MRPT  1.9.9
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mrpt::maps::CPointsMapXYZI Class Reference

Detailed Description

A map of 3D points with reflectance/intensity (float).

See also
mrpt::maps::CPointsMap, mrpt::maps::CMetricMap

Definition at line 26 of file CPointsMapXYZI.h.

#include <mrpt/maps/CPointsMapXYZI.h>

Inheritance diagram for mrpt::maps::CPointsMapXYZI:

Classes

struct  TMapDefinition
 
struct  TMapDefinitionBase
 

Public Types

using self_t = KDTreeCapable< CPointsMap, float, nanoflann::L2_Simple_Adaptor< float, CPointsMap > >
 

Public Member Functions

 CPointsMapXYZI ()=default
 
 CPointsMapXYZI (const CPointsMap &o)
 
 CPointsMapXYZI (const CPointsMapXYZI &o)
 
CPointsMapXYZIoperator= (const CPointsMap &o)
 
CPointsMapXYZIoperator= (const CPointsMapXYZI &o)
 
bool saveXYZI_to_text_file (const std::string &file) const
 Save to a text file. More...
 
bool loadXYZI_from_text_file (const std::string &file)
 Loads from a text file, each line having "X Y Z I", I in [0,1]. More...
 
void setPointRGB (size_t index, float x, float y, float z, float R_intensity, float G_ignored, float B_ignored) override
 Changes a given point from map. More...
 
void insertPointRGB (float x, float y, float z, float R_intensity, float G_ignored, float B_ignored) override
 Adds a new point given its coordinates and color (colors range is [0,1]) More...
 
void setPointIntensity (size_t index, float intensity)
 Changes the intensity of a given point from the map. More...
 
void setPointColor_fast (size_t index, float R, float G, float B)
 Like setPointColor but without checking for out-of-index erors. More...
 
void getPointRGB (size_t index, float &x, float &y, float &z, float &R_intensity, float &G_intensity, float &B_intensity) const override
 Retrieves a point and its color (colors range is [0,1]) More...
 
float getPointIntensity (size_t index) const
 Retrieves a point intensity (range [0,1]) More...
 
float getPointIntensity_fast (size_t index) const
 Like getPointColor but without checking for out-of-index erors. More...
 
bool hasColorPoints () const override
 Returns true if the point map has a color field for each point. More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
 Override of the default 3D scene builder to account for the individual points' color. More...
 
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
 Save the point cloud as a PCL PCD file, in either ASCII or binary format. More...
 
void getPoint (size_t index, float &x, float &y, float &z) const
 Access to a given point from map, as a 2D point. More...
 
void getPoint (size_t index, float &x, float &y) const
 
void getPoint (size_t index, double &x, double &y, double &z) const
 
void getPoint (size_t index, double &x, double &y) const
 
void getPoint (size_t index, mrpt::math::TPoint2D &p) const
 
void getPoint (size_t index, mrpt::math::TPoint3D &p) const
 
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...
 
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 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 mrpt::aligned_std_vector< float > & getPointsBufferRef_x () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
const mrpt::aligned_std_vector< float > & getPointsBufferRef_y () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
const mrpt::aligned_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)
 
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...
 
void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
 Computes the matching between this and another 2D point map, which includes finding: More...
 
void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::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::tfest::TMatchingPairList &correspondences, float &correspondencesRatio)
 Computes the matchings between this and another 3D points map. 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 $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
void changeCoordinatesReference (const mrpt::poses::CPose3D &b)
 Replace each point $ p_i $ 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 $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
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...
 
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...
 
double internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
 Internal method called by computeObservationLikelihood() More...
 
double internal_computeObservationLikelihoodPointCloud3D (const mrpt::poses::CPose3D &pc_in_map, const float *xs, const float *ys, const float *zs, const std::size_t num_pts)
 
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=nullptr)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
 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...
 
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 const mrpt::maps::CSimplePointsMapgetAsSimplePointsMap () const
 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...
 
mrpt::maps::CSimplePointsMapgetAsSimplePointsMap ()
 
virtual mxArraywriteToMatlab () 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...
 
const CPointsMapderived () const
 CRTP helper method. More...
 
CPointsMapderived ()
 CRTP helper method. More...
 
bool loadFromPlyFile (const std::string &filename, std::vector< std::string > *file_comments=nullptr, std::vector< std::string > *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 std::vector< std::string > &file_comments=std::vector< std::string >(), const std::vector< std::string > &file_obj_info=std::vector< std::string >()) 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...
 
PCL library support
template<class POINTCLOUD >
void setFromPCLPointCloudXYZI (const POINTCLOUD &cloud)
 Save the point cloud as a PCL PCD file, in either ASCII or binary format. More...
 
template<class POINTCLOUD >
void getPCLPointCloudXYZI (POINTCLOUD &cloud) const
 Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZI> More...
 
Pure virtual interfaces to be implemented by any class derived
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 without calling mark_as_modified(). 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...
 
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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. 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
 
void kdTreeEnsureIndexBuilt3D ()
 
void kdTreeEnsureIndexBuilt2D ()
 

Public Attributes

TInsertionOptions insertionOptions
 The options used when inserting observations in the map. More...
 
TLikelihoodOptions likelihoodOptions
 
TRenderOptions renderOptions
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 
TKDTreeSearchParams kdtree_search_params
 Parameters to tune the ANN searches. More...
 

Protected Member Functions

void internal_clear () override
 Clear the map, erasing all the points. More...
 
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...
 
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...
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
Redefinition of PLY Import virtual methods from CPointsMap
void PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::img::TColorf *pt_color=nullptr) override
 In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...
 
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. More...
 
Redefinition of PLY Export virtual methods from CPointsMap
void PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::img::TColorf &pt_color) const override
 In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...
 
PLY Import virtual methods to implement in base classes
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...
 
