
39  }
41  {
43  return *this;
44  }
45 
46  // --------------------------------------------
47  /** @name Pure virtual interfaces to be implemented by any class derived
48  from CPointsMap
49  @{ */
50  void reserve(size_t newLength) override; // See base class docs
51  void resize(size_t newLength) override; // See base class docs
52  void setSize(size_t newLength) override; // See base class docs
53 
54  /** The virtual method for \a insertPoint() *without* calling
55  * mark_as_modified() */
56  void insertPointFast(float x, float y, float z = 0) override;
57 
58  /** Get all the data fields for one point as a vector: [X Y Z WEIGHT]
59  * Unlike getPointAllFields(), this method does not check for index out of
60  * bounds
61  * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast
62  */
64  const size_t index, std::vector<float>& point_data) const override
65  {
66  point_data.resize(4);
67  point_data[0] = m_x[index];
68  point_data[1] = m_y[index];
69  point_data[2] = m_z[index];
70  point_data[3] = pointWeight[index];
71  }
72 
73  /** Set all the data fields for one point as a vector: [X Y Z WEIGHT]
74  * Unlike setPointAllFields(), this method does not check for index out of
75  * bounds
76  * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
77  */
79  const size_t index, const std::vector<float>& point_data) override
80  {
81  ASSERTDEB_(point_data.size() == 4);
82  m_x[index] = point_data[0];
83  m_y[index] = point_data[1];
84  m_z[index] = point_data[2];
85  pointWeight[index] = point_data[3];
86  }
87 
88  /** See CPointsMap::loadFromRangeScan() */
89  void loadFromRangeScan(
90  const mrpt::obs::CObservation2DRangeScan& rangeScan,
91  const mrpt::poses::CPose3D* robotPose = nullptr) override;
92 
93  /** See CPointsMap::loadFromRangeScan() */
94  void loadFromRangeScan(
95  const mrpt::obs::CObservation3DRangeScan& rangeScan,
96  const mrpt::poses::CPose3D* robotPose = nullptr) override;
97 
98  protected:
99  void impl_copyFrom(const CPointsMap& obj) override;
101  const CPointsMap& anotherMap, const size_t nPreviousPoints) override;
102 
103  // Friend methods:
104  template <class Derived>
106  template <class Derived>
107  friend struct detail::pointmap_traits;
108 
109  public:
110  /** @} */
111  // --------------------------------------------
112 
113  /// Sets the point weight, which is ignored in all classes but those which
114  /// actually store that field (Note: No checks are done for out-of-bounds
115  /// index). \sa getPointWeight
116  void setPointWeight(size_t index, unsigned long w) override
117  {
118  pointWeight[index] = w;
119  }
120  /// Gets the point weight, which is ignored in all classes (defaults to 1)
121  /// but in those which actually store that field (Note: No checks are done
122  /// for out-of-bounds index). \sa setPointWeight
123  unsigned int getPointWeight(size_t index) const override
124  {
125  return pointWeight[index];
126  }
127 
128  protected:
129  /** The points weights */
131 
132  /** Clear the map, erasing all the points.
133  */
134  void internal_clear() override;
135 
136  protected:
137  /** @name PLY Import virtual methods to implement in base classes
138  @{ */
139  /** In a base class, reserve memory to prepare subsequent calls to
140  * PLY_import_set_vertex */
141  void PLY_import_set_vertex_count(const size_t N) override;
142  /** @} */
143 
145  /** Observations insertion options */
146  mrpt::maps::CPointsMap::TInsertionOptions insertionOpts;
147  /** Probabilistic observation likelihood options */
148  mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts;
150 }; // End of class def.
