class mrpt::maps::CPointsMapXYZI

Overview

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

See also:

mrpt::maps::CPointsMap, mrpt::maps::CMetricMap

#include <mrpt/maps/CPointsMapXYZI.h>

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

    CPointsMapXYZI();
    CPointsMapXYZI(const CPointsMap& o);
    CPointsMapXYZI(const CPointsMapXYZI& 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);
    bool loadFromKittiVelodyneFile(const std::string& filename);
    bool saveToKittiVelodyneFile(const std::string& filename) const;

    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
        );

    template <class POINTCLOUD>
    void setFromPCLPointCloudXYZI(const POINTCLOUD& cloud);

    template <class POINTCLOUD>
    void getPCLPointCloudXYZI(POINTCLOUD& cloud) const;

    CPointsMapXYZI& operator = (const CPointsMap& o);
    CPointsMapXYZI& operator = (const CPointsMapXYZI& o);
    bool saveXYZI_to_text_file(const std::string& file) const;
    bool loadXYZI_from_text_file(const std::string& file);

    void setPointRGB(
        size_t index,
        float x,
        float y,
        float z,
        float R_intensity,
        float G_ignored,
        float B_ignored
        );

    void insertPointRGB(
        float x,
        float y,
        float z,
        float R_intensity,
        float G_ignored,
        float B_ignored
        );

    void setPointIntensity(size_t index, float intensity);
    void setPointColor_fast(size_t index, float R, float G, float B);

    virtual void getPointRGB(
        size_t index,
        float& x,
        float& y,
        float& z,
        float& R_intensity,
        float& G_intensity,
        float& B_intensity
        ) const;

    float getPointIntensity(size_t index) const;
    float getPointIntensity_fast(size_t index) const;
    virtual bool hasColorPoints() const;
    virtual void getVisualizationInto(mrpt::opengl::CSetOfObjects& outObj) const;
    virtual auto getPointsBufferRef_intensity() const;
    virtual auto getPointsBufferRef_intensity();
    void insertPointField_Intensity(float i);
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) 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;

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.

See also:

reserve, setPoint, setPointFast, setSize

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.

See also:

reserve, setPoint, setPointFast, setSize

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

See also:

getPointAllFields, setPointAllFields, setPointAllFieldsFast

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

See also:

setPointAllFields, getPointAllFields, getPointAllFieldsFast

bool 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

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

See CPointsMap::loadFromRangeScan()

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

See CPointsMap::loadFromRangeScan()

template <class POINTCLOUD>
void setFromPCLPointCloudXYZI(const POINTCLOUD& cloud)

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

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;
mrpt::maps::CPointsMapXYZI       pc;

pc.setFromPCLPointCloudXYZI(cloud);

See also:

CPointsMap::setFromPCLPointCloud()

template <class POINTCLOUD>
void getPCLPointCloudXYZI(POINTCLOUD& cloud) const

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

bool 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 occurred, true elsewere.

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].

Returns false if any error occurred, true elsewere.

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

Changes a given point from map.

First index is 0.

Parameters:

Throws

std::exception on index out of bound.

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

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

void setPointIntensity(size_t index, float intensity)

Changes the intensity of a given point from the map.

First index is 0.

Parameters:

Throws

std::exception on index out of bound.

void setPointColor_fast(size_t index, float R, float G, float B)

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

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

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

float getPointIntensity(size_t index) const

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

float getPointIntensity_fast(size_t index) const

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

virtual bool hasColorPoints() const

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

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

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

virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const

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