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...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

mrpt::aligned_std_vector< float > m_intensity
 The intensity/reflectance data. More...
 
mrpt::aligned_std_vector< float > m_x
 The point coordinates. More...
 
mrpt::aligned_std_vector< float > m_y
 
mrpt::aligned_std_vector< float > m_z
 
mrpt::obs::CSinCosLookUpTableFor2DScans m_scans_sincos_cache
 Cache of sin/cos values for the latest 2D scan geometries. More...
 
float m_largestDistanceFromOrigin {0}
 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 {-10}
 The minimum and maximum height for a certain laser scan to be inserted into this map. More...
 
double m_heightfilter_z_max {10}
 
bool m_heightfilter_enabled {false}
 Whether or not (default=not) filter the input points by height. More...
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::maps ::CPointsMapXYZI >
 
using ConstPtr = std::shared_ptr< const mrpt::maps ::CPointsMapXYZI >
 
using UniquePtr = std::unique_ptr< mrpt::maps ::CPointsMapXYZI >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CPointsMapXYZI >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::maps" "::" "CPointsMapXYZI"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Pure virtual interfaces to be implemented by any class derived

from CPointsMap

template<class Derived >
struct detail::loadFromRangeImpl
 
template<class Derived >
struct detail::pointmap_traits
 
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. More...
 
void resize (size_t newLength) override
 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...
 
void setSize (size_t newLength) override
 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...
 
void insertPointFast (float x, float y, float z=0) override
 The virtual method for insertPoint() without calling mark_as_modified() More...
 
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 I] Unlike getPointAllFields(), this method does not check for index out of bounds. More...
 
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 I] Unlike setPointAllFields(), this method does not check for index out of bounds. More...
 
bool loadFromKittiVelodyneFile (const std::string &filename)
 Loads from a Kitti dataset Velodyne scan binary file. More...
 
bool saveToKittiVelodyneFile (const std::string &filename) const
 
void loadFromRangeScan (const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
 See CPointsMap::loadFromRangeScan() More...
 
void loadFromRangeScan (const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
 See CPointsMap::loadFromRangeScan() More...
 
void impl_copyFrom (const CPointsMap &obj) override
 Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one. More...
 
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 data. More...
 

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{

static const size_t m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CPointsMapXYZI" , & mrpt::maps::CPointsMapXYZI ::MapDefinition, & mrpt::maps::CPointsMapXYZI ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static CPointsMapXYZICreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 28 of file CPointsMapXYZI.h.

◆ ConstUniquePtr

using mrpt::maps::CPointsMapXYZI::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CPointsMapXYZI >

Definition at line 28 of file CPointsMapXYZI.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 28 of file CPointsMapXYZI.h.

◆ self_t

Definition at line 87 of file KDTreeCapable.h.

◆ UniquePtr

using mrpt::maps::CPointsMapXYZI::UniquePtr = std::unique_ptr< mrpt::maps :: CPointsMapXYZI >

Definition at line 28 of file CPointsMapXYZI.h.

Constructor & Destructor Documentation

◆ CPointsMapXYZI() [1/3]

mrpt::maps::CPointsMapXYZI::CPointsMapXYZI ( )
default

◆ CPointsMapXYZI() [2/3]

mrpt::maps::CPointsMapXYZI::CPointsMapXYZI ( const CPointsMap o)
inline

Definition at line 33 of file CPointsMapXYZI.h.

References mrpt::maps::CPointsMap::operator=().

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◆ CPointsMapXYZI() [3/3]

mrpt::maps::CPointsMapXYZI::CPointsMapXYZI ( const CPointsMapXYZI o)
inline

Definition at line 34 of file CPointsMapXYZI.h.

References impl_copyFrom().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CPointsMapXYZI::_GetBaseClass ( )
staticprotected

◆ addFrom()

void CPointsMap::addFrom ( const CPointsMap anotherMap)
virtualinherited

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

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

...
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 1642 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::addFrom_classSpecific(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::resize(), and mrpt::maps::CPointsMap::size().

Referenced by mrpt::maps::CPointsMap::operator+=().

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◆ addFrom_classSpecific()

void CPointsMapXYZI::addFrom_classSpecific ( const CPointsMap anotherMap,
const size_t  nPreviousPoints 
)
overrideprotectedvirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 289 of file CPointsMapXYZI.cpp.

References m_intensity, and mrpt::maps::CPointsMap::size().

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◆ applyDeletionMask()

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

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

Exceptions
std::exceptionIf mask size is not equal to points count.

Definition at line 1667 of file CPointsMap.cpp.

References ASSERT_EQUAL_, mrpt::maps::CPointsMap::getPointAllFieldsFast(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::resize(), mrpt::maps::CPointsMap::setPointAllFieldsFast(), and mrpt::maps::CPointsMap::size().

Referenced by mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap(), mrpt::maps::CPointCloudFilterByDistance::filter(), and mrpt::maps::CPointsMap::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 283 of file CMetricMap.h.

◆ base_copyFrom()

void CPointsMap::base_copyFrom ( const CPointsMap obj)
protectedinherited

Helper method for ::copyFrom()

Definition at line 1724 of file CPointsMap.cpp.

References mrpt::math::KDTreeCapable< CPointsMap >::kdtree_mark_as_outdated(), mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::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
inherited

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 916 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::m_bb_max_x, mrpt::maps::CPointsMap::m_bb_max_y, mrpt::maps::CPointsMap::m_bb_max_z, mrpt::maps::CPointsMap::m_bb_min_x, mrpt::maps::CPointsMap::m_bb_min_y, mrpt::maps::CPointsMap::m_bb_min_z, mrpt::maps::CPointsMap::m_boundingBoxIsUpdated, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CPointsMap::boundingBox(), mrpt::maps::CPointsMap::compute3DDistanceToMesh(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::maps::CPointsMap::getAs3DObject(), and mrpt::maps::CPointsMap::kdtree_get_bbox().

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◆ boundingBox() [2/2]

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

Definition at line 925 of file CPointsMap.h.

References mrpt::maps::CPointsMap::boundingBox(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ canComputeObservationLikelihood()

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
obsThe observation.
See also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 172 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
sfThe observations.
See also
canComputeObservationLikelihood

Definition at line 85 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)
inherited

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

Definition at line 547 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint().

