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CColouredPointsMap.h File Reference
#include <mrpt/slam/CPointsMap.h>
#include <mrpt/slam/CObservation2DRangeScan.h>
#include <mrpt/slam/CObservationImage.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/utils/stl_extensions.h>
#include <mrpt/maps/link_pragmas.h>
#include <mrpt/utils/adapters.h>
Include dependency graph for CColouredPointsMap.h:
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Go to the source code of this file.

Classes

struct  mrpt::slam::CColouredPointsMapPtr
 
class  mrpt::slam::CColouredPointsMap
 A map of 2D/3D points with individual colours (RGB). More...
 
struct  mrpt::slam::CColouredPointsMap::TColourOptions
 The definition of parameters for generating colors from laser scans. More...
 
struct  mrpt::mrpt::math::detail::TAuxResizer< MAT, TypeSizeAtCompileTime >
 Internal resize which compiles to nothing on fixed-size matrices. More...
 
struct  mrpt::mrpt::math::detail::TAuxResizer< MAT,-1 >
 
class  mrpt::mrpt::math::CMatrixTemplate< T >
 
class  mrpt::mrpt::math::CMatrixTemplateObjects< T >
 
class  mrpt::mrpt::math::detail::VicinityTraits< T >
 The purpose of this class is to model traits for containers, so that they can be used as return values for the function CMatrixTemplate::getVicinity. More...
 
struct  mrpt::mrpt::math::detail::getVicinity< MatrixType, T, ReturnType, D >
 This huge template encapsulates a function to get the vicinity of an element, with maximum genericity. More...
 
struct  mrpt::mrpt::dynamicsize_vector< T >
 The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized constructors that resemble std::vector. More...
 
struct  mrpt::mrpt::aligned_containers< TYPE1, TYPE2 >
 Helper types for STL containers with Eigen memory allocators. More...
 
class  mrpt::stlplus::null_dereference
 
class  mrpt::stlplus::end_dereference
 
class  mrpt::stlplus::wrong_object
 
class  mrpt::stlplus::illegal_copy
 
class  mrpt::mrpt::synch::CAtomicCounter
 This class acts exactly as an int (or long) variable, but with atomic increment and decrement operators. More...
 
class  mrpt::stlplus::smart_ptr_holder< T, COUNTER >
 
class  mrpt::stlplus::smart_ptr_base< T, C, COUNTER >
 
class  mrpt::stlplus::constructor_copy< T >
 
class  mrpt::stlplus::clone_copy< T >
 
class  mrpt::stlplus::no_copy< T >
 
class  mrpt::stlplus::smart_ptr< T, COUNTER >
 
class  mrpt::stlplus::smart_ptr_clone< T, COUNTER >
 
class  mrpt::stlplus::smart_ptr_nocopy< T, COUNTER >
 
class  mrpt::stlplus::smart_ptr_holder< T, COUNTER >
 
struct  mrpt::mrpt::utils::CProfilerProxy
 
class  mrpt::mrpt::utils::PointCloudAdapter< POINTCLOUD >
 An adapter to different kinds of point cloud object. More...
 
class  mrpt::mrpt::utils::detail::PointCloudAdapterHelperNoRGB< POINTMAPTYPE, coords_t >
 A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed interface methods which fall back to XYZ-only methods. More...
 
class  mrpt::utils::PointCloudAdapter< mrpt::slam::CColouredPointsMap >
 Specialization mrpt::utils::PointCloudAdapter<mrpt::slam::CColouredPointsMap> More...
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::slam
 This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.
 
 mrpt::mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::mrpt::utils
 
 mrpt::mrpt::system
 This namespace provides a OS-independent interface to many useful functions: filenames manipulation, time and date, string parsing, file I/O, threading, memory allocation, etc.
 
 mrpt::mrpt::poses
 
 mrpt::mrpt::math
 
 mrpt::mrpt::math::detail
 
 mrpt::mrpt::system::os
 This namespace provides a OS-independent interface to low-level functions.
 
