Main MRPT website > C++ reference
MRPT logo
List of all members | Classes | Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | Friends
mrpt::slam::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::slam::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 87 of file CPointsMap.h.

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap:
Inheritance graph
[legend]

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 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 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 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...
 
size_t getPointsCount () const
 Returns the number of stored points in the map (DEPRECATED, use "size()" instead better) 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, CPoint2D &p) const
 
unsigned long getPoint (size_t index, CPoint3D &p) 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, CPoint2D &p)
 
void setPoint (size_t index, CPoint3D &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< 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< 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 CPoint3D &p)
 
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 CPoint2D &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...
 
void computeMatchingWith2D (const CMetricMap *otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
 Computes the matchings between this and another 2D/3D points map. More...
 
void computeMatchingWith3D (const CMetricMap *otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
float compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const
 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 CMetricMap *otherMap2, const CPose3D &otherMapPose, float maxDistForCorrespondence, TMatchingPairList &correspondences, float &correspondencesRatio)
 Computes the matchings between this and another 3D points map. More...
 
virtual void loadFromRangeScan (const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL)=0
 Transform the range scan into a set of cartessian coordinated points. More...
 
virtual void loadFromRangeScan (const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL)=0
 Overload of loadFromRangeScan() for 3D range scans (for example, Kinect observations). 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 CPose2D &b)
 Replace each point $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
void changeCoordinatesReference (const CPose3D &b)
 Replace each point $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
void changeCoordinatesReference (const CPointsMap &other, const 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
 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
 Returns a 3D object representing the map. More...
 
virtual const CSimplePointsMapgetAsSimplePointsMap () const
 If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
 
virtual CSimplePointsMapgetAsSimplePointsMap ()
 
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 (TPoint3D &pMin, TPoint3D &pMax) const
 
void extractCylinder (const CPoint2D &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 TPoint3D &corner1, const 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 computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
 Computes the likelihood of taking a given observation from a given pose in the world being modeled with this map. More...
 
void clear ()
 Erase all the contents of the map. More...
 
void loadFromProbabilisticPosesAndObservations (const CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
void loadFromSimpleMap (const CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
bool insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. More...
 
virtual bool canComputeObservationLikelihood (const CObservation *obs)
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
double computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const 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 CObjectduplicate () 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...
 
CObjectclone () const
 Cloning interface for smart pointers. 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
 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. 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 Attributes

TInsertionOptions insertionOptions
 The options used when inserting observations in the map. More...
 
TLikelihoodOptions likelihoodOptions
 
bool m_disableSaveAs3DObject
 When set to true (default=false), calling "getAs3DObject" will have no effects. 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 CObservation *obs, const CPose3D *robotPose)
 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...
 
PLY Import virtual methods to implement in base classes
virtual void PLY_import_set_face_count (const size_t N)
 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)
 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
virtual size_t PLY_export_get_vertex_count () const
 In a base class, return the number of vertices. More...
 
virtual size_t PLY_export_get_face_count () const
 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
 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...
 
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::TRuntimeClassIdGetRuntimeClass () 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...
 

Constructor & Destructor Documentation

◆ CPointsMap()

mrpt::slam::CPointsMap::CPointsMap ( )

Ctor.

◆ ~CPointsMap()

virtual mrpt::slam::CPointsMap::~CPointsMap ( )
virtual

Virtual destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CPointsMap::_GetBaseClass ( )
staticprotected

◆ addFrom()

virtual void mrpt::slam::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:

CSimplePointsMap m1, m2;
...
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.

◆ addFrom_classSpecific()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ applyDeletionMask()

void mrpt::slam::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.

◆ auxParticleFilterCleanUp()

virtual void mrpt::slam::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::slam::CLandmarksMap, and mrpt::slam::CMultiMetricMap.

Definition at line 327 of file CMetricMap.h.

