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mrpt::maps::CPointsMap Class Referenceabstract

Detailed Description

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

This is a virtual class, thus only a derived class can be instantiated by the user. The user most usually wants to use CSimplePointsMap.

This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:

If built against liblas, this class also provides method for loading and saving in the standard LAS LiDAR point cloud format: saveLASFile(), loadLASFile()

See Also
CMetricMap, CPoint, mrpt::utils::CSerializable

Definition at line 56 of file maps/CPointsMap.h.

#include <mrpt/maps/CPointsMap.h>

Inheritance diagram for mrpt::maps::CPointsMap:
Inheritance graph

Classes

struct  LAS_HeaderInfo
 Extra information gathered from the LAS file header. More...
 
struct  LAS_LoadParams
 Optional settings for loadLASFile() More...
 
struct  LAS_WriteParams
 Optional settings for saveLASFile() More...
 
struct  TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
 
struct  TLaserRange2DInsertContext
 Helper struct used for internal_loadFromRangeScan2D_prepareOneRange() More...
 
struct  TLaserRange3DInsertContext
 Helper struct used for internal_loadFromRangeScan3D_prepareOneRange() More...
 
struct  TLikelihoodOptions
 Options used when evaluating "computeObservationLikelihood" in the derived classes. More...
 

Public Types

typedef KDTreeCapable
< CPointsMap, float,
nanoflann::L2_Simple_Adaptor
< float,CPointsMap > > 
self_t
 

Public Member Functions

 CPointsMap ()
 Ctor. More...
 
virtual ~CPointsMap ()
 Virtual destructor. More...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const MRPT_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
 Returns the number of stored points in the map. More...
 
unsigned long getPoint (size_t index, float &x, float &y, float &z) const
 Access to a given point from map, as a 2D point. More...
 
unsigned long getPoint (size_t index, float &x, float &y) const
 
unsigned long getPoint (size_t index, double &x, double &y, double &z) const
 
unsigned long getPoint (size_t index, double &x, double &y) const
 
unsigned long getPoint (size_t index, mrpt::math::TPoint2D &p) const
 
unsigned long getPoint (size_t index, mrpt::math::TPoint3D &p) const
 
virtual void getPoint (size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const
 Access to a given point from map, and its colors, if the map defines them (othersise, R=G=B=1.0). More...
 
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...
 
virtual bool hasColorPoints () const
 Returns true if the point map has a color field for each point. 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, mrpt::math::TPoint2D &p)
 
void setPoint (size_t index, mrpt::math::TPoint3D &p)
 
void setPoint (size_t index, float x, float y)
 
virtual void setPoint (size_t index, float x, float y, float z, float R, float G, float B)
 
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 NULL if there is no points in the map. More...
 
const std::vector< float > & getPointsBufferRef_x () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
const std::vector< float > & getPointsBufferRef_y () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
const 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...
 
void getAllPoints (std::vector< mrpt::math::TPoint3D > &ps, size_t decimation=1) const
 
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)
 
virtual void insertPoint (float x, float y, float z, float R, float G, float B)
 
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...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const MRPT_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 MRPT_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::utils::TMatchingPairList &correspondences, float &correspondencesRatio)
 Computes the matchings between this and another 3D points map. More...
 
virtual void loadFromRangeScan (const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL)=0
 Transform the range scan into a set of cartessian coordinated points. More...
 
virtual void loadFromRangeScan (const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL)=0
 Overload of loadFromRangeScan() for 3D range scans (for example, Kinect observations). More...
 
void loadFromVelodyneScan (const mrpt::obs::CObservationVelodyneScan &scan, const mrpt::poses::CPose3D *robotPose=NULL)
 Like loadFromRangeScan() for Velodyne 3D scans. More...
 
void fuseWith (CPointsMap *anotherMap, float minDistForFuse=0.02f, std::vector< bool > *notFusedPoints=NULL)
 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...
 
virtual bool isEmpty () const MRPT_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...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
 Returns a 3D object representing the map. More...
 
virtual const
mrpt::maps::CSimplePointsMap
getAsSimplePointsMap () const MRPT_OVERRIDE
 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...
 
virtual
mrpt::maps::CSimplePointsMap
getAsSimplePointsMap () MRPT_OVERRIDE
 
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...
 
virtual double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE
 Internal method called by computeObservationLikelihood() 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)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
bool insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
 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)
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
bool canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs)
 
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)
 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 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...
 
virtual CObject * duplicate () const =0
 Returns a copy of the object, indepently of its class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 
const CPointsMapderived () const
 CRTP helper method. More...
 
