CColouredPointsMap.h File Reference

#include <mrpt/slam/CPointsMap.h>
#include <mrpt/slam/CObservation2DRangeScan.h>
#include <mrpt/slam/CObservationImage.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/utils/stl_extensions.h>
#include <mrpt/maps/link_pragmas.h>
#include <mrpt/utils/adapters.h>

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Classes
struct	mrpt::slam::CColouredPointsMapPtr
class	mrpt::slam::CColouredPointsMap
	A map of 2D/3D points with individual colours (RGB). More...
struct	mrpt::slam::CColouredPointsMap::TColourOptions
	The definition of parameters for generating colors from laser scans. More...
struct	mrpt::mrpt::math::detail::TAuxResizer< MAT, TypeSizeAtCompileTime >
	Internal resize which compiles to nothing on fixed-size matrices. More...
struct	mrpt::mrpt::math::detail::TAuxResizer< MAT,-1 >
struct	mrpt::mrpt::dynamicsize_vector< T >
	The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized constructors that resemble std::vector. More...
struct	mrpt::mrpt::aligned_containers< TYPE1, TYPE2 >
	Helper types for STL containers with Eigen memory allocators. More...
class	mrpt::stlplus::null_dereference
class	mrpt::stlplus::end_dereference
class	mrpt::stlplus::wrong_object
class	mrpt::stlplus::illegal_copy
class	mrpt::mrpt::synch::CAtomicCounter
	This class acts exactly as an int (or long) variable, but with atomic increment and decrement operators. More...
class	mrpt::stlplus::smart_ptr_base< T, C, COUNTER >
class	mrpt::stlplus::constructor_copy< T >
class	mrpt::stlplus::clone_copy< T >
class	mrpt::stlplus::no_copy< T >
class	mrpt::stlplus::smart_ptr< T, COUNTER >
class	mrpt::stlplus::smart_ptr_clone< T, COUNTER >
class	mrpt::stlplus::smart_ptr_nocopy< T, COUNTER >
struct	mrpt::mrpt::utils::CProfilerProxy
struct	mrpt::mrpt::math::detail::TAuxResizer< MAT, TypeSizeAtCompileTime >
	Internal resize which compiles to nothing on fixed-size matrices. More...
struct	mrpt::mrpt::math::detail::TAuxResizer< MAT,-1 >
struct	mrpt::mrpt::dynamicsize_vector< T >
	The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized constructors that resemble std::vector. More...
struct	mrpt::mrpt::aligned_containers< TYPE1, TYPE2 >
	Helper types for STL containers with Eigen memory allocators. More...
class	mrpt::mrpt::utils::detail::PointCloudAdapterHelperNoRGB< POINTMAPTYPE, coords_t >
	A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed interface methods which fall back to XYZ-only methods. More...
class	mrpt::utils::PointCloudAdapter< mrpt::slam::CColouredPointsMap >
	Specialization mrpt::utils::PointCloudAdapter<mrpt::slam::CColouredPointsMap> More...
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
namespace	mrpt::slam
	This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.
namespace	mrpt::mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
namespace	mrpt::mrpt::utils
namespace	mrpt::mrpt::system
	This namespace provides a OS-independent interface to many useful functions: filenames manipulation, time and date, string parsing, file I/O, threading, memory allocation, etc.
namespace	mrpt::mrpt::poses
namespace	mrpt::mrpt::math
namespace	mrpt::mrpt::math::detail
namespace	mrpt::mrpt::system::os
	This namespace provides a OS-independent interface to low-level functions.