◆ base_copyFrom()

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

Helper method for ::copyFrom()

◆ boundingBox() [1/2]

void mrpt::slam::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.

◆ boundingBox() [2/2]

void mrpt::slam::CPointsMap::boundingBox ( TPoint3D pMin,
TPoint3D pMax 
) const
inline

◆ canComputeObservationLikelihood()

virtual bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservation obs)
inlinevirtualinherited

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

Reimplemented in mrpt::slam::COccupancyGridMap2D, and mrpt::slam::CMultiMetricMap.

Definition at line 191 of file CMetricMap.h.

◆ canComputeObservationsLikelihood()

bool mrpt::slam::CMetricMap::canComputeObservationsLikelihood ( const 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

◆ changeCoordinatesReference() [1/3]

void mrpt::slam::CPointsMap::changeCoordinatesReference ( const CPose2D b)

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

◆ changeCoordinatesReference() [2/3]

void mrpt::slam::CPointsMap::changeCoordinatesReference ( const CPose3D b)

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

◆ changeCoordinatesReference() [3/3]

void mrpt::slam::CPointsMap::changeCoordinatesReference ( const CPointsMap other,
const 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).

◆ clear()

void mrpt::slam::CMetricMap::clear ( )
inherited

◆ clipOutOfRange()

void mrpt::slam::CPointsMap::clipOutOfRange ( const CPoint2D point,
float  maxRange 
)

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

◆ clipOutOfRangeInZ()

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

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

◆ clone()

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

Cloning interface for smart pointers.

Definition at line 161 of file CObject.h.

◆ compute3DDistanceToMesh()

void mrpt::slam::CPointsMap::compute3DDistanceToMesh ( const CMetricMap otherMap2,
const CPose3D otherMapPose,
float  maxDistForCorrespondence,
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
computeMatchingWith3D

◆ compute3DMatchingRatio()

float mrpt::slam::CPointsMap::compute3DMatchingRatio ( const CMetricMap otherMap,
const CPose3D otherMapPose,
float  minDistForCorr = 0.10f,
float  minMahaDistForCorr = 2.0f 
) 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".
minDistForCorr[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
minMahaDistForCorr[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.
Returns
The matching ratio [0,1]
See also
computeMatchingWith2D

Implements mrpt::slam::CMetricMap.

◆ computeMatchingWith2D()

void mrpt::slam::CPointsMap::computeMatchingWith2D ( const CMetricMap otherMap,
const CPose2D otherMapPose,
float  maxDistForCorrespondence,
float  maxAngularDistForCorrespondence,
const CPose2D angularDistPivotPoint,
TMatchingPairList correspondences,
float &  correspondencesRatio,
float *  sumSqrDist = NULL,
bool  onlyKeepTheClosest = false,
bool  onlyUniqueRobust = false,
const size_t  decimation_other_map_points = 1,
const size_t  offset_other_map_points = 0 
) const
virtual

Computes the matchings between this and another 2D/3D points map.

This includes finding:

  • The set of points pairs in each map
  • The mean squared distance between corresponding pairs. This method is the most time critical one into the ICP algorithm.
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 distance between two points to be matched.
maxAngularDistForCorrespondence[IN] Maximum angular distance in radians to allow far points to be matched.
angularDistPivotPoint[IN] The point from which to measure the "angular distances"
correspondences[OUT] The detected matchings pairs.
correspondencesRatio[OUT] The number of correct correspondences.
sumSqrDist[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.
covariance[OUT] The resulting matching covariance 3x3 matrix, or NULL if undesired.
onlyKeepTheClosest[OUT] Returns only the closest correspondence (default=false)
See also
computeMatching3DWith

Reimplemented from mrpt::slam::CMetricMap.