Referenced by 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)
inherited

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

Definition at line 565 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint().

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◆ changeCoordinatesReference() [3/3]

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

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 581 of file CPointsMap.cpp.

◆ clear()

void CMetricMap::clear ( )
inherited

◆ clipOutOfRange()

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

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

Definition at line 257 of file CPointsMap.cpp.

References mrpt::square().

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◆ clipOutOfRangeInZ()

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

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

Definition at line 239 of file CPointsMap.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CPointsMapXYZI::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DDistanceToMesh()

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

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 1256 of file CPointsMap.cpp.

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

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◆ compute3DMatchingRatio()

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

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 797 of file CPointsMap.cpp.

References mrpt::maps::TMatchingExtraResults::correspondencesRatio, mrpt::maps::CPointsMap::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
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 181 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 76 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
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe set of observations in a CSensoryFrame.
Returns
This method returns a log-likelihood.
See also
canComputeObservationsLikelihood

Definition at line 66 of file CMetricMap.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

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◆ Create()

template<typename... Args>
static Ptr mrpt::maps::CPointsMapXYZI::Create ( Args &&...  args)
inlinestatic

Definition at line 28 of file CPointsMapXYZI.h.

Referenced by mrpt::obs::CObservationPointCloud::load(), and TEST().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::maps::CPointsMapXYZI::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 28 of file CPointsMapXYZI.h.

◆ CreateFromMapDefinition()

mrpt::maps::CPointsMapXYZI * mrpt::maps::CPointsMapXYZI::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

Definition at line 38 of file CPointsMapXYZI.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CPointsMapXYZI::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::maps::CPointsMapXYZI::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 28 of file CPointsMapXYZI.h.

◆ 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 100 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 105 of file KDTreeCapable.h.

◆ determineMatching2D()

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

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 277 of file CPointsMap.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_BELOW_, ASSERTMSG_, mrpt::tfest::TMatchingPairList::filterUniqueRobustPairs(), IS_DERIVED, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::math::internal::ProvideStaticResize< Derived >::size(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::maps::CPointsMap::fuseWith().

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◆ determineMatching3D()

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

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 1040 of file CPointsMap.cpp.

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

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ empty()

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

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

Definition at line 894 of file CPointsMap.h.

References mrpt::maps::CPointsMap::isEmpty().

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

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◆ enableFilterByHeight()

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

Enable/disable the filter-by-height functionality.

See also
setHeightFilterLevels
Note
Default upon construction is disabled.

Definition at line 958 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_enabled.

◆ extractCylinder()

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

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

Definition at line 1215 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, mrpt::square(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::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 
)
inherited

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 1232 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), G, mrpt::maps::CPointsMap::insertPointRGB(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, R, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ fuseWith()

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

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
otherMapThe other map whose points are to be inserted into this one.
minDistForFuseMinimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
notFusedPointsIf 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 2033 of file CPointsMap.cpp.

References ASSERT_, mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::CPointsMap::getPoint(), mrpt::maps::CPointsMap::getPointWeight(), mrpt::maps::CPointsMap::insertPointFast(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::reserve(), mrpt::maps::CPointsMap::setPointWeight(), mrpt::maps::CPointsMap::size(), mrpt::square(), and mrpt::math::TPoint3D_data::x.

Referenced by mrpt::maps::CPointsMap::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
inlineinherited

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
VECTORcan 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 576 of file CPointsMap.h.

References ASSERT_, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CPointsMap::getAllPoints().

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◆ getAllPoints() [2/4]

template<class CONTAINER >
void mrpt::maps::CPointsMap::getAllPoints ( CONTAINER &  ps,
size_t  decimation = 1 
) const
inlineinherited

Gets all points as a STL-like container.

Template Parameters
CONTAINERAny 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 604 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getAllPoints().

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◆ getAllPoints() [3/4]

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

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 841 of file CPointsMap.cpp.

References ASSERT_, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, MRPT_END, and MRPT_START.

◆ getAllPoints() [4/4]

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

Definition at line 627 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getAllPoints().

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◆ getAs3DObject()

void CPointsMapXYZI::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr outObj) const
overridevirtual

Override of the default 3D scene builder to account for the individual points' color.

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 208 of file CPointsMapXYZI.cpp.

References ASSERT_, and mrpt::opengl::CPointCloudColoured::Create().

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◆ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const
inlinevirtualinherited

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 nullptr

Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 296 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::maps::CMetricMap::getAsSimplePointsMap().

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◆ getAsSimplePointsMap() [2/2]

mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )
inlineinherited

Definition at line 300 of file CMetricMap.h.

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

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◆ getClassName()

static constexpr auto mrpt::maps::CPointsMapXYZI::getClassName ( )
inlinestatic

Definition at line 28 of file CPointsMapXYZI.h.

◆ getHeightFilterLevels()

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

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

See also
enableFilterByHeight, setHeightFilterLevels

Definition at line 977 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_z_max, and mrpt::maps::CPointsMap::m_heightfilter_z_min.

◆ getLargestDistanceFromOrigin()

float CPointsMap::getLargestDistanceFromOrigin ( ) const
inherited

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 818 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and mrpt::square().

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◆ getLargestDistanceFromOriginNoRecompute()

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

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 910 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, and mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated.

◆ getLoadPLYErrorString()

std::string mrpt::opengl::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 44 of file PLY_import_export.h.

References mrpt::opengl::PLY_Importer::m_ply_import_last_error.

◆ getPCLPointCloud()

template<class POINTCLOUD >
void mrpt::maps::CPointsMap::getPCLPointCloud ( POINTCLOUD &  cloud) const
inlineinherited

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 1010 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and mrpt::maps::CPointsMap::size().

Referenced by getPCLPointCloudXYZI(), and mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB().

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◆ getPCLPointCloudXYZI()

template<class POINTCLOUD >
void mrpt::maps::CPointsMapXYZI::getPCLPointCloudXYZI ( POINTCLOUD &  cloud) const
inline

Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZI>

Definition at line 234 of file CPointsMapXYZI.h.