namespace	mrpt::stlplus
namespace	mrpt::mrpt::synch
namespace	mrpt::mrpt::utils::detail
namespace	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Typedefs
typedef dynamicsize_vector< float >	mrpt::mrpt::vector_float
typedef dynamicsize_vector < double >	mrpt::mrpt::vector_double
typedef std::vector< int8_t >	mrpt::mrpt::vector_signed_byte
typedef std::vector< int16_t >	mrpt::mrpt::vector_signed_word
typedef std::vector< int32_t >	mrpt::mrpt::vector_int
typedef std::vector< int64_t >	mrpt::mrpt::vector_long
typedef std::vector< size_t >	mrpt::mrpt::vector_size_t
typedef std::vector< uint8_t >	mrpt::mrpt::vector_byte
typedef std::vector< uint16_t >	mrpt::mrpt::vector_word
typedef std::vector< uint32_t >	mrpt::mrpt::vector_uint
typedef std::vector< bool >	mrpt::mrpt::vector_bool
	A type for passing a vector of bools.
typedef std::vector< std::string >	mrpt::mrpt::vector_string
	A type for passing a vector of strings.
typedef unsigned long	mrpt::mrpt::utils::POINTER_TYPE
	For performing type casting from a pointer to its numeric value.
typedef uint64_t	mrpt::mrpt::utils::TNodeID
	The type for node IDs in graphs of different types.
typedef std::pair< TNodeID, TNodeID >	mrpt::mrpt::utils::TPairNodeIDs
	A pair of node IDs.
Enumerations
enum	mrpt::mrpt::math::TMatrixTextFileFormat {   mrpt::mrpt::math::MATRIX_FORMAT_ENG = 0, mrpt::mrpt::math::MATRIX_FORMAT_FIXED = 1, mrpt::mrpt::math::MATRIX_FORMAT_INT = 2, mrpt::mrpt::math::MATRIX_FORMAT_ENG = 0,   mrpt::mrpt::math::MATRIX_FORMAT_FIXED = 1, mrpt::mrpt::math::MATRIX_FORMAT_INT = 2 }
enum	mrpt::mrpt::math::TConstructorFlags_Matrices { mrpt::mrpt::math::UNINITIALIZED_MATRIX = 0, mrpt::mrpt::math::UNINITIALIZED_MATRIX = 0 }
	For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time. More...
enum	mrpt::mrpt::system::TConsoleColor { mrpt::mrpt::system::CONCOL_NORMAL = 0, mrpt::mrpt::system::CONCOL_BLUE = 1, mrpt::mrpt::system::CONCOL_GREEN = 2, mrpt::mrpt::system::CONCOL_RED = 4 }
	For use in setConsoleColor. More...
enum	mrpt::mrpt::math::TMatrixTextFileFormat {   mrpt::mrpt::math::MATRIX_FORMAT_ENG = 0, mrpt::mrpt::math::MATRIX_FORMAT_FIXED = 1, mrpt::mrpt::math::MATRIX_FORMAT_INT = 2, mrpt::mrpt::math::MATRIX_FORMAT_ENG = 0,   mrpt::mrpt::math::MATRIX_FORMAT_FIXED = 1, mrpt::mrpt::math::MATRIX_FORMAT_INT = 2 }
enum	mrpt::mrpt::math::TConstructorFlags_Matrices { mrpt::mrpt::math::UNINITIALIZED_MATRIX = 0, mrpt::mrpt::math::UNINITIALIZED_MATRIX = 0 }
	For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time. More...
Functions
::mrpt::utils::CStream &	mrpt::slam::operator>> (mrpt::utils::CStream &in, CColouredPointsMapPtr &pObj)
template<class T >
T	mrpt::mrpt::utils::square (const T x)
	Inline function for the square of a number.
std::string BASE_IMPEXP	mrpt::mrpt::system::MRPT_getVersion ()
	Returns a string describing the MRPT version including the SVN number.
template<class CONTAINER1 , class CONTAINER2 >
void	mrpt::mrpt::math::cumsum (const CONTAINER1 &in_data, CONTAINER2 &out_cumsum)
	Computes the cumulative sum of all the elements, saving the result in another container.