CPointsMapderived ()
 CRTP helper method. More...
 
bool loadFromPlyFile (const std::string &filename, CStringList *file_comments=NULL, CStringList *file_obj_info=NULL)
 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 CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) 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...
 
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 MRPT_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...
 
virtual bool savePCDFile (const std::string &filename, bool save_as_binary) const
 Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL) More...
 
virtual bool loadPCDFile (const std::string &filename)
 Load the point cloud from a PCL PCD file (requires MRPT built against PCL) More...
 
virtual bool saveLASFile (const std::string &filename, const LAS_WriteParams &params=LAS_WriteParams()) const
 Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas). More...
 
virtual bool loadLASFile (const std::string &filename, LAS_HeaderInfo &out_headerInfo, const LAS_LoadParams &params=LAS_LoadParams())
 Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas). 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
 
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 floatx0, const floaty0, const floatz0, const floatmaxRadiusSqr, 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 floatx0, const floaty0, const floatmaxRadiusSqr, 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
 

Public Attributes

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

Static Public Attributes

static float COLOR_3DSCENE_R
 The color [0,1] of points when extracted from getAs3DObject (default=blue) More...
 
static float COLOR_3DSCENE_G
 
static float COLOR_3DSCENE_B
 
static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCMetricMap
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void mark_as_modified () const
 Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such. More...
 
bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose) MRPT_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...
 
virtual void writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
virtual void readFromStream (mrpt::utils::CStream &in, int version)=0
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. 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...
 
PLY Import virtual methods to implement in base classes
virtual void PLY_import_set_face_count (const size_t N) MRPT_OVERRIDE
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...
 
virtual void PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL) MRPT_OVERRIDE
 In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...
 
PLY Export virtual methods to implement in base classes
size_t PLY_export_get_vertex_count () const MRPT_OVERRIDE
 In a base class, return the number of vertices. More...
 
size_t PLY_export_get_face_count () const MRPT_OVERRIDE
 In a base class, return the number of faces. More...
 
virtual void PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const MRPT_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
virtual void PLY_import_set_vertex_count (const size_t N)=0
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...
 

Protected Attributes

std::vector< float > x
 
std::vector< float > y
 
std::vector< float > z
 The point coordinates. More...
 
mrpt::obs::CSinCosLookUpTableFor2DScans m_scans_sincos_cache
 Cache of sin/cos values for the latest 2D scan geometries. More...
 
float m_largestDistanceFromOrigin
 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
 The minimum and maximum height for a certain laser scan to be inserted into this map. More...
 
double m_heightfilter_z_max
 
bool m_heightfilter_enabled
 Whether or not (default=not) filter the input points by height. More...
 

Friends

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

RTTI stuff

static const
mrpt::utils::TRuntimeClassId 
classCPointsMap
 
class mrpt::utils::CStream
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 

Pure virtual interfaces to be implemented by any class derived from CPointsMap

virtual void reserve (size_t newLength)=0
 Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. More...
 
virtual void resize (size_t newLength)=0
 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...
 
virtual void setSize (size_t newLength)=0
 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...
 
virtual void setPointFast (size_t index, float x, float y, float z)=0
 Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified() More...
 
virtual void insertPointFast (float x, float y, float z=0)=0
 The virtual method for insertPoint() without calling mark_as_modified() More...
 
virtual void copyFrom (const CPointsMap &obj)=0
 Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one. More...
 
virtual void getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const =0
 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...
 
virtual void setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data)=0
 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...
 
virtual void addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints)=0
 Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data. More...
 

Member Typedef Documentation

Definition at line 71 of file KDTreeCapable.h.