◆ computeMatchingWith3D()

void mrpt::slam::CPointsMap::computeMatchingWith3D ( const CMetricMap otherMap,
const CPose3D otherMapPose,
float  maxDistForCorrespondence,
float  maxAngularDistForCorrespondence,
const CPoint3D angularDistPivotPoint,
TMatchingPairList correspondences,
float &  correspondencesRatio,
float *  sumSqrDist = NULL,
bool  onlyKeepTheClosest = true,
bool  onlyUniqueRobust = false,
const size_t  decimation_other_map_points = 1,
const size_t  offset_other_map_points = 0 
) 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 the ICP algorithm.

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.
maxAngularDistForCorrespondence[IN] In radians: The aim is to allow larger distances to more distant correspondences.
angularDistPivotPoint[IN] The point used to calculate distances from in both maps.
correspondences[OUT] The detected matchings pairs.
correspondencesRatio[OUT] The ratio [0,1] of points in otherMap with at least one correspondence.
sumSqrDist[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.
onlyKeepTheClosest[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.
See also
compute3DMatchingRatio

Reimplemented from mrpt::slam::CMetricMap.

◆ computeObservationLikelihood() [1/2]

double mrpt::slam::CMetricMap::computeObservationLikelihood ( const CObservation obs,
const CPose2D takenFrom 
)
inlineinherited

Computes the log-likelihood of a given observation given an arbitrary robot 2D 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

Definition at line 182 of file CMetricMap.h.

◆ computeObservationLikelihood() [2/2]

virtual double mrpt::slam::CPointsMap::computeObservationLikelihood ( const CObservation obs,
const CPose3D takenFrom 
)
virtual

Computes the likelihood of taking a given observation from a given pose in the world being modeled with this map.

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a likelihood in the range [0,1].
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF
Note
In CPointsMap this method is virtual so it can be redefined in derived classes, if desired.

Implements mrpt::slam::CMetricMap.

◆ computeObservationsLikelihood()

double mrpt::slam::CMetricMap::computeObservationsLikelihood ( const CSensoryFrame sf,
const CPose2D takenFrom 
)
inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::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

◆ copyFrom()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ duplicate()

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

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

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

◆ duplicateGetSmartPtr()

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 158 of file CObject.h.

◆ empty()

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

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

Definition at line 716 of file CPointsMap.h.

◆ enableFilterByHeight()

void mrpt::slam::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 769 of file CPointsMap.h.

◆ extractCylinder()

void mrpt::slam::CPointsMap::extractCylinder ( const CPoint2D 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.

◆ extractPoints()

void mrpt::slam::CPointsMap::extractPoints ( const TPoint3D corner1,
const 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.

◆ fuseWith()

void mrpt::slam::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

◆ getAllPoints() [1/4]

template<class VECTOR >
void mrpt::slam::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::vector_float and mrpt::vector_double).

Definition at line 440 of file CPointsMap.h.

References ASSERT_, MRPT_END, and MRPT_START.

◆ getAllPoints() [2/4]

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

Definition at line 458 of file CPointsMap.h.

◆ getAllPoints() [3/4]

void mrpt::slam::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

◆ getAllPoints() [4/4]

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

Definition at line 475 of file CPointsMap.h.

◆ getAs3DObject()

virtual void mrpt::slam::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::slam::CMetricMap.

Reimplemented in mrpt::slam::CColouredPointsMap.

◆ getAsSimplePointsMap() [1/2]

virtual const CSimplePointsMap* mrpt::slam::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::slam::CMetricMap.

Reimplemented in mrpt::slam::CSimplePointsMap.

Definition at line 727 of file CPointsMap.h.

◆ getAsSimplePointsMap() [2/2]

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

Reimplemented from mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CSimplePointsMap.

Definition at line 728 of file CPointsMap.h.

◆ getHeightFilterLevels()

void mrpt::slam::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 776 of file CPointsMap.h.

◆ getLargestDistanceFromOrigin()

float mrpt::slam::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).

◆ getLargestDistanceFromOriginNoRecompute()

float mrpt::slam::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 735 of file CPointsMap.h.