template<class CONTAINER >
CONTAINER::value_type	mrpt::mrpt::math::norm (const CONTAINER &v)
template<class CONTAINER >
CONTAINER::value_type	mrpt::mrpt::math::norm_inf (const CONTAINER &v)
template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT >
void	mrpt::mrpt::math::multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out)
	Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3)
template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT >
void	mrpt::mrpt::math::multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out)
	Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3)
TPoint2D BASE_IMPEXP	mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPoint2D &p)
	Convert a pose into a light-weight structure (functional form, needed for forward declarations)
TPoint3D BASE_IMPEXP	mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPoint3D &p)
	Convert a pose into a light-weight structure (functional form, needed for forward declarations)
TPose2D BASE_IMPEXP	mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPose2D &p)
	Convert a pose into a light-weight structure (functional form, needed for forward declarations)
TPose3D BASE_IMPEXP	mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPose3D &p)
	Convert a pose into a light-weight structure (functional form, needed for forward declarations)
TPose3DQuat BASE_IMPEXP	mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPose3DQuat &p)
	Convert a pose into a light-weight structure (functional form, needed for forward declarations)
template<class MATORG , class MATDEST >
void	mrpt::mrpt::math::detail::extractMatrix (const MATORG &M, const size_t first_row, const size_t first_col, MATDEST &outMat)
	Extract a submatrix - The output matrix must be set to the required size before call.
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPoint2D &p)
	Conversion of poses to MRPT containers (vector/matrix)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPoint3D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPose2D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPose3D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPose3DQuat &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPoint2D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPoint3D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPose2D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPose3D &p)
template<class CONTAINER >
CONTAINER &	mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPose3DQuat &p)
template<class T >
T	mrpt::mrpt::math::wrapTo2Pi (T a)
	Modifies the given angle to translate it into the [0,2pi[ range.
int BASE_IMPEXP	mrpt::system::os::sprintf (char *buf, size_t bufSize, const char *format,...) MRPT_NO_THROWS MRPT_printf_format_check(3
	An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compilers)
int BASE_IMPEXP int BASE_IMPEXP	mrpt::system::os::vsprintf (char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS
	An OS-independent version of vsprintf (Notice the bufSize param, which may be ignored in some compilers)
int BASE_IMPEXP	mrpt::system::os::vsnprintf (char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS
	An OS-independent version of vsnprintf (Notice the bufSize param, which may be ignored in some compilers)
FILE BASE_IMPEXP *	mrpt::system::os::fopen (const char *fileName, const char *mode) MRPT_NO_THROWS
	An OS-independent version of fopen.
FILE BASE_IMPEXP *	mrpt::system::os::fopen (const std::string &fileName, const char *mode) MRPT_NO_THROWS
	An OS-independent version of fopen (std::string version)
int BASE_IMPEXP	mrpt::system::os::fprintf (FILE *fil, const char *format,...) MRPT_NO_THROWS MRPT_printf_format_check(2
	An OS-independent version of fprintf.
int BASE_IMPEXP void BASE_IMPEXP	mrpt::system::os::fclose (FILE *f)
	An OS-independent version of fscanf.
char BASE_IMPEXP *	mrpt::system::os::strcat (char *dest, size_t destSize, const char *source) MRPT_NO_THROWS
	An OS-independent version of strcat.
char BASE_IMPEXP *	mrpt::system::os::strcpy (char *dest, size_t destSize, const char *source) MRPT_NO_THROWS
	An OS-independent version of strcpy.
int BASE_IMPEXP	mrpt::system::os::_strcmp (const char *str1, const char *str2) MRPT_NO_THROWS
	An OS-independent version of strcmp.
int BASE_IMPEXP	mrpt::system::os::_strcmpi (const char *str1, const char *str2) MRPT_NO_THROWS
	An OS-independent version of strcmpi.
int BASE_IMPEXP	mrpt::system::os::_strncmp (const char *str, const char *subStr, size_t count) MRPT_NO_THROWS
	An OS-independent version of strncmp.