Constructor & Destructor Documentation

mrpt::maps::CPointsMap::CPointsMap ( )

Ctor.

virtual mrpt::maps::CPointsMap::~CPointsMap ( )
virtual

Virtual destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CPointsMap::_GetBaseClass ( )
staticprotected
virtual void mrpt::maps::CPointsMap::addFrom ( const CPointsMap anotherMap)
virtual

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.
virtual void mrpt::maps::CPointsMap::addFrom_classSpecific ( const CPointsMap anotherMap,
const size_t  nPreviousPoints 
)
protectedpure virtual

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

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

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

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.
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 235 of file maps/CMetricMap.h.

void mrpt::maps::CPointsMap::base_copyFrom ( const CPointsMap obj)
protected

Helper method for ::copyFrom()

void mrpt::maps::CPointsMap::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.

Results are cached unless the map is somehow modified to avoid repeated calculations.

void mrpt::maps::CPointsMap::boundingBox ( mrpt::math::TPoint3D pMin,
mrpt::math::TPoint3D pMax 
) const
inline
virtual bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation obs)
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).

Parameters
obsThe observation.
See Also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood
bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr &  obs)
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

bool mrpt::maps::CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf)
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).

Parameters
sfThe observations.
See Also
canComputeObservationLikelihood
void mrpt::maps::CPointsMap::changeCoordinatesReference ( const mrpt::poses::CPose2D b)

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

void mrpt::maps::CPointsMap::changeCoordinatesReference ( const mrpt::poses::CPose3D b)

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

void mrpt::maps::CPointsMap::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).

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

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

void mrpt::maps::CPointsMap::clipOutOfRangeInZ ( float  zMin,
float  zMax 
)

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

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

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

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

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.

double mrpt::maps::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.

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
double mrpt::maps::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.

double mrpt::maps::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.

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
virtual void mrpt::maps::CPointsMap::copyFrom ( const CPointsMap obj)
pure virtual

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

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

const CPointsMap & mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float ,CPointsMap > >::derived ( ) const
inlineinherited

CRTP helper method.

Definition at line 81 of file KDTreeCapable.h.

CPointsMap & mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float ,CPointsMap > >::derived ( )
inlineinherited

CRTP helper method.

Definition at line 83 of file KDTreeCapable.h.

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

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.

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

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.

virtual CObject* mrpt::utils::CObject::duplicate ( ) const
pure virtualinherited

Returns a copy of the object, indepently of its class.

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::gui::CDisplayWindow3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::poses::CPose3DInterpolator, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::gui::CDisplayWindowPlots, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

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

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

Definition at line 627 of file maps/CPointsMap.h.

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

Enable/disable the filter-by-height functionality.

See Also
setHeightFilterLevels
Note
Default upon construction is disabled.

Definition at line 680 of file maps/CPointsMap.h.

void mrpt::maps::CPointsMap::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.

void mrpt::maps::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 
)

Extracts the points in the map within the area defined by two corners.

The points are coloured according the R,G,B input data.

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

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
template<class VECTOR >
void mrpt::maps::CPointsMap::getAllPoints ( VECTOR &  xs,
VECTOR &  ys,
VECTOR &  zs,
size_t  decimation = 1 
) const
inline

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 402 of file maps/CPointsMap.h.

References ASSERT_, MRPT_END, and MRPT_START.

void mrpt::maps::CPointsMap::getAllPoints ( std::vector< mrpt::math::TPoint3D > &  ps,
size_t  decimation = 1 
) const
inline

Definition at line 420 of file maps/CPointsMap.h.

void mrpt::maps::CPointsMap::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.

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

Definition at line 437 of file maps/CPointsMap.h.

virtual void mrpt::maps::CPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj) const
virtual

Returns a 3D object representing the map.

The color of the points is given by the static variables: COLOR_3DSCENE_R,COLOR_3DSCENE_G,COLOR_3DSCENE_B

See Also
mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE

Implements mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CColouredPointsMap.

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CPointsMap::getAsSimplePointsMap ( ) const
inlinevirtual

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 NULL

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap.

Definition at line 638 of file maps/CPointsMap.h.

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CPointsMap::getAsSimplePointsMap ( )
inlinevirtual

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap.

Definition at line 639 of file maps/CPointsMap.h.