◆ getLoadPLYErrorString()

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 67 of file PLY_import_export.h.

◆ getPCLPointCloud()

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

Use to convert this MRPT point cloud object into a PCL point cloud object.

Usage example:

mrpt::slam::CPointsCloud pc;
pcl::PointCloud<pcl::PointXYZ> cloud;
pc.getPCLPointCloud(cloud);
See also
setFromPCLPointCloud

Definition at line 811 of file CPointsMap.h.

References mrpt::math::size().

◆ getPoint() [1/9]

unsigned long mrpt::slam::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

◆ getPoint() [2/9]

unsigned long mrpt::slam::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.

◆ getPoint() [3/9]

unsigned long mrpt::slam::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.

◆ getPoint() [4/9]

unsigned long mrpt::slam::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.

◆ getPoint() [5/9]

unsigned long mrpt::slam::CPointsMap::getPoint ( size_t  index,
CPoint2D 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 375 of file CPointsMap.h.

References getPoint(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by getPoint().

◆ getPoint() [6/9]

unsigned long mrpt::slam::CPointsMap::getPoint ( size_t  index,
CPoint3D 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 377 of file CPointsMap.h.

References getPoint(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by getPoint().

◆ getPoint() [7/9]

unsigned long mrpt::slam::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 379 of file CPointsMap.h.

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

Referenced by getPoint().

◆ getPoint() [8/9]

unsigned long mrpt::slam::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 381 of file CPointsMap.h.

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

Referenced by getPoint().

◆ getPoint() [9/9]

virtual void mrpt::slam::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::slam::CColouredPointsMap.

Definition at line 387 of file CPointsMap.h.

◆ getPointAllFields()

void mrpt::slam::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 525 of file CPointsMap.h.

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

◆ getPointAllFieldsFast()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ getPointFast()

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

◆ getPointsBuffer()

void mrpt::slam::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.

◆ getPointsBufferRef_x()

const std::vector<float>& mrpt::slam::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 428 of file CPointsMap.h.

◆ getPointsBufferRef_y()

const std::vector<float>& mrpt::slam::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 430 of file CPointsMap.h.

◆ getPointsBufferRef_z()

const std::vector<float>& mrpt::slam::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 432 of file CPointsMap.h.

◆ getPointsCount()

size_t mrpt::slam::CPointsMap::getPointsCount ( ) const
inline

Returns the number of stored points in the map (DEPRECATED, use "size()" instead better)

Definition at line 360 of file CPointsMap.h.

References mrpt::math::size().

◆ getPointWeight()

virtual unsigned int mrpt::slam::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::slam::CWeightedPointsMap.

Definition at line 420 of file CPointsMap.h.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

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

◆ getSavePLYErrorString()

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 113 of file PLY_import_export.h.

◆ hasColorPoints()

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

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

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 398 of file CPointsMap.h.

◆ hasSubscribers()

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 76 of file CObservable.h.

◆ insertAnotherMap()

void mrpt::slam::CPointsMap::insertAnotherMap ( const CPointsMap otherMap,
const 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

◆ insertObservation()

bool mrpt::slam::CMetricMap::insertObservation ( const CObservation obs,
const CPose3D robotPose = NULL 
)
inlineinherited

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

Definition at line 140 of file CMetricMap.h.

◆ insertObservationPtr()

bool mrpt::slam::CMetricMap::insertObservationPtr ( const CObservationPtr obs,
const CPose3D robotPose = NULL 
)
inlineinherited

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

Definition at line 154 of file CMetricMap.h.

References MRPT_END, MRPT_START, mrpt::slam::CObservationPtr::pointer(), mrpt::stlplus::smart_ptr_base< T, C, COUNTER >::present(), and THROW_EXCEPTION.

◆ insertPoint() [1/4]

void mrpt::slam::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 488 of file CPointsMap.h.