References mrpt::maps::CPointsMap::getPCLPointCloud(), m_intensity, and mrpt::maps::CPointsMap::size().

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◆ getPoint() [1/6]

void CPointsMap::getPoint ( size_t  index,
float &  x,
float &  y,
float &  z 
) const
inherited

◆ getPoint() [2/6]

void CPointsMap::getPoint ( size_t  index,
float &  x,
float &  y 
) 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 188 of file CPointsMap.cpp.

References ASSERT_BELOW_.

◆ getPoint() [3/6]

void CPointsMap::getPoint ( size_t  index,
double &  x,
double &  y,
double &  z 
) 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 207 of file CPointsMap.cpp.

References ASSERT_BELOW_.

◆ getPoint() [4/6]

void CPointsMap::getPoint ( size_t  index,
double &  x,
double &  y 
) 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 201 of file CPointsMap.cpp.

References ASSERT_BELOW_.

◆ getPoint() [5/6]

void mrpt::maps::CPointsMap::getPoint ( size_t  index,
mrpt::math::TPoint2D p 
) 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 454 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getPoint().

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◆ getPoint() [6/6]

void mrpt::maps::CPointsMap::getPoint ( size_t  index,
mrpt::math::TPoint3D p 
) 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 459 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getPoint().

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◆ getPointAllFields()

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

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 712 of file CPointsMap.h.

References ASSERT_BELOW_, mrpt::maps::CPointsMap::getPointAllFieldsFast(), and mrpt::maps::CPointsMap::size().

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◆ getPointAllFieldsFast()

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

Get all the data fields for one point as a vector: [X Y Z I] Unlike getPointAllFields(), this method does not check for index out of bounds.

See also
getPointAllFields, setPointAllFields, setPointAllFieldsFast

Implements mrpt::maps::CPointsMap.

Definition at line 63 of file CPointsMapXYZI.h.

References m_intensity, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

◆ getPointFast()

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

◆ getPointIntensity()

float CPointsMapXYZI::getPointIntensity ( size_t  index) const

Retrieves a point intensity (range [0,1])

Definition at line 236 of file CPointsMapXYZI.cpp.

References THROW_EXCEPTION.

◆ getPointIntensity_fast()

float mrpt::maps::CPointsMapXYZI::getPointIntensity_fast ( size_t  index) const
inline

Like getPointColor but without checking for out-of-index erors.

Definition at line 165 of file CPointsMapXYZI.h.

References m_intensity.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::getPointRGBf(), and mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::getPointRGBu8().

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◆ getPointRGB()

void CPointsMapXYZI::getPointRGB ( size_t  index,
float &  x,
float &  y,
float &  z,
float &  R_intensity,
float &  G_intensity,
float &  B_intensity 
) const
overridevirtual

Retrieves a point and its color (colors range is [0,1])

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 224 of file CPointsMapXYZI.cpp.

References G, R, and THROW_EXCEPTION.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::getPointXYZ_RGBf().

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◆ getPointsBuffer()

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

◆ getPointsBufferRef_x()

const mrpt::aligned_std_vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_x ( ) const
inlineinherited

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

See also
getAllPoints

Definition at line 550 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud().

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◆ getPointsBufferRef_y()

const mrpt::aligned_std_vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_y ( ) const
inlineinherited

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

See also
getAllPoints

Definition at line 556 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_y.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud().

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◆ getPointsBufferRef_z()

const mrpt::aligned_std_vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_z ( ) const
inlineinherited

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

See also
getAllPoints

Definition at line 562 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_z.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud(), and TEST().

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◆ getPointWeight()

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

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 535 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::maps::CPointsMap::fuseWith().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CPointsMapXYZI::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CPointsMap.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CPointsMapXYZI::GetRuntimeClassIdStatic ( )
static

◆ getSavePLYErrorString()

std::string mrpt::opengl::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::opengl::PLY_Exporter::m_ply_export_last_error.

◆ hasColorPoints()

bool mrpt::maps::CPointsMapXYZI::hasColorPoints ( ) const
inlineoverridevirtual

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

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 171 of file CPointsMapXYZI.h.

◆ hasSubscribers()

bool mrpt::system::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 53 of file CObservable.h.

References mrpt::system::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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◆ impl_copyFrom()

void CPointsMapXYZI::impl_copyFrom ( const CPointsMap obj)
overrideprotectedvirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 104 of file CPointsMapXYZI.cpp.

References m_intensity.

Referenced by CPointsMapXYZI(), and operator=().

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◆ insertAnotherMap()

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

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

Parameters
otherMapThe other map whose points are to be inserted into this one.
otherPoseThe pose of the other map in the coordinates of THIS map
See also
fuseWith, addFrom

Definition at line 1693 of file CPointsMap.cpp.

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

Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape().

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◆ insertObservation()

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
inherited

Insert the observation information into this map.

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

Parameters
obsThe observation
robotPoseThe 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 93 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 = nullptr 
)
inherited

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

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

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◆ insertPoint() [1/2]

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

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 644 of file CPointsMap.h.

References mrpt::maps::CPointsMap::insertPointFast(), and mrpt::maps::CPointsMap::mark_as_modified().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::CPointsMap::insertPointRGB(), run_pc_filter_test(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), and setFromPCLPointCloudXYZI().

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◆ insertPoint() [2/2]

void mrpt::maps::CPointsMap::insertPoint ( const mrpt::math::TPoint3D p)
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 650 of file CPointsMap.h.

References mrpt::maps::CPointsMap::insertPoint().

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◆ insertPointFast()

void CPointsMapXYZI::insertPointFast ( float  x,
float  y,
float  z = 0 
)
overridevirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 188 of file CPointsMapXYZI.cpp.

◆ insertPointRGB()

void CPointsMapXYZI::insertPointRGB ( float  x,
float  y,
float  z,
float  R_intensity,
float  G_ignored,
float  B_ignored 
)
overridevirtual

Adds a new point given its coordinates and color (colors range is [0,1])

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 197 of file CPointsMapXYZI.cpp.

◆ internal_clear()

void CPointsMapXYZI::internal_clear ( )
overrideprotectedvirtual

Clear the map, erasing all the points.