 mrpt::stlplus
 
 mrpt::mrpt::synch
 
 mrpt::mrpt::utils::detail
 
 mrpt::utils
 Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
 

Typedefs

typedef dynamicsize_vector< float > mrpt::mrpt::vector_float
 
typedef dynamicsize_vector< double > mrpt::mrpt::vector_double
 
typedef std::vector< int8_t > mrpt::mrpt::vector_signed_byte
 
typedef std::vector< int16_t > mrpt::mrpt::vector_signed_word
 
typedef std::vector< int32_t > mrpt::mrpt::vector_int
 
typedef std::vector< int64_t > mrpt::mrpt::vector_long
 
typedef std::vector< size_t > mrpt::mrpt::vector_size_t
 
typedef std::vector< uint8_t > mrpt::mrpt::vector_byte
 
typedef std::vector< uint16_t > mrpt::mrpt::vector_word
 
typedef std::vector< uint32_t > mrpt::mrpt::vector_uint
 
typedef std::vector< bool > mrpt::mrpt::vector_bool
 A type for passing a vector of bools. More...
 
typedef std::vector< std::string > mrpt::mrpt::vector_string
 A type for passing a vector of strings. More...
 
typedef unsigned long mrpt::mrpt::utils::POINTER_TYPE
 For performing type casting from a pointer to its numeric value. More...
 
typedef uint64_t mrpt::mrpt::utils::TNodeID
 The type for node IDs in graphs of different types. More...
 
typedef std::pair< TNodeID, TNodeID > mrpt::mrpt::utils::TPairNodeIDs
 A pair of node IDs. More...
 

Enumerations

enum  mrpt::mrpt::math::TMatrixTextFileFormat { mrpt::mrpt::math::MATRIX_FORMAT_ENG = 0, mrpt::mrpt::math::MATRIX_FORMAT_FIXED = 1, mrpt::mrpt::math::MATRIX_FORMAT_INT = 2 }
 
enum  mrpt::mrpt::math::TConstructorFlags_Matrices { mrpt::mrpt::math::UNINITIALIZED_MATRIX = 0 }
 For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time. More...
 
enum  mrpt::mrpt::system::TConsoleColor { mrpt::mrpt::system::CONCOL_NORMAL = 0, mrpt::mrpt::system::CONCOL_BLUE = 1, mrpt::mrpt::system::CONCOL_GREEN = 2, mrpt::mrpt::system::CONCOL_RED = 4 }
 For use in setConsoleColor. More...
 

Functions

::mrpt::utils::CStreammrpt::slam::operator>> (mrpt::utils::CStream &in, CColouredPointsMapPtr &pObj)
 
template<class T >
mrpt::mrpt::utils::square (const T x)
 Inline function for the square of a number. More...
 
std::string BASE_IMPEXP mrpt::mrpt::system::MRPT_getVersion ()
 Returns a string describing the MRPT version including the SVN number. More...
 
template<class CONTAINER1 , class CONTAINER2 >
void mrpt::mrpt::math::cumsum (const CONTAINER1 &in_data, CONTAINER2 &out_cumsum)
 
template<class CONTAINER >
CONTAINER::Scalar mrpt::mrpt::math::norm (const CONTAINER &v)
 
template<class CONTAINER >
CONTAINER::Scalar mrpt::mrpt::math::norm_inf (const CONTAINER &v)
 
template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT >
void mrpt::mrpt::math::multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out)
 Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More...
 
template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT >
void mrpt::mrpt::math::multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out)
 Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More...
 
TPoint2D BASE_IMPEXP mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPoint2D &p)
 Convert a pose into a light-weight structure (functional form, needed for forward declarations) More...
 
TPoint3D BASE_IMPEXP mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPoint3D &p)
 Convert a pose into a light-weight structure (functional form, needed for forward declarations) More...
 
TPose2D BASE_IMPEXP mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPose2D &p)
 Convert a pose into a light-weight structure (functional form, needed for forward declarations) More...
 