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

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

See Also
enableFilterByHeight, setHeightFilterLevels

Definition at line 687 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::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).

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

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 646 of file maps/CPointsMap.h.

std::string mrpt::utils::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 41 of file PLY_import_export.h.

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

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 715 of file maps/CPointsMap.h.

References mrpt::math::size().

unsigned long mrpt::maps::CPointsMap::getPoint ( size_t  index,
float &  x,
float &  y,
float &  z 
) const

Access to a given point from map, as a 2D point.

First index is 0.

Returns
The return value is the weight of the point (the times it has been fused), or 1 if weights are not used.
Exceptions
Throwsstd::exception on index out of bound.
See Also
setPoint, getPointFast
unsigned long mrpt::maps::CPointsMap::getPoint ( size_t  index,
float &  x,
float &  y 
) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

unsigned long mrpt::maps::CPointsMap::getPoint ( size_t  index,
double &  x,
double &  y,
double &  z 
) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

unsigned long mrpt::maps::CPointsMap::getPoint ( size_t  index,
double &  x,
double &  y 
) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

unsigned long mrpt::maps::CPointsMap::getPoint ( size_t  index,
mrpt::math::TPoint2D p 
) const
inline

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 334 of file maps/CPointsMap.h.

References getPoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by getPoint().

unsigned long mrpt::maps::CPointsMap::getPoint ( size_t  index,
mrpt::math::TPoint3D p 
) const
inline

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 336 of file maps/CPointsMap.h.

References getPoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by getPoint().

virtual void mrpt::maps::CPointsMap::getPoint ( size_t  index,
float &  x,
float &  y,
float &  z,
float &  R,
float &  G,
float &  B 
) const
inlinevirtual

Access to a given point from map, and its colors, if the map defines them (othersise, R=G=B=1.0).

First index is 0.

Returns
The return value is the weight of the point (the times it has been fused)
Exceptions
Throwsstd::exception on index out of bound.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 342 of file maps/CPointsMap.h.

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

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 489 of file maps/CPointsMap.h.

References ASSERT_BELOW_, and mrpt::math::size().

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

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...

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

See Also
getPointAllFields, setPointAllFields, setPointAllFieldsFast

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

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

Just like getPoint() but without checking out-of-bound index and without returning the point weight, just XYZ.

Definition at line 350 of file maps/CPointsMap.h.

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

Provides a direct access to points buffer, or NULL if there is no points in the map.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud().

const std::vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_x ( ) const
inline

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

See Also
getAllPoints

Definition at line 390 of file maps/CPointsMap.h.

const std::vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_y ( ) const
inline

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

See Also
getAllPoints

Definition at line 392 of file maps/CPointsMap.h.

const std::vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_z ( ) const
inline

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

See Also
getAllPoints

Definition at line 394 of file maps/CPointsMap.h.

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

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 382 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CPointsMap::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap, mrpt::maps::CColouredPointsMap, and mrpt::maps::CWeightedPointsMap.

std::string mrpt::utils::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 87 of file PLY_import_export.h.

virtual bool mrpt::maps::CPointsMap::hasColorPoints ( ) const
inlinevirtual

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

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 353 of file maps/CPointsMap.h.

bool mrpt::utils::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 52 of file CObservable.h.

void mrpt::maps::CPointsMap::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.

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

Insert the observation information into this map.

This method must be implemented in derived classes.

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
bool mrpt::maps::CMetricMap::insertObservationPtr ( const mrpt::obs::CObservationPtr &  obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

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

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

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 450 of file maps/CPointsMap.h.

void mrpt::maps::CPointsMap::insertPoint ( const mrpt::math::TPoint3D p)
inline

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 452 of file maps/CPointsMap.h.

References insertPoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by insertPoint().

virtual void mrpt::maps::CPointsMap::insertPoint ( float  x,
float  y,
float  z,
float  R,
float  G,
float  B 
)
inlinevirtual

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 454 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

virtual void mrpt::maps::CPointsMap::insertPointFast ( float  x,
float  y,
float  z = 0 
)
pure virtual
virtual double mrpt::maps::CPointsMap::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
virtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

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

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.

virtual bool mrpt::maps::CPointsMap::isEmpty ( ) const
virtual

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

Implements mrpt::maps::CMetricMap.