◆ insertPoint() [2/4]

void mrpt::slam::CPointsMap::insertPoint ( const CPoint3D 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 490 of file CPointsMap.h.

References insertPoint(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by insertPoint().

◆ insertPoint() [3/4]

void mrpt::slam::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 492 of file CPointsMap.h.

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

Referenced by insertPoint().

◆ insertPoint() [4/4]

virtual void mrpt::slam::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::slam::CColouredPointsMap.

Definition at line 494 of file CPointsMap.h.

References insertPoint().

Referenced by insertPoint().

◆ insertPointFast()

virtual void mrpt::slam::CPointsMap::insertPointFast ( float  x,
float  y,
float  z = 0 
)
pure virtual

◆ internal_insertObservation()

bool mrpt::slam::CPointsMap::internal_insertObservation ( const CObservation obs,
const 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::slam::CPointsMap for the enumeration of types of observations which are accepted.

Implements mrpt::slam::CMetricMap.

◆ isEmpty()

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

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

Implements mrpt::slam::CMetricMap.

◆ isFilterByHeightEnabled()

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

Return whether filter-by-height is enabled.

See also
enableFilterByHeight

Definition at line 771 of file CPointsMap.h.

◆ kdtree_distance()

float mrpt::slam::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 862 of file CPointsMap.h.

References mrpt::math::size().

◆ kdtree_get_bbox()

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

Definition at line 883 of file CPointsMap.h.

◆ kdtree_get_point_count()

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

Must return the number of data points.

Definition at line 852 of file CPointsMap.h.

References mrpt::math::size().

◆ kdtree_get_pt()

float mrpt::slam::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 855 of file CPointsMap.h.

◆ load2D_from_text_file()

bool mrpt::slam::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 278 of file CPointsMap.h.

◆ load2Dor3D_from_text_file()

bool mrpt::slam::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

◆ load3D_from_text_file()

bool mrpt::slam::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 283 of file CPointsMap.h.

◆ loadFromPlyFile()

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()

◆ loadFromProbabilisticPosesAndObservations()

void mrpt::slam::CMetricMap::loadFromProbabilisticPosesAndObservations ( const 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...

◆ loadFromRangeScan() [1/2]

virtual void mrpt::slam::CPointsMap::loadFromRangeScan ( const CObservation2DRangeScan rangeScan,
const 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
robotPoseThe robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.

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::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ loadFromRangeScan() [2/2]

virtual void mrpt::slam::CPointsMap::loadFromRangeScan ( const CObservation3DRangeScan rangeScan,
const 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
robotPoseThe robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.
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::slam::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.

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

◆ loadFromSimpleMap()

void mrpt::slam::CMetricMap::loadFromSimpleMap ( const 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 131 of file CMetricMap.h.

◆ loadLASFile()

virtual bool mrpt::slam::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::slam::CColouredPointsMap
Returns
false on any error

◆ loadPCDFile()

virtual bool mrpt::slam::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

◆ mark_as_modified()

void mrpt::slam::CPointsMap::mark_as_modified ( ) const
inlineprotected

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

Definition at line 919 of file CPointsMap.h.

◆ operator+=()

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

This operator is synonymous with addFrom.

See also
addFrom

Definition at line 257 of file CPointsMap.h.

◆ PLY_export_get_face_count()

virtual size_t mrpt::slam::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 956 of file CPointsMap.h.

◆ PLY_export_get_vertex()

virtual void mrpt::slam::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::slam::CColouredPointsMap.

◆ PLY_export_get_vertex_count()

virtual size_t mrpt::slam::CPointsMap::PLY_export_get_vertex_count ( ) const
protectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

◆ PLY_import_set_face_count()

virtual void mrpt::slam::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 941 of file CPointsMap.h.

◆ PLY_import_set_vertex()

virtual void mrpt::slam::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::slam::CColouredPointsMap.