Implements mrpt::maps::CMetricMap.

Definition at line 161 of file CPointsMapXYZI.cpp.

References mrpt::vector_strong_clear().

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◆ internal_computeObservationLikelihood()

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

◆ internal_computeObservationLikelihoodPointCloud3D()

double CPointsMap::internal_computeObservationLikelihoodPointCloud3D ( const mrpt::poses::CPose3D pc_in_map,
const float *  xs,
const float *  ys,
const float *  zs,
const std::size_t  num_pts 
)
inherited

Definition at line 1419 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::TLikelihoodOptions::decimation, mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint3D(), mrpt::keep_min(), mrpt::maps::CPointsMap::likelihoodOptions, mrpt::maps::CPointsMap::TLikelihoodOptions::max_corr_distance, MRPT_TRY_END, MRPT_TRY_START, mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist, and mrpt::square().

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().

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◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CPointsMapXYZI::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

◆ internal_insertObservation()

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

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 1751 of file CPointsMap.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap, mrpt::maps::CPointsMap::applyDeletionMask(), ASSERT_, mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::TInsertionOptions::disableDeletion, mrpt::maps::CPointsMap::fuseWith(), mrpt::maps::CPointsMap::TInsertionOptions::fuseWithExisting, mrpt::obs::CObservationVelodyneScan::generatePointCloud(), mrpt::maps::CPointsMap::getPoint(), mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::maps::CPointsMap::TInsertionOptions::horizontalTolerance, mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CPointsMap::insertionOptions, mrpt::maps::CPointsMap::insertPointFast(), IS_CLASS, mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap, mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::maps::CSimplePointsMap::loadFromRangeScan(), mrpt::maps::CPointsMap::loadFromRangeScan(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, MRPT_END, MRPT_START, mrpt::math::CPolygon::PointIntoPolygon(), mrpt::maps::CPointsMap::reserve(), mrpt::round(), mrpt::obs::CObservationRange::sensorConeApperture, mrpt::math::CPolygon::setAllVertices(), mrpt::maps::CPointsMap::size(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ isEmpty()

bool CPointsMap::isEmpty ( ) const
overridevirtualinherited

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

Implements mrpt::maps::CMetricMap.

Definition at line 591 of file CPointsMap.cpp.

Referenced by mrpt::maps::CPointsMap::empty().

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◆ isFilterByHeightEnabled()

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

Return whether filter-by-height is enabled.

See also
enableFilterByHeight

Definition at line 963 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_enabled.

◆ kdtree_distance()

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

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 1072 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

◆ kdtree_get_bbox()

template<typename BBOX >
bool mrpt::maps::CPointsMap::kdtree_get_bbox ( BBOX &  bb) const
inlineinherited

Definition at line 1097 of file CPointsMap.h.

References mrpt::maps::CPointsMap::boundingBox().

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◆ kdtree_get_point_count()

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

Must return the number of data points.

Definition at line 1056 of file CPointsMap.h.

References mrpt::maps::CPointsMap::size().

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◆ kdtree_get_pt()

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

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

Definition at line 1058 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

◆ 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 721 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::base_copyFrom(), and mrpt::maps::CPointsMap::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
x0The X coordinate of the query.
y0The Y coordinate of the query.
out_xThe X coordinate of the found closest correspondence.
out_yThe Y coordinate of the found closest correspondence.
out_dist_sqrThe 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 136 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::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 163 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 185 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 200 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::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 207 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
out_xThe X coordinate of the found closest correspondence.
out_yThe Y coordinate of the found closest correspondence.
out_zThe Z coordinate of the found closest correspondence.
out_dist_sqrThe 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 409 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::determineMatching3D(), and mrpt::maps::CPointsMap::internal_computeObservationLikelihoodPointCloud3D().

◆ 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 437 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 459 of file KDTreeCapable.h.

◆ kdTreeEnsureIndexBuilt2D()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeEnsureIndexBuilt2D ( )
inlineinherited

Definition at line 715 of file KDTreeCapable.h.

◆ kdTreeEnsureIndexBuilt3D()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeEnsureIndexBuilt3D ( )
inlineinherited

Definition at line 714 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
NThe number of closest points to search.
out_xThe vector containing the X coordinates of the correspondences.
out_yThe vector containing the Y coordinates of the correspondences.
out_dist_sqrThe vector containing the square distance between the query and the returned points.
Returns
The list of indices
See also
kdTreeClosestPoint2D
kdTreeTwoClosestPoint2D

Definition at line 298 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 328 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
NThe number of closest points to search.
out_idxThe indexes of the found closest correspondence.
out_dist_sqrThe square distance between the query and the returned point.
See also
kdTreeClosestPoint2D

Definition at line 361 of file KDTreeCapable.h.

◆ 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 381 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
NThe number of closest points to search.
out_xThe vector containing the X coordinates of the correspondences.
out_yThe vector containing the Y coordinates of the correspondences.
out_zThe vector containing the Z coordinates of the correspondences.
out_dist_sqrThe vector containing the square distance between the query and the returned points.
See also
kdTreeNClosestPoint2D

Definition at line 494 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 581 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
NThe number of closest points to search.
out_idxThe indexes of the found closest correspondence.
out_dist_sqrThe square distance between the query and the returned point.
See also
kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 685 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 705 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
NThe number of closest points to search.
out_xThe vector containing the X coordinates of the correspondences.
out_yThe vector containing the Y coordinates of the correspondences.
out_zThe vector containing the Z coordinates of the correspondences.
out_idxThe vector containing the indexes of the correspondences.
out_dist_sqrThe vector containing the square distance between the query and the returned points.
See also
kdTreeNClosestPoint2D

Definition at line 549 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::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
x0The X coordinate of the query.
y0The Y coordinate of the query.
maxRadiusSqrThe square of the desired search radius.
out_indices_distThe output list, with pairs of indeces/squared distances for the found correspondences.
Returns
Number of found points.
See also
kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 650 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
maxRadiusSqrThe square of the desired search radius.
out_indices_distThe output list, with pairs of indeces/squared distances for the found correspondences.
Returns
Number of found points.
See also
kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 615 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
x0The X coordinate of the query.
y0The Y coordinate of the query.
out_x1The X coordinate of the first correspondence.
out_y1The Y coordinate of the first correspondence.
out_x2The X coordinate of the second correspondence.
out_y2The Y coordinate of the second correspondence.
out_dist_sqr1The square distance between the query and the first returned point.
out_dist_sqr2The square distance between the query and the second returned point.
See also
kdTreeClosestPoint2D

Definition at line 233 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::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 264 of file KDTreeCapable.h.

