class mrpt::maps::CSimplePointsMap

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

This class only stores the coordinates (x,y,z) of each point.

See mrpt::maps::CPointsMap and derived classes for other point cloud classes.

#include <mrpt/maps/CSimplePointsMap.h>

class CSimplePointsMap: public mrpt::maps::CPointsMap
{
public:
    // construction

    CSimplePointsMap();
    CSimplePointsMap(const CPointsMap& o);
    CSimplePointsMap(const CSimplePointsMap& o);

    //
methods

    virtual void reserve(size_t newLength);
    virtual void resize(size_t newLength);
    virtual void setSize(size_t newLength);
    virtual void insertPointFast(float x, float y, float z = 0);
    virtual void getPointAllFieldsFast(size_t index, std::vector<float>& point_data) const;
    virtual void setPointAllFieldsFast(size_t index, const std::vector<float>& point_data);

    virtual void loadFromRangeScan(
        const mrpt::obs::CObservation2DRangeScan& rangeScan,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        );

    virtual void loadFromRangeScan(
        const mrpt::obs::CObservation3DRangeScan& rangeScan,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        );

    CSimplePointsMap& operator = (const CPointsMap& o);
    CSimplePointsMap& operator = (const CSimplePointsMap& o);
    virtual const mrpt::maps::CSimplePointsMap* getAsSimplePointsMap() const;
};

Inherited Members

public:
    // typedefs

    typedef KDTreeCapable<Derived, num_t, metric_t> self_t;

    // structs

    template <int _DIM = -1>
    struct TKDTreeDataHolder;

    struct TKDTreeSearchParams;
    struct TInsertionOptions;
    struct TLaserRange2DInsertContext;
    struct TLaserRange3DInsertContext;
    struct TLikelihoodOptions;
    struct TRenderOptions;

    //
methods

    virtual bool isEmpty() const = 0;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual std::string asString() const = 0;
    virtual void getVisualizationInto(mrpt::opengl::CSetOfObjects& o) const = 0;
    float kdTreeClosestPoint2DsqrError(const TPoint2D& p0) const;
    void kdTreeTwoClosestPoint2D(const TPoint2D& p0, TPoint2D& pOut1, TPoint2D& pOut2, float& outDistSqr1, float& outDistSqr2) const;

    std::vector<size_t> kdTreeNClosestPoint2D(
        const TPoint2D& p0,
        size_t N,
        std::vector<TPoint2D>& pOut,
        std::vector<float>& outDistSqr,
        const std::optional<float>& maximumSearchDistanceSqr = std::nullopt
        ) const;

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

    void kdTreeNClosestPoint3D(
        const TPoint3D& p0,
        size_t N,
        std::vector<TPoint3D>& pOut,
        std::vector<float>& outDistSqr,
        const std::optional<float>& maximumSearchDistanceSqr = std::nullopt
        ) const;

    void kdTreeNClosestPoint3DIdx(
        const TPoint3D& p0,
        size_t N,
        std::vector<size_t>& outIdx,
        std::vector<float>& outDistSqr,
        const std::optional<float>& maximumSearchDistanceSqr = std::nullopt
        ) const;

    void kdTreeEnsureIndexBuilt3D();
    void kdTreeEnsureIndexBuilt2D();
    KDTreeCapable& operator = (const KDTreeCapable&);
    virtual bool nn_has_indices_or_ids() const = 0;
    virtual size_t nn_index_count() const = 0;

    virtual bool nn_single_search(
        const mrpt::math::TPoint3Df& query,
        mrpt::math::TPoint3Df& result,
        float& out_dist_sqr,
        uint64_t& resultIndexOrIDOrID
        ) const = 0;

    virtual bool nn_single_search(
        const mrpt::math::TPoint2Df& query,
        mrpt::math::TPoint2Df& result,
        float& out_dist_sqr,
        uint64_t& resultIndexOrIDOrID
        ) const = 0;

    virtual void nn_multiple_search(
        const mrpt::math::TPoint3Df& query,
        const size_t N,
        std::vector<mrpt::math::TPoint3Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs
        ) const = 0;

    virtual void nn_multiple_search(
        const mrpt::math::TPoint2Df& query,
        const size_t N,
        std::vector<mrpt::math::TPoint2Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs
        ) const = 0;

    virtual void nn_radius_search(
        const mrpt::math::TPoint3Df& query,
        const float search_radius_sqr,
        std::vector<mrpt::math::TPoint3Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs,
        size_t maxPoints = 0
        ) const = 0;

    virtual void nn_radius_search(
        const mrpt::math::TPoint2Df& query,
        const float search_radius_sqr,
        std::vector<mrpt::math::TPoint2Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs,
        size_t maxPoints = 0
        ) const = 0;

    virtual void reserve(size_t newLength) = 0;
    virtual void resize(size_t newLength) = 0;
    virtual void setSize(size_t newLength) = 0;
    virtual void insertPointFast(float x, float y, float z = 0) = 0;
    virtual void getPointAllFieldsFast(size_t index, std::vector<float>& point_data) const = 0;
    virtual void setPointAllFieldsFast(size_t index, const std::vector<float>& point_data) = 0;
    CPointsMap& operator = (const CPointsMap& o);

    virtual void getPointRGB(
        size_t index,
        float& x,
        float& y,
        float& z,
        float& R,
        float& G,
        float& B
        ) const;

    virtual bool hasColorPoints() const;

    virtual void loadFromRangeScan(
        const mrpt::obs::CObservation2DRangeScan& rangeScan,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) = 0;

    virtual void loadFromRangeScan(
        const mrpt::obs::CObservation3DRangeScan& rangeScan,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) = 0;

    virtual void getVisualizationInto(mrpt::opengl::CSetOfObjects& outObj) const;

Construction

CSimplePointsMap()

Default constructor.

Methods

virtual void reserve(size_t newLength)

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.

virtual void resize(size_t newLength)

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.

virtual void setSize(size_t newLength)

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

virtual void insertPointFast(float x, float y, float z = 0)

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

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

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

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

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

virtual void loadFromRangeScan(
    const mrpt::obs::CObservation2DRangeScan& rangeScan,
    const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
    )

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

The options in “insertionOptions” are considered in this method. Only ranges marked as “valid=true” in the observation will be inserted

Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific implementation of mrpt::maps::CPointsMap you are using.

The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.

Parameters:

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

See also:

CObservation2DRangeScan, CObservation3DRangeScan

virtual void loadFromRangeScan(
    const mrpt::obs::CObservation3DRangeScan& rangeScan,
    const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
    )

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

Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific implementation of mrpt::maps::CPointsMap you are using.

The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.

Parameters:

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

See also:

loadFromVelodyneScan

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

Otherwise, return nullptr