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

Return whether filter-by-height is enabled.

See Also
enableFilterByHeight

Definition at line 682 of file maps/CPointsMap.h.

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

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 766 of file maps/CPointsMap.h.

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

Definition at line 787 of file maps/CPointsMap.h.

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

Must return the number of data points.

Definition at line 756 of file maps/CPointsMap.h.

References mrpt::math::size().

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

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

Definition at line 759 of file maps/CPointsMap.h.

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 672 of file KDTreeCapable.h.

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 114 of file KDTreeCapable.h.

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 144 of file KDTreeCapable.h.

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 167 of file KDTreeCapable.h.

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 177 of file KDTreeCapable.h.

float mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float ,CPointsMap > >::kdTreeClosestPoint2DsqrError ( const TPoint2D p0) const
inlineinherited

Definition at line 186 of file KDTreeCapable.h.

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 372 of file KDTreeCapable.h.

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 406 of file KDTreeCapable.h.

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 432 of file KDTreeCapable.h.

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 271 of file KDTreeCapable.h.

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 304 of file KDTreeCapable.h.

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 329 of file KDTreeCapable.h.

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 351 of file KDTreeCapable.h.

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 458 of file KDTreeCapable.h.

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 551 of file KDTreeCapable.h.

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 640 of file KDTreeCapable.h.

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 664 of file KDTreeCapable.h.

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 513 of file KDTreeCapable.h.

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 608 of file KDTreeCapable.h.

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 577 of file KDTreeCapable.h.

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 207 of file KDTreeCapable.h.

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 244 of file KDTreeCapable.h.

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

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 244 of file maps/CPointsMap.h.

bool mrpt::maps::CPointsMap::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

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

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 249 of file maps/CPointsMap.h.

bool mrpt::utils::PLY_Importer::loadFromPlyFile ( const std::string &  filename,
CStringList file_comments = NULL,
CStringList file_obj_info = NULL 
)
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 (!=NULL) the list of comment strings stored in the file will be returned.
[out]file_obj_infoIf provided (!=NULL) 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()
void mrpt::maps::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 automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See Also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...
virtual void mrpt::maps::CPointsMap::loadFromRangeScan ( const mrpt::obs::CObservation2DRangeScan rangeScan,
const mrpt::poses::CPose3D robotPose = NULL 
)
pure virtual

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

The options in "insertionOptions" are considered in this method.

Parameters
rangeScanThe scan to be inserted into 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).

Only ranges marked as "valid=true" in the observation will be inserted

Note
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.
See Also
CObservation2DRangeScan, CObservation3DRangeScan

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

virtual void mrpt::maps::CPointsMap::loadFromRangeScan ( const mrpt::obs::CObservation3DRangeScan rangeScan,
const mrpt::poses::CPose3D robotPose = NULL 
)
pure virtual

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

Parameters
rangeScanThe scan to be inserted into 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).
Note
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.
See Also
loadFromVelodyneScan

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap Map)
inlineinherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" 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 105 of file maps/CMetricMap.h.

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

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
virtual bool mrpt::maps::CPointsMap::loadLASFile ( const std::string &  filename,
LAS_HeaderInfo out_headerInfo,
const LAS_LoadParams params = LAS_LoadParams() 
)
virtual

Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas).

Refer to http://www.liblas.org/

Note
Color (RGB) information will be taken into account if using the derived class mrpt::maps::CColouredPointsMap
Returns
false on any error
virtual bool mrpt::maps::CPointsMap::loadPCDFile ( const std::string &  filename)
virtual

Load the point cloud from a PCL PCD file (requires MRPT built against PCL)

Returns
false on any error
void mrpt::maps::CPointsMap::mark_as_modified ( ) const
inlineprotected

Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such.

Definition at line 823 of file maps/CPointsMap.h.

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

This operator is synonymous with addFrom.

See Also
addFrom

Definition at line 223 of file maps/CPointsMap.h.

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

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 853 of file maps/CPointsMap.h.

virtual void mrpt::maps::CPointsMap::PLY_export_get_vertex ( const size_t  idx,
mrpt::math::TPoint3Df pt,
bool &  pt_has_color,
mrpt::utils::TColorf pt_color 
) const
protectedvirtual

In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.