◆ load2D_from_text_file()

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

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 371 of file CPointsMap.h.

References mrpt::maps::CPointsMap::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 
)
inherited

2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file

Definition at line 102 of file CPointsMap.cpp.

References mrpt::containers::clear(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CPointsMap::load2D_from_text_file(), and mrpt::maps::CPointsMap::load3D_from_text_file().

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◆ load3D_from_text_file()

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

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 380 of file CPointsMap.h.

References mrpt::maps::CPointsMap::load2Dor3D_from_text_file().

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◆ loadFromKittiVelodyneFile()

bool CPointsMapXYZI::loadFromKittiVelodyneFile ( const std::string filename)

Loads from a Kitti dataset Velodyne scan binary file.

The file can be gz compressed (only enabled if the filename ends in ".gz" to prevent spurious false autodetection of gzip files).

Returns
true on success

Definition at line 431 of file CPointsMapXYZI.cpp.

References mrpt::containers::clear(), mrpt::system::extractFileExtension(), mrpt::io::CFileInputStream::open(), mrpt::io::CFileGZInputStream::open(), mrpt::io::CStream::Read(), and THROW_EXCEPTION_FMT.

Referenced by TEST().

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◆ loadFromPlyFile()

bool PLY_Importer::loadFromPlyFile ( const std::string filename,
std::vector< std::string > *  file_comments = nullptr,
std::vector< std::string > *  file_obj_info = nullptr 
)
inherited

Loads from a PLY file.

Parameters
[in]filenameThe filename to open. It can be either in binary or text format.
[out]file_commentsIf provided (!=nullptr) the list of comment strings stored in the file will be returned.
[out]file_obj_infoIf 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 1844 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::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

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

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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◆ loadFromRangeScan() [1/2]

void CPointsMapXYZI::loadFromRangeScan ( const mrpt::obs::CObservation2DRangeScan rangeScan,
const mrpt::poses::CPose3D robotPose = nullptr 
)
overridevirtual

◆ loadFromRangeScan() [2/2]

void CPointsMapXYZI::loadFromRangeScan ( const mrpt::obs::CObservation3DRangeScan rangeScan,
const mrpt::poses::CPose3D robotPose = nullptr 
)
overridevirtual

◆ 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 107 of file CMetricMap.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ loadFromVelodyneScan()

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

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
scanThe 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.
robotPoseDefault 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 2123 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap, ASSERT_EQUAL_, mrpt::poses::CPose3D::getHomogeneousMatrix(), mrpt::maps::CPointsMap::insertionOptions, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::obs::CObservationVelodyneScan::point_cloud, mrpt::maps::CPointsMap::resize(), mrpt::obs::CObservationVelodyneScan::sensorPose, mrpt::maps::CPointsMap::setPointRGB(), mrpt::obs::CObservationVelodyneScan::TPointCloud::size(), mrpt::maps::CPointsMap::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 mrpt::maps::CPointsMap::internal_insertObservation().

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◆ loadXYZI_from_text_file()

bool CPointsMapXYZI::loadXYZI_from_text_file ( const std::string file)

Loads from a text file, each line having "X Y Z I", I in [0,1].

Returns false if any error occured, true elsewere.

Definition at line 252 of file CPointsMapXYZI.cpp.

References mrpt::containers::clear(), MRPT_END, and MRPT_START.

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◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CPointsMapXYZI::MapDefinition ( )
static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 38 of file CPointsMapXYZI.cpp.

◆ mark_as_modified()

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

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 1114 of file CPointsMap.h.

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

Referenced by mrpt::maps::CPointsMap::addFrom(), mrpt::maps::CPointsMap::applyDeletionMask(), mrpt::maps::CPointsMap::fuseWith(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), mrpt::maps::CPointsMap::setAllPointsTemplate(), and mrpt::maps::CPointsMap::setPoint().

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◆ operator+=()

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

This operator is synonymous with addFrom.

See also
addFrom

Definition at line 348 of file CPointsMap.h.

References mrpt::maps::CPointsMap::addFrom().

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◆ operator=() [1/2]

CPointsMapXYZI& mrpt::maps::CPointsMapXYZI::operator= ( const CPointsMap o)
inline

Definition at line 35 of file CPointsMapXYZI.h.

References impl_copyFrom().

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◆ operator=() [2/2]

CPointsMapXYZI& mrpt::maps::CPointsMapXYZI::operator= ( const CPointsMapXYZI o)
inline

Definition at line 40 of file CPointsMapXYZI.h.

References impl_copyFrom().

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◆ PLY_export_get_face_count()

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

In a base class, return the number of faces.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 1177 of file CPointsMap.h.

◆ PLY_export_get_vertex()

void CPointsMapXYZI::PLY_export_get_vertex ( const size_t  idx,
mrpt::math::TPoint3Df pt,
bool &  pt_has_color,
mrpt::img::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_colorWill be nullptr if the loaded file does not provide color info.

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 419 of file CPointsMapXYZI.cpp.

References mrpt::img::TColorf::B, mrpt::img::TColorf::G, mrpt::img::TColorf::R, 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
overrideprotectedvirtualinherited

In a base class, return the number of vertices.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 1623 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::size().

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◆ PLY_import_set_face_count()

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

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

Implements mrpt::opengl::PLY_Importer.

Definition at line 1159 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

◆ PLY_import_set_vertex()

void CPointsMapXYZI::PLY_import_set_vertex ( const size_t  idx,
const mrpt::math::TPoint3Df pt,
const mrpt::img::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_colorWill be nullptr if the loaded file does not provide color info.