int BASE_IMPEXP	mrpt::system::os::_strnicmp (const char *str, const char *subStr, size_t count) MRPT_NO_THROWS
	An OS-independent version of strnicmp.
int64_t BASE_IMPEXP	mrpt::system::os::_strtoll (const char *nptr, char **endptr, int base)
	An OS-independent version of strtoll.
uint64_t BASE_IMPEXP	mrpt::system::os::_strtoull (const char *nptr, char **endptr, int base)
	An OS-independent version of strtoull.
time_t BASE_IMPEXP	mrpt::system::os::timegm (struct tm *tm)
	An OS-independent version of timegm (which is not present in all compilers): converts a time structure into an UTM time_t.
void BASE_IMPEXP	mrpt::system::os::memcpy (void *dest, size_t destSize, const void *src, size_t copyCount) MRPT_NO_THROWS
	An OS and compiler independent version of "memcpy".
int BASE_IMPEXP	mrpt::system::os::getch () MRPT_NO_THROWS
	An OS-independent version of getch, which waits until a key is pushed.
bool BASE_IMPEXP	mrpt::system::os::kbhit () MRPT_NO_THROWS
	An OS-independent version of kbhit, which returns true if a key has been pushed.
void BASE_IMPEXP	mrpt::system::pause (const std::string &msg=std::string("Press any key to continue...")) MRPT_NO_THROWS
	Shows the message "Press any key to continue" (or other custom message) to the current standard output and returns when a key is pressed.
void BASE_IMPEXP	mrpt::system::clearConsole ()
	Clears the console window.
bool BASE_IMPEXP	mrpt::system::vectorToTextFile (const std::vector< float > &vec, const std::string &fileName, bool append=false, bool byRows=false)
	A useful function for debuging, which saves a std::vector into a text file (compat.
bool BASE_IMPEXP	mrpt::system::vectorToTextFile (const std::vector< double > &vec, const std::string &fileName, bool append=false, bool byRows=false)
bool BASE_IMPEXP	mrpt::system::vectorToTextFile (const std::vector< int > &vec, const std::string &fileName, bool append=false, bool byRows=false)
bool BASE_IMPEXP	mrpt::system::vectorToTextFile (const std::vector< size_t > &vec, const std::string &fileName, bool append=false, bool byRows=false)
template<class Derived >
bool	mrpt::system::vectorToTextFile (const Eigen::MatrixBase< Derived > &vec, const std::string &fileName)
bool BASE_IMPEXP	mrpt::system::vectorFromTextFile (std::vector< double > &vec, const std::string &fileName, const bool byRows=false)
	Load a std::vector from a text file (compat.
bool BASE_IMPEXP	mrpt::system::vectorToBinaryFile (const vector_byte &vec, const std::string &fileName)
	Saves a vector directly as a binary dump to a file:
bool BASE_IMPEXP	mrpt::system::loadBinaryFile (vector_byte &out_data, const std::string &fileName)
	Loads a entire file as a vector of bytes.
std::string BASE_IMPEXP	mrpt::system::MRPT_getCompilationDate ()
	Returns the MRPT compilation date.
std::string BASE_IMPEXP	mrpt::system::MRPT_getVersion ()
	Returns a string describing the MRPT version including the SVN number.
void BASE_IMPEXP	mrpt::system::registerFatalExceptionHandlers ()
	Call this to register handlers for fatal erros (memory access,etc) that show useful debug information (It is called automatically normally, no need for the user to explicitly call this method.).
std::string BASE_IMPEXP	mrpt::system::stack_trace (bool calling_from_exception=false)
	Dumps the current program stack with detailed information of source files and lines.
void BASE_IMPEXP	mrpt::system::breakpoint (const std::string &exception_msg)
	Only when built in debug (with _DEBUG), this function will be called just before raising any MRPT exception, so the user can conveniently put a breakpoint here to explore the call stack, etc.
void BASE_IMPEXP	mrpt::mrpt::system::setConsoleColor (TConsoleColor color, bool changeStdErr=false)
	Changes the text color in the console for the text written from now on.