TPose3D BASE_IMPEXP mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPose3D &p)
 Convert a pose into a light-weight structure (functional form, needed for forward declarations) More...
 
TPose3DQuat BASE_IMPEXP mrpt::mrpt::math::detail::lightFromPose (const mrpt::poses::CPose3DQuat &p)
 Convert a pose into a light-weight structure (functional form, needed for forward declarations) More...
 
template<class MATORG , class MATDEST >
void mrpt::mrpt::math::detail::extractMatrix (const MATORG &M, const size_t first_row, const size_t first_col, MATDEST &outMat)
 Extract a submatrix - The output matrix must be set to the required size before call. More...
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPoint2D &p)
 Conversion of poses to MRPT containers (vector/matrix) More...
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPoint3D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPose2D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPose3D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const TPose3DQuat &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPoint2D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPoint3D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPose2D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPose3D &p)
 
template<class CONTAINER >
CONTAINER & mrpt::mrpt::math::containerFromPoseOrPoint (CONTAINER &C, const mrpt::poses::CPose3DQuat &p)
 
template<class T >
mrpt::mrpt::math::wrapTo2Pi (T a)
 Modifies the given angle to translate it into the [0,2pi[ range. More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::sprintf (char *buf, size_t bufSize, const char *format,...) MRPT_NO_THROWS MRPT_printf_format_check(3
 An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compilers) More...
 
int BASE_IMPEXP int BASE_IMPEXP mrpt::mrpt::system::os::vsprintf (char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS
 An OS-independent version of vsprintf (Notice the bufSize param, which may be ignored in some compilers) More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::vsnprintf (char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS
 An OS-independent version of vsnprintf (Notice the bufSize param, which may be ignored in some compilers) More...
 
FILE BASE_IMPEXPmrpt::mrpt::system::os::fopen (const char *fileName, const char *mode) MRPT_NO_THROWS
 An OS-independent version of fopen. More...
 
FILE BASE_IMPEXPmrpt::mrpt::system::os::fopen (const std::string &fileName, const char *mode) MRPT_NO_THROWS
 An OS-independent version of fopen (std::string version) More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::fprintf (FILE *fil, const char *format,...) MRPT_NO_THROWS MRPT_printf_format_check(2
 An OS-independent version of fprintf. More...
 
int BASE_IMPEXP void BASE_IMPEXP mrpt::mrpt::system::os::fclose (FILE *f)
 An OS-independent version of fscanf. More...
 
char BASE_IMPEXPmrpt::mrpt::system::os::strcat (char *dest, size_t destSize, const char *source) MRPT_NO_THROWS
 An OS-independent version of strcat. More...
 
char BASE_IMPEXPmrpt::mrpt::system::os::strcpy (char *dest, size_t destSize, const char *source) MRPT_NO_THROWS
 An OS-independent version of strcpy. More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::_strcmp (const char *str1, const char *str2) MRPT_NO_THROWS
 An OS-independent version of strcmp. More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::_strcmpi (const char *str1, const char *str2) MRPT_NO_THROWS
 An OS-independent version of strcmpi. More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::_strncmp (const char *str, const char *subStr, size_t count) MRPT_NO_THROWS
 An OS-independent version of strncmp. More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::_strnicmp (const char *str, const char *subStr, size_t count) MRPT_NO_THROWS
 An OS-independent version of strnicmp. More...
 
int64_t BASE_IMPEXP mrpt::mrpt::system::os::_strtoll (const char *nptr, char **endptr, int base)
 An OS-independent version of strtoll. More...
 
uint64_t BASE_IMPEXP mrpt::mrpt::system::os::_strtoull (const char *nptr, char **endptr, int base)
 An OS-independent version of strtoull. More...
 
time_t BASE_IMPEXP mrpt::mrpt::system::os::timegm (struct tm *tm)
 An OS-independent version of timegm (which is not present in all compilers): converts a time structure into an UTM time_t. More...
 