151 } // namespace maps
152 
153 namespace opengl
154 {
155 /** Specialization
156  * mrpt::opengl::PointCloudAdapter<mrpt::maps::CWeightedPointsMap> \ingroup
157  * mrpt_adapters_grp*/
158 template <>
160 {
161  private:
163 
164  public:
165  /** The type of each point XYZ coordinates */
166  using coords_t = float;
167  /** Has any color RGB info? */
168  static constexpr bool HAS_RGB = false;
169  /** Has native RGB info (as floats)? */
170  static constexpr bool HAS_RGBf = false;
171  /** Has native RGB info (as uint8_t)? */
172  static constexpr bool HAS_RGBu8 = false;
173 
174  /** Constructor (accept a const ref for convenience) */
176  : m_obj(*const_cast<mrpt::maps::CWeightedPointsMap*>(&obj))
177  {
178  }
179  /** Get number of points */
180  inline size_t size() const { return m_obj.size(); }
181  /** Set number of points (to uninitialized values) */
182  inline void resize(const size_t N) { m_obj.resize(N); }
183  /** Does nothing as of now */
184  inline void setDimensions(const size_t& height, const size_t& width) {}
185  /** Get XYZ coordinates of i'th point */
186  template <typename T>
187  inline void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
188  {
189  m_obj.getPointFast(idx, x, y, z);
190  }
191  /** Set XYZ coordinates of i'th point */
192  inline void setPointXYZ(
193  const size_t idx, const coords_t x, const coords_t y, const coords_t z)
194  {
195  m_obj.setPointFast(idx, x, y, z);
196  }
197 }; // end of PointCloudAdapter<mrpt::maps::CPointsMap>
198 } // namespace opengl
199 } // namespace mrpt
void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
See CPointsMap::loadFromRangeScan()
void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) override
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
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...
Definition: CPointsMap.h:462
GLdouble GLdouble z
Definition: glext.h:3879
void setPointWeight(size_t index, unsigned long w) override
Sets the point weight, which is ignored in all classes but those which actually store that field (Not...
CPointsMap & operator=(const CPointsMap &o)
Definition: CPointsMap.h:120
CWeightedPointsMap(const CPointsMap &o)
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i&#39;th point.
void reserve(size_t newLength) override
Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
void PLY_import_set_vertex_count(const size_t N) override
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
void impl_copyFrom(const CPointsMap &obj) override
Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source ...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
CWeightedPointsMap operator=(const CPointsMap &o)
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i&#39;th point.
std::vector< T, mrpt::aligned_allocator_cpp11< T > > aligned_std_vector
GLsizei GLsizei GLuint * obj
Definition: glext.h:4085
GLenum GLsizei width
Definition: glext.h:3535
GLubyte GLubyte GLubyte GLubyte w
Definition: glext.h:4199
void insertPointFast(float x, float y, float z=0) override
The virtual method for insertPoint() without calling mark_as_modified()
PointCloudAdapter(const mrpt::maps::CWeightedPointsMap &obj)
Constructor (accept a const ref for convenience)
With this struct options are provided to the observation insertion process.
Definition: CPointsMap.h:219
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
Definition: CPointsMap.h:65
An adapter to different kinds of point cloud object.
unsigned int getPointWeight(size_t index) const override
Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually st...
GLuint index
Definition: glext.h:4068
void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) override
Set all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike setPointAllFields(), this method does not check for index out of bounds.
CWeightedPointsMap()
Default constructor.
void setPointFast(size_t index, float x, float y, float z)
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
Definition: CPointsMap.h:159
void resize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
void getPointAllFieldsFast(const size_t index, std::vector< float > &point_data) const override
Get all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike getPointAllFields(), this method does not check for index out of bounds.
void resize(const size_t N)
Set number of points (to uninitialized values)
void setDimensions(const size_t &height, const size_t &width)
Does nothing as of now.
mrpt::aligned_std_vector< float > m_z
Definition: CPointsMap.h:1104
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
mrpt::aligned_std_vector< float > m_y
Definition: CPointsMap.h:1104
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Options used when evaluating "computeObservationLikelihood" in the derived classes.
Definition: CPointsMap.h:277
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
Definition: exceptions.h:190
mrpt::aligned_std_vector< uint32_t > pointWeight
The points weights.
GLenum GLint GLint y
Definition: glext.h:3542
GLenum GLint x
Definition: glext.h:3542
void internal_clear() override
Clear the map, erasing all the points.
GLenum GLsizei GLsizei height
Definition: glext.h:3558
float coords_t
The type of each point XYZ coordinates.
mrpt::aligned_std_vector< float > m_x
The point coordinates.
Definition: CPointsMap.h:1104
#define MAP_DEFINITION_END(_CLASS_NAME_)
size_t size() const
Returns the number of stored points in the map.
Definition: CPointsMap.h:422
void setSize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...



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