◆ PLY_import_set_vertex_count()

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::slam::CColouredPointsMap, mrpt::opengl::CPointCloudColoured, mrpt::slam::CSimplePointsMap, mrpt::slam::CWeightedPointsMap, and mrpt::opengl::CPointCloud.

◆ publishEvent()

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.

◆ readFromStream()

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

◆ reserve()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ resize()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::slam::CPointsMap >::resize().

◆ save2D_to_text_file()

bool mrpt::slam::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.

◆ save3D_to_text_file()

bool mrpt::slam::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.

◆ saveLASFile()

virtual bool mrpt::slam::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

◆ saveMetricMapRepresentationToFile()

void mrpt::slam::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::slam::CMetricMap.

Definition at line 300 of file CPointsMap.h.

◆ savePCDFile()

virtual bool mrpt::slam::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::slam::CColouredPointsMap.

◆ saveToPlyFile()

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()

◆ setAllPoints() [1/2]

void mrpt::slam::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 513 of file CPointsMap.h.

◆ setAllPoints() [2/2]

void mrpt::slam::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 518 of file CPointsMap.h.

◆ setAllPointsTemplate()

template<typename VECTOR >
void mrpt::slam::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::vector_float or std::vector<float> or any other column or row Eigen::Matrix.

Definition at line 500 of file CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, and setSize().

◆ setFromPCLPointCloud()

template<class POINTCLOUD >
void mrpt::slam::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::slam::CPointsCloud pc;
pc.setFromPCLPointCloud(cloud);
See also
getPCLPointCloud, CColouredPointsMap::setFromPCLPointCloudRGB()

Definition at line 837 of file CPointsMap.h.

◆ setHeightFilterLevels()

void mrpt::slam::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 774 of file CPointsMap.h.

◆ setPoint() [1/5]

void mrpt::slam::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 403 of file CPointsMap.h.

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

◆ setPoint() [2/5]

void mrpt::slam::CPointsMap::setPoint ( size_t  index,
CPoint2D 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 409 of file CPointsMap.h.

References setPoint(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by setPoint().

◆ setPoint() [3/5]

void mrpt::slam::CPointsMap::setPoint ( size_t  index,
CPoint3D 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 411 of file CPointsMap.h.

References setPoint(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by setPoint().

◆ setPoint() [4/5]

void mrpt::slam::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 413 of file CPointsMap.h.

References setPoint().

Referenced by setPoint().

◆ setPoint() [5/5]

virtual void mrpt::slam::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::slam::CColouredPointsMap.

Definition at line 415 of file CPointsMap.h.

References setPoint().

Referenced by setPoint().

◆ setPointAllFields()

void mrpt::slam::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 534 of file CPointsMap.h.

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

◆ setPointAllFieldsFast()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ setPointFast()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::slam::CPointsMap >::setPointXYZ().

◆ setPointWeight()

virtual void mrpt::slam::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::slam::CWeightedPointsMap.

Definition at line 418 of file CPointsMap.h.

◆ setSize()

virtual void mrpt::slam::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::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, and mrpt::slam::CWeightedPointsMap.

◆ size()

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

◆ squareDistanceToClosestCorrespondence()

virtual float mrpt::slam::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::slam::CMetricMap.

◆ squareDistanceToClosestCorrespondenceT()

float mrpt::slam::CPointsMap::squareDistanceToClosestCorrespondenceT ( const TPoint2D p0) const
inline

Definition at line 185 of file CPointsMap.h.

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

◆ writeToStream()

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

Friends And Related Function Documentation

◆ detail::loadFromRangeImpl

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

Definition at line 979 of file CPointsMap.h.

◆ detail::pointmap_traits

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

Definition at line 980 of file CPointsMap.h.

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream
friend

Definition at line 94 of file CPointsMap.h.

Member Data Documentation

◆ classCMetricMap

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

Definition at line 88 of file CMetricMap.h.

◆ classCObject

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

Definition at line 146 of file CObject.h.