Parameters
pt_colorWill be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Exporter.

Reimplemented in mrpt::maps::CColouredPointsMap.

size_t mrpt::maps::CPointsMap::PLY_export_get_vertex_count ( ) const
protectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

virtual void mrpt::maps::CPointsMap::PLY_import_set_face_count ( const size_t  N)
inlineprotectedvirtual

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

Implements mrpt::utils::PLY_Importer.

Definition at line 842 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

virtual void mrpt::maps::CPointsMap::PLY_import_set_vertex ( const size_t  idx,
const mrpt::math::TPoint3Df pt,
const mrpt::utils::TColorf pt_color = NULL 
)
protectedvirtual

In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.

Parameters
pt_colorWill be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Importer.

Reimplemented in mrpt::maps::CColouredPointsMap.

virtual void mrpt::utils::PLY_Importer::PLY_import_set_vertex_count ( const size_t  N)
protectedpure virtualinherited

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

Implemented in mrpt::maps::CColouredPointsMap, mrpt::opengl::CPointCloudColoured, mrpt::maps::CWeightedPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::opengl::CPointCloud.

void mrpt::utils::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.

virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer
See Also
CStream

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::poses::CPose3DInterpolator, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

virtual void mrpt::maps::CPointsMap::reserve ( size_t  newLength)
pure virtual

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.

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

virtual void mrpt::maps::CPointsMap::resize ( size_t  newLength)
pure virtual

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

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

bool mrpt::maps::CPointsMap::save2D_to_text_file ( const std::string &  file) const

Save to a text file.

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

bool mrpt::maps::CPointsMap::save3D_to_text_file ( const std::string &  file) const

Save to a text file.

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

virtual bool mrpt::maps::CPointsMap::saveLASFile ( const std::string &  filename,
const LAS_WriteParams params = LAS_WriteParams() 
) const
virtual

Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas).

Refer to http://www.liblas.org/

Returns
false on any error
void mrpt::maps::CPointsMap::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix) const
inlinevirtual

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 265 of file maps/CPointsMap.h.

virtual bool mrpt::maps::CPointsMap::savePCDFile ( const std::string &  filename,
bool  save_as_binary 
) const
virtual

Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL)

Returns
false on any error

Reimplemented in mrpt::maps::CColouredPointsMap.

bool mrpt::utils::PLY_Exporter::saveToPlyFile ( const std::string &  filename,
bool  save_in_binary = false,
const CStringList file_comments = CStringList(),
const CStringList file_obj_info = CStringList() 
) const
inherited

Saves to a PLY file.

Parameters
[in]filenameThe filename to be saved.
[in]file_commentsIf provided (!=NULL) the list of comment strings stored in the file will be returned.
[in]file_obj_infoIf provided (!=NULL) 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()
void mrpt::maps::CPointsMap::setAllPoints ( const std::vector< float > &  X,
const std::vector< float > &  Y,
const std::vector< float > &  Z 
)
inline

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

See Also
getAllPoints

Definition at line 477 of file maps/CPointsMap.h.

void mrpt::maps::CPointsMap::setAllPoints ( const std::vector< float > &  X,
const std::vector< float > &  Y 
)
inline

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

See Also
getAllPoints

Definition at line 482 of file maps/CPointsMap.h.

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

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 464 of file maps/CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, and setSize().

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

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 741 of file maps/CPointsMap.h.

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

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

Definition at line 685 of file maps/CPointsMap.h.

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

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 358 of file maps/CPointsMap.h.

References ASSERT_BELOW_, and mrpt::math::size().

void mrpt::maps::CPointsMap::setPoint ( size_t  index,
mrpt::math::TPoint2D p 
)
inline

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 364 of file maps/CPointsMap.h.

References setPoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by setPoint().

void mrpt::maps::CPointsMap::setPoint ( size_t  index,
mrpt::math::TPoint3D p 
)
inline

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 366 of file maps/CPointsMap.h.

References setPoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by setPoint().

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

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 368 of file maps/CPointsMap.h.

References setPoint().