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 409 of file CPointsMapXYZI.cpp.

References mrpt::img::TColorf::B, mrpt::img::TColorf::G, mrpt::img::TColorf::R, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

◆ PLY_import_set_vertex_count()

void CPointsMapXYZI::PLY_import_set_vertex_count ( const size_t  N)
overrideprotectedvirtual

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

Implements mrpt::opengl::PLY_Importer.

Definition at line 404 of file CPointsMapXYZI.cpp.

◆ 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 57 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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◆ reserve()

void CPointsMapXYZI::reserve ( size_t  newLength)
overridevirtual

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.

Implements mrpt::maps::CPointsMap.

Definition at line 72 of file CPointsMapXYZI.cpp.

References reserve().

Referenced by reserve(), and setFromPCLPointCloudXYZI().

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◆ resize()

void CPointsMapXYZI::resize ( size_t  newLength)
overridevirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 83 of file CPointsMapXYZI.cpp.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::resize().

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◆ save2D_to_text_file()

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

Save to a text file.

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

Definition at line 68 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
inherited

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 85 of file CPointsMap.cpp.

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

Referenced by mrpt::maps::CPointsMap::saveMetricMapRepresentationToFile().

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◆ saveMetricMapRepresentationToFile()

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

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 403 of file CPointsMap.h.

References mrpt::maps::CPointsMap::save3D_to_text_file().

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◆ saveToKittiVelodyneFile()

bool CPointsMapXYZI::saveToKittiVelodyneFile ( const std::string filename) const

Definition at line 483 of file CPointsMapXYZI.cpp.

References ASSERT_EQUAL_, and mrpt::io::CFileGZOutputStream::Write().

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◆ saveToPlyFile()

bool PLY_Exporter::saveToPlyFile ( const std::string filename,
bool  save_in_binary = false,
const std::vector< std::string > &  file_comments = std::vector<std::string>(),
const std::vector< std::string > &  file_obj_info = std::vector<std::string>() 
) const
inherited

Saves to a PLY file.

Parameters
[in]filenameThe filename to be saved.
[in]file_commentsIf provided (!=nullptr) the list of comment strings stored in the file will be returned.
[in]file_obj_infoIf 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 1945 of file PLY_import_export.cpp.

References mrpt::img::TColorf::B, face_props, mrpt::img::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::img::TColorf::R, 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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◆ saveXYZI_to_text_file()

bool CPointsMapXYZI::saveXYZI_to_text_file ( const std::string file) const

Save to a text file.

In each line contains X Y Z (meters) I (intensity) Returns false if any error occured, true elsewere.

Definition at line 242 of file CPointsMapXYZI.cpp.

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

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◆ serializeFrom() [1/2]

void CPointsMapXYZI::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 132 of file CPointsMapXYZI.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and resize().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPointsMapXYZI::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 113 of file CPointsMapXYZI.cpp.

◆ serializeTo() [1/2]

void CPointsMapXYZI::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 114 of file CPointsMapXYZI.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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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 
)
inlineinherited

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

See also
getAllPoints

Definition at line 693 of file CPointsMap.h.

References mrpt::maps::CPointsMap::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 
)
inlineinherited

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

See also
getAllPoints

Definition at line 702 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setAllPointsTemplate().

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◆ setAllPointsTemplate()

template<typename VECTOR >
void mrpt::maps::CPointsMap::setAllPointsTemplate ( const VECTOR &  X,
const VECTOR &  Y,
const VECTOR &  Z = VECTOR() 
)
inlineinherited

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

Definition at line 670 of file CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::setPointFast(), and mrpt::maps::CPointsMap::setSize().

Referenced by mrpt::maps::CPointsMap::setAllPoints().

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◆ setFromPCLPointCloud()

template<class POINTCLOUD >
void mrpt::maps::CPointsMap::setFromPCLPointCloud ( const POINTCLOUD &  cloud)
inlineinherited

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 1039 of file CPointsMap.h.

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

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◆ setFromPCLPointCloudXYZI()

template<class POINTCLOUD >
void mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI ( const POINTCLOUD &  cloud)
inline

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

Note
This method requires user code to include PCL before MRPT headers.
Returns
false on any error Loads a PCL point cloud (WITH XYZI information) into this MRPT class. Usage example:
pcl::PointCloud<pcl::PointXYZI> cloud;
See also
CPointsMap::setFromPCLPointCloud()

Definition at line 221 of file CPointsMapXYZI.h.

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

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◆ setHeightFilterLevels()

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

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

Definition at line 970 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_z_max, and mrpt::maps::CPointsMap::m_heightfilter_z_min.

◆ setPoint() [1/4]

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

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

Exceptions
Throwsstd::exception on index out of bound.

Definition at line 493 of file CPointsMap.h.

References ASSERT_BELOW_, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::setPointFast(), and mrpt::maps::CPointsMap::size().

Referenced by mrpt::maps::CPointsMap::PLY_import_set_vertex(), ransac_data_assoc_run(), mrpt::maps::CPointsMap::setPoint(), and mrpt::maps::CPointsMap::setPointRGB().

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◆ setPoint() [2/4]

void mrpt::maps::CPointsMap::setPoint ( size_t  index,
const mrpt::math::TPoint2D p 
)
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 500 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setPoint().

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◆ setPoint() [3/4]

void mrpt::maps::CPointsMap::setPoint ( size_t  index,
const mrpt::math::TPoint3D p 
)
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 505 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setPoint().

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◆ setPoint() [4/4]

void mrpt::maps::CPointsMap::setPoint ( size_t  index,
float  x,
float  y 
)
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 510 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setPoint().

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◆ setPointAllFields()

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

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 725 of file CPointsMap.h.

References ASSERT_BELOW_, mrpt::maps::CPointsMap::setPointAllFieldsFast(), and mrpt::maps::CPointsMap::size().

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◆ setPointAllFieldsFast()

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

Set all the data fields for one point as a vector: [X Y Z I] Unlike setPointAllFields(), this method does not check for index out of bounds.