void BASE_IMPEXP mrpt::mrpt::system::os::memcpy (void *dest, size_t destSize, const void *src, size_t copyCount) MRPT_NO_THROWS
 An OS and compiler independent version of "memcpy". More...
 
int BASE_IMPEXP mrpt::mrpt::system::os::getch () MRPT_NO_THROWS
 An OS-independent version of getch, which waits until a key is pushed. More...
 
bool BASE_IMPEXP mrpt::mrpt::system::os::kbhit () MRPT_NO_THROWS
 An OS-independent version of kbhit, which returns true if a key has been pushed. More...
 
void BASE_IMPEXP mrpt::mrpt::system::pause (const std::string &msg=std::string("Press any key to continue...")) MRPT_NO_THROWS
 Shows the message "Press any key to continue" (or other custom message) to the current standard output and returns when a key is pressed. More...
 
void BASE_IMPEXP mrpt::mrpt::system::clearConsole ()
 Clears the console window. More...
 
bool BASE_IMPEXP mrpt::mrpt::system::vectorToTextFile (const std::vector< float > &vec, const std::string &fileName, bool append=false, bool byRows=false)
 A useful function for debuging, which saves a std::vector into a text file (compat. More...
 
bool BASE_IMPEXP mrpt::mrpt::system::vectorToTextFile (const std::vector< double > &vec, const std::string &fileName, bool append=false, bool byRows=false)
 
bool BASE_IMPEXP mrpt::mrpt::system::vectorToTextFile (const std::vector< int > &vec, const std::string &fileName, bool append=false, bool byRows=false)
 
bool BASE_IMPEXP mrpt::mrpt::system::vectorToTextFile (const std::vector< size_t > &vec, const std::string &fileName, bool append=false, bool byRows=false)
 
template<class Derived >
bool mrpt::mrpt::system::vectorToTextFile (const Eigen::MatrixBase< Derived > &vec, const std::string &fileName)
 
bool BASE_IMPEXP mrpt::mrpt::system::vectorFromTextFile (std::vector< double > &vec, const std::string &fileName, const bool byRows=false)
 Load a std::vector from a text file (compat. More...
 
bool BASE_IMPEXP mrpt::mrpt::system::vectorToBinaryFile (const vector_byte &vec, const std::string &fileName)
 Saves a vector directly as a binary dump to a file: More...
 
bool BASE_IMPEXP mrpt::mrpt::system::loadBinaryFile (vector_byte &out_data, const std::string &fileName)
 Loads a entire file as a vector of bytes. More...
 
std::string BASE_IMPEXP mrpt::mrpt::system::MRPT_getCompilationDate ()
 Returns the MRPT compilation date. More...
 
const std::string BASE_IMPEXPmrpt::mrpt::system::getMRPTLicense ()
 Returns a const ref to a text with the same text that appears at the beginning of each MRPT file (useful for displaying the License text in GUIs) More...
 
void BASE_IMPEXP mrpt::mrpt::system::registerFatalExceptionHandlers ()
 Call this to register handlers for fatal erros (memory access,etc) that show useful debug information (It is called automatically normally, no need for the user to explicitly call this method.). More...
 
std::string BASE_IMPEXP mrpt::mrpt::system::stack_trace (bool calling_from_exception=false)
 Dumps the current program stack with detailed information of source files and lines. More...
 
void BASE_IMPEXP mrpt::mrpt::system::breakpoint (const std::string &exception_msg)
 Only when built in debug (with _DEBUG), this function will be called just before raising any MRPT exception, so the user can conveniently put a breakpoint here to explore the call stack, etc. More...
 
void BASE_IMPEXP mrpt::mrpt::system::setConsoleColor (TConsoleColor color, bool changeStdErr=false)
 Changes the text color in the console for the text written from now on. More...
 
std::string BASE_IMPEXP mrpt::mrpt::format (const char *fmt,...) MRPT_printf_format_check(1
 A std::string version of C sprintf. More...
 