template<typename T >
const T	mrpt::min3 (const T &A, const T &B, const T &C)
template<typename T >
const T	mrpt::max3 (const T &A, const T &B, const T &C)
std::string BASE_IMPEXP	mrpt::mrpt::format (const char *fmt,...) MRPT_printf_format_check(1
	A std::string version of C sprintf.
std::string BASE_IMPEXP	mrpt::mrpt::system::extractFileName (const std::string &filePath)
std::string BASE_IMPEXP	mrpt::mrpt::system::stack_trace (bool calling_from_exception)
	Dumps the current program stack with detailed information of source files and lines.
bool BASE_IMPEXP	mrpt::mrpt::math::isNaN (float v) MRPT_NO_THROWS
bool BASE_IMPEXP	mrpt::mrpt::math::isNaN (double v) MRPT_NO_THROWS
bool BASE_IMPEXP	mrpt::mrpt::math::isFinite (float v) MRPT_NO_THROWS
bool BASE_IMPEXP	mrpt::mrpt::math::isFinite (double v) MRPT_NO_THROWS
template<class MATRIXLIKE >
size_t	mrpt::mrpt::math::size (const MATRIXLIKE &m, int dim)
void BASE_IMPEXP	mrpt::mrpt::utils::global_profiler_enter (const char *func_name) MRPT_NO_THROWS
void BASE_IMPEXP	mrpt::mrpt::utils::global_profiler_leave (const char *func_name) MRPT_NO_THROWS
double	mrpt::mrpt::utils::DEG2RAD (const double x)
	Degrees to radians.
float	mrpt::mrpt::utils::DEG2RAD (const float x)
	Degrees to radians.
float	mrpt::mrpt::utils::DEG2RAD (const int x)
	Degrees to radians.
double	mrpt::mrpt::utils::RAD2DEG (const double x)
	Radians to degrees.
float	mrpt::mrpt::utils::RAD2DEG (const float x)
	Radians to degrees.
template<typename T >
int	mrpt::mrpt::utils::sign (T x)
	Returns the sign of X as "1" or "-1".
template<typename T >
int	mrpt::mrpt::utils::signWithZero (T x)
	Returns the sign of X as "0", "1" or "-1".
template<typename T >
int	mrpt::mrpt::utils::round (const T value)
	Returns the closer integer (int) to x.
template<typename T >
long	mrpt::mrpt::utils::round_long (const T value)
	Returns the closer integer (long) to x.
template<typename T >
int	mrpt::mrpt::utils::fix (T x)
	Rounds toward zero.
template<class R , class P >
R *	mrpt::mrpt::utils::getAs (stlplus::smart_ptr_clone< P > &o)
	Utility to get a cast'ed pointer from a smart pointer.
template<class R , class P >
const R *	mrpt::mrpt::utils::getAs (const stlplus::smart_ptr_clone< P > &o)
	Utility to get a cast'ed pointer from a smart pointer.
template<class T >
void	mrpt::mrpt::utils::reverseBytesInPlace (T &v_in_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)
template<class T >
void	mrpt::mrpt::utils::reverseBytes (const T &v_in, T &v_out)
	Reverse the order of the bytes of a given type (useful for transforming btw little/big endian)
template<typename T , typename K >
void	mrpt::mrpt::utils::keep_min (T &var, const K test_val)
	If the second argument is below the first one, set the first argument to this lower value.
template<typename T , typename K >
void	mrpt::mrpt::utils::keep_max (T &var, const K test_val)
	If the second argument is above the first one, set the first argument to this higher value.
template<class T >
void	mrpt::mrpt::utils::delete_safe (T *&ptr)
	Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL.
template<class T >
void	mrpt::mrpt::utils::vector_strong_clear (std::vector< T > &v)
	Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory.
Variables
class BASE_IMPEXP	mrpt::mrpt::utils::CStream