Referenced by setPoint().

virtual void mrpt::maps::CPointsMap::setPoint ( size_t  index,
float  x,
float  y,
float  z,
float  R,
float  G,
float  B 
)
inlinevirtual

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 370 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

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

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 498 of file maps/CPointsMap.h.

References ASSERT_BELOW_, and mrpt::math::size().

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

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

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CSimplePointsMap.

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

Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified()

See Also
setPoint

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

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

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 377 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

virtual void mrpt::maps::CPointsMap::setSize ( size_t  newLength)
pure virtual

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

Implemented in mrpt::maps::CColouredPointsMap, mrpt::maps::CSimplePointsMap, and mrpt::maps::CWeightedPointsMap.

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

Returns the number of stored points in the map.

Definition at line 319 of file maps/CPointsMap.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation().

virtual float mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence ( float  x0,
float  y0 
) const
virtual

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented from mrpt::maps::CMetricMap.

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

Definition at line 156 of file maps/CPointsMap.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::poses::CPose3DInterpolator, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

Friends And Related Function Documentation

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

Definition at line 867 of file maps/CPointsMap.h.

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

Definition at line 868 of file maps/CPointsMap.h.

friend class mrpt::utils::CStream
friend

Definition at line 63 of file maps/CPointsMap.h.

Member Data Documentation

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::classCMetricMap
staticinherited

Definition at line 57 of file maps/CMetricMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::maps::CPointsMap::classCPointsMap
static

Definition at line 63 of file maps/CPointsMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

float mrpt::maps::CPointsMap::COLOR_3DSCENE_B
static

Definition at line 694 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::COLOR_3DSCENE_G
static

Definition at line 693 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::COLOR_3DSCENE_R
static

The color [0,1] of points when extracted from getAs3DObject (default=blue)

Definition at line 692 of file maps/CPointsMap.h.

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

Common params to all maps.

Definition at line 230 of file maps/CMetricMap.h.

TInsertionOptions mrpt::maps::CPointsMap::insertionOptions

The options used when inserting observations in the map.

Definition at line 185 of file maps/CPointsMap.h.

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 94 of file KDTreeCapable.h.

TLikelihoodOptions mrpt::maps::CPointsMap::likelihoodOptions

Definition at line 207 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_bb_max_x
mutableprotected

Definition at line 819 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_bb_max_y
mutableprotected

Definition at line 819 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_bb_max_z
mutableprotected

Definition at line 819 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_bb_min_x
mutableprotected

Definition at line 819 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_bb_min_y
mutableprotected

Definition at line 819 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_bb_min_z
mutableprotected

Definition at line 819 of file maps/CPointsMap.h.

bool mrpt::maps::CPointsMap::m_boundingBoxIsUpdated
mutableprotected

Definition at line 818 of file maps/CPointsMap.h.

bool mrpt::maps::CPointsMap::m_heightfilter_enabled
protected

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

See Also
m_heightfilter_z_min, m_heightfilter_z_max

Definition at line 863 of file maps/CPointsMap.h.

double mrpt::maps::CPointsMap::m_heightfilter_z_max
protected

Definition at line 859 of file maps/CPointsMap.h.

double mrpt::maps::CPointsMap::m_heightfilter_z_min
protected

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

See Also
m_heightfilter_enabled

Definition at line 859 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_largestDistanceFromOrigin
mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See Also
getLargestDistanceFromOrigin

Definition at line 811 of file maps/CPointsMap.h.

bool mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated
mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See Also
getLargestDistanceFromOrigin

Definition at line 816 of file maps/CPointsMap.h.

mrpt::obs::CSinCosLookUpTableFor2DScans mrpt::maps::CPointsMap::m_scans_sincos_cache
protected

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

Definition at line 806 of file maps/CPointsMap.h.

std::vector<float> mrpt::maps::CPointsMap::x
protected

Definition at line 804 of file maps/CPointsMap.h.

std::vector<float> mrpt::maps::CPointsMap::y
protected

Definition at line 804 of file maps/CPointsMap.h.

std::vector<float> mrpt::maps::CPointsMap::z
protected

The point coordinates.

Definition at line 804 of file maps/CPointsMap.h.




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