std::string BASE_IMPEXP mrpt::mrpt::system::extractFileName (const std::string &filePath)
 
bool BASE_IMPEXP mrpt::mrpt::math::isNaN (float v) MRPT_NO_THROWS
 
bool BASE_IMPEXP mrpt::mrpt::math::isNaN (double v) MRPT_NO_THROWS
 
bool BASE_IMPEXP mrpt::mrpt::math::isFinite (float v) MRPT_NO_THROWS
 
bool BASE_IMPEXP mrpt::mrpt::math::isFinite (double v) MRPT_NO_THROWS
 
template<class MATRIXLIKE >
size_t mrpt::mrpt::math::size (const MATRIXLIKE &m, int dim)
 
void BASE_IMPEXP mrpt::mrpt::utils::global_profiler_enter (const char *func_name) MRPT_NO_THROWS
 
void BASE_IMPEXP mrpt::mrpt::utils::global_profiler_leave (const char *func_name) MRPT_NO_THROWS
 
double mrpt::mrpt::utils::DEG2RAD (const double x)
 Degrees to radians. More...
 
float mrpt::mrpt::utils::DEG2RAD (const float x)
 Degrees to radians. More...
 
float mrpt::mrpt::utils::DEG2RAD (const int x)
 Degrees to radians. More...
 
double mrpt::mrpt::utils::RAD2DEG (const double x)
 Radians to degrees. More...
 
float mrpt::mrpt::utils::RAD2DEG (const float x)
 Radians to degrees. More...
 
template<typename T >
int mrpt::mrpt::utils::sign (T x)
 Returns the sign of X as "1" or "-1". More...
 
template<typename T >
int mrpt::mrpt::utils::signWithZero (T x)
 Returns the sign of X as "0", "1" or "-1". More...
 
template<typename T >
int mrpt::mrpt::utils::round (const T value)
 Returns the closer integer (int) to x. More...
 
template<typename T >
long mrpt::mrpt::utils::round_long (const T value)
 Returns the closer integer (long) to x. More...
 
template<typename T >
mrpt::mrpt::utils::abs_diff (const T a, const T b)
 Efficient and portable evaluation of the absolute difference of two unsigned integer values (but will also work for signed and floating point types) More...
 
template<typename T >
const T mrpt::mrpt::utils::min3 (const T &A, const T &B, const T &C)
 
template<typename T >
const T mrpt::mrpt::utils::max3 (const T &A, const T &B, const T &C)
 
template<typename T >
int mrpt::mrpt::utils::fix (T x)
 Rounds toward zero. More...
 
template<class R , class P >
R * mrpt::mrpt::utils::getAs (stlplus::smart_ptr_clone< P > &o)
 Utility to get a cast'ed pointer from a smart pointer. More...
 
template<class R , class P >
const R * mrpt::mrpt::utils::getAs (const stlplus::smart_ptr_clone< P > &o)
 Utility to get a cast'ed pointer from a smart pointer. More...
 
template<class T >
void mrpt::mrpt::utils::reverseBytesInPlace (T &v_in_out)
 Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...
 
template<class T >
void mrpt::mrpt::utils::reverseBytes (const T &v_in, T &v_out)
 Reverse the order of the bytes of a given type (useful for transforming btw little/big endian) More...
 
template<typename T , typename K >
void mrpt::mrpt::utils::keep_min (T &var, const K test_val)
 If the second argument is below the first one, set the first argument to this lower value. More...
 
template<typename T , typename K >
void mrpt::mrpt::utils::keep_max (T &var, const K test_val)
 If the second argument is above the first one, set the first argument to this higher value. More...
 
template<class T >
void mrpt::mrpt::utils::delete_safe (T *&ptr)
 Calls "delete" to free an object only if the pointer is not NULL, then set the pointer to NULL. More...
 
template<class T >
void mrpt::mrpt::utils::vector_strong_clear (std::vector< T > &v)
 Like calling a std::vector<>'s clear() method, but really forcing deallocating the memory. More...
 

Variables

class BASE_IMPEXP mrpt::mrpt::utils::CStream
 



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