◆ classCPointsMap

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

Definition at line 94 of file CPointsMap.h.

◆ classCSerializable

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

Definition at line 61 of file CSerializable.h.

◆ COLOR_3DSCENE_B

float mrpt::slam::CPointsMap::COLOR_3DSCENE_B
static

Definition at line 783 of file CPointsMap.h.

◆ COLOR_3DSCENE_G

float mrpt::slam::CPointsMap::COLOR_3DSCENE_G
static

Definition at line 782 of file CPointsMap.h.

◆ COLOR_3DSCENE_R

float mrpt::slam::CPointsMap::COLOR_3DSCENE_R
static

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

Definition at line 781 of file CPointsMap.h.

◆ insertionOptions

TInsertionOptions mrpt::slam::CPointsMap::insertionOptions

The options used when inserting observations in the map.

Definition at line 213 of file CPointsMap.h.

◆ likelihoodOptions

TLikelihoodOptions mrpt::slam::CPointsMap::likelihoodOptions

Definition at line 241 of file CPointsMap.h.

◆ m_bb_max_x

float mrpt::slam::CPointsMap::m_bb_max_x
mutableprotected

Definition at line 915 of file CPointsMap.h.

◆ m_bb_max_y

float mrpt::slam::CPointsMap::m_bb_max_y
mutableprotected

Definition at line 915 of file CPointsMap.h.

◆ m_bb_max_z

float mrpt::slam::CPointsMap::m_bb_max_z
mutableprotected

Definition at line 915 of file CPointsMap.h.

◆ m_bb_min_x

float mrpt::slam::CPointsMap::m_bb_min_x
mutableprotected

Definition at line 915 of file CPointsMap.h.

◆ m_bb_min_y

float mrpt::slam::CPointsMap::m_bb_min_y
mutableprotected

Definition at line 915 of file CPointsMap.h.

◆ m_bb_min_z

float mrpt::slam::CPointsMap::m_bb_min_z
mutableprotected

Definition at line 915 of file CPointsMap.h.

◆ m_boundingBoxIsUpdated

bool mrpt::slam::CPointsMap::m_boundingBoxIsUpdated
mutableprotected

Definition at line 914 of file CPointsMap.h.

◆ m_disableSaveAs3DObject

bool mrpt::slam::CMetricMap::m_disableSaveAs3DObject
inherited

When set to true (default=false), calling "getAs3DObject" will have no effects.

Definition at line 322 of file CMetricMap.h.

◆ m_heightfilter_enabled

bool mrpt::slam::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 975 of file CPointsMap.h.

◆ m_heightfilter_z_max

double mrpt::slam::CPointsMap::m_heightfilter_z_max
protected

Definition at line 971 of file CPointsMap.h.

◆ m_heightfilter_z_min

double mrpt::slam::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 971 of file CPointsMap.h.

◆ m_largestDistanceFromOrigin

float mrpt::slam::CPointsMap::m_largestDistanceFromOrigin
mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also
getLargestDistanceFromOrigin

Definition at line 907 of file CPointsMap.h.

◆ m_largestDistanceFromOriginIsUpdated

bool mrpt::slam::CPointsMap::m_largestDistanceFromOriginIsUpdated
mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also
getLargestDistanceFromOrigin

Definition at line 912 of file CPointsMap.h.

◆ m_scans_sincos_cache

CSinCosLookUpTableFor2DScans mrpt::slam::CPointsMap::m_scans_sincos_cache
protected

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

Definition at line 902 of file CPointsMap.h.

◆ x

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

Definition at line 900 of file CPointsMap.h.

◆ y

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

Definition at line 900 of file CPointsMap.h.

◆ z

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

The point coordinates.

Definition at line 900 of file CPointsMap.h.




Page generated by Doxygen 1.8.14 for MRPT 1.0.2 SVN: at lun oct 28 00:52:41 CET 2019 Hosted on:
SourceForge.net Logo