See also
setPointAllFields, getPointAllFields, getPointAllFieldsFast

Implements mrpt::maps::CPointsMap.

Definition at line 78 of file CPointsMapXYZI.h.

References ASSERT_, m_intensity, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

◆ setPointColor_fast()

void mrpt::maps::CPointsMapXYZI::setPointColor_fast ( size_t  index,
float  R,
float  G,
float  B 
)
inline

Like setPointColor but without checking for out-of-index erors.

Definition at line 150 of file CPointsMapXYZI.h.

References m_intensity, and R.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::setPointRGBf(), and mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::setPointRGBu8().

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◆ setPointFast()

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

◆ setPointIntensity()

void CPointsMapXYZI::setPointIntensity ( size_t  index,
float  intensity 
)

Changes the intensity of a given point from the map.

First index is 0.

Exceptions
Throwsstd::exception on index out of bound.

Definition at line 181 of file CPointsMapXYZI.cpp.

References THROW_EXCEPTION.

◆ setPointRGB()

void CPointsMapXYZI::setPointRGB ( size_t  index,
float  x,
float  y,
float  z,
float  R_intensity,
float  G_ignored,
float  B_ignored 
)
overridevirtual

Changes a given point from map.

First index is 0.

Exceptions
Throwsstd::exception on index out of bound.

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 170 of file CPointsMapXYZI.cpp.

References R, and THROW_EXCEPTION.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::setPointXYZ_RGBf(), and mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::setPointXYZ_RGBu8().

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◆ setPointWeight()

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

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 527 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::maps::CPointsMap::fuseWith().

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◆ setSize()

void CPointsMapXYZI::setSize ( size_t  newLength)
overridevirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 95 of file CPointsMapXYZI.cpp.

◆ size()

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

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

Note
This method requires user code to include PCL before MRPT headers.
Returns
false on any error Load the point cloud from a PCL PCD file.
Note
This method requires user code to include PCL before MRPT headers.
Returns
false on any error Returns the number of stored points in the map.

Definition at line 441 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x.

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

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◆ squareDistanceToClosestCorrespondence()

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

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 873 of file CPointsMap.cpp.

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

Referenced by mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT().

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◆ squareDistanceToClosestCorrespondenceT()

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

Definition at line 210 of file CPointsMap.h.

References mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ detail::loadFromRangeImpl

template<class Derived >
friend struct detail::loadFromRangeImpl
friend

Definition at line 114 of file CPointsMapXYZI.h.

◆ detail::pointmap_traits

template<class Derived >
friend struct detail::pointmap_traits
friend

Definition at line 116 of file CPointsMapXYZI.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::CPointsMapXYZI::className = "mrpt::maps" "::" "CPointsMapXYZI"
static

Definition at line 28 of file CPointsMapXYZI.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited

◆ insertionOptions

TInsertionOptions mrpt::maps::CPointsMap::insertionOptions
inherited

◆ 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 114 of file KDTreeCapable.h.

◆ likelihoodOptions

TLikelihoodOptions mrpt::maps::CPointsMap::likelihoodOptions
inherited

◆ m_bb_max_x

float mrpt::maps::CPointsMap::m_bb_max_x
mutableprotectedinherited

Definition at line 1139 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_max_y

float mrpt::maps::CPointsMap::m_bb_max_y
mutableprotectedinherited

Definition at line 1139 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_max_z

float mrpt::maps::CPointsMap::m_bb_max_z
mutableprotectedinherited

Definition at line 1139 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_min_x

float mrpt::maps::CPointsMap::m_bb_min_x
mutableprotectedinherited

Definition at line 1139 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_min_y

float mrpt::maps::CPointsMap::m_bb_min_y
mutableprotectedinherited

Definition at line 1139 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_min_z

float mrpt::maps::CPointsMap::m_bb_min_z
mutableprotectedinherited

Definition at line 1139 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_boundingBoxIsUpdated

bool mrpt::maps::CPointsMap::m_boundingBoxIsUpdated
mutableprotectedinherited

◆ m_heightfilter_enabled

bool mrpt::maps::CPointsMap::m_heightfilter_enabled {false}
protectedinherited

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

See also
m_heightfilter_z_min, m_heightfilter_z_max

Definition at line 1190 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::enableFilterByHeight(), and mrpt::maps::CPointsMap::isFilterByHeightEnabled().

◆ m_heightfilter_z_max

double mrpt::maps::CPointsMap::m_heightfilter_z_max {10}
protectedinherited

◆ m_heightfilter_z_min

double mrpt::maps::CPointsMap::m_heightfilter_z_min {-10}
protectedinherited

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

See also
m_heightfilter_enabled

Definition at line 1186 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::getHeightFilterLevels(), and mrpt::maps::CPointsMap::setHeightFilterLevels().

◆ m_intensity

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMapXYZI::m_intensity
protected

◆ m_largestDistanceFromOrigin

float mrpt::maps::CPointsMap::m_largestDistanceFromOrigin {0}
mutableprotectedinherited

◆ m_largestDistanceFromOriginIsUpdated

bool mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated
mutableprotectedinherited

◆ m_private_map_register_id

const size_t mrpt::maps::CPointsMapXYZI::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CPointsMapXYZI" , & mrpt::maps::CPointsMapXYZI ::MapDefinition, & mrpt::maps::CPointsMapXYZI ::internal_CreateFromMapDefinition)
static

ID used to initialize class registration (just ignore it)

Definition at line 270 of file CPointsMapXYZI.h.

◆ m_scans_sincos_cache

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

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

Definition at line 1126 of file CPointsMap.h.

◆ m_x

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMap::m_x
protectedinherited

◆ m_y

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMap::m_y
protectedinherited

◆ m_z

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMap::m_z
protectedinherited

◆ renderOptions

TRenderOptions mrpt::maps::CPointsMap::renderOptions
inherited

Definition at line 332 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::getAs3DObject(), and TEST_F().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CPointsMapXYZI::runtimeClassId
staticprotected

Definition at line 28 of file CPointsMapXYZI.h.




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