Detailed Description

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

This class stores the coordinates (x,y,z) and a "weight", or counter of how many times that point has been seen, used only if points fusion is enabled in the options structure.

See also: CMetricMap, CPoint, mrpt::serialization::CSerializable, CSimplePointsMap

Definition at line 29 of file CWeightedPointsMap.h.

#include <mrpt/maps/CWeightedPointsMap.h>

Inheritance diagram for mrpt::maps::CWeightedPointsMap:

Classes
struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
using	self_t = KDTreeCapable< CPointsMap, float, nanoflann::L2_Simple_Adaptor< float, CPointsMap > >

Public Member Functions
	CWeightedPointsMap ()=default
	Default constructor. More...

	CWeightedPointsMap (const CPointsMap &o)

	CWeightedPointsMap (const CWeightedPointsMap &o)

CWeightedPointsMap &	operator= (const CPointsMap &o)

CWeightedPointsMap &	operator= (const CWeightedPointsMap &o)

void	setPointWeight (size_t index, unsigned long w) override
	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...

unsigned int	getPointWeight (size_t index) const override
	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...

float	squareDistanceToClosestCorrespondence (float x0, float y0) const override
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

float	squareDistanceToClosestCorrespondenceT (const mrpt::math::TPoint2D &p0) const

virtual void	addFrom (const CPointsMap &anotherMap)
	Adds all the points from anotherMap to this map, without fusing. More...

void	operator+= (const CPointsMap &anotherMap)
	This operator is synonymous with addFrom. More...

void	insertAnotherMap (const CPointsMap *otherMap, const mrpt::poses::CPose3D &otherPose)
	Insert the contents of another map into this one with some geometric transformation, without fusing close points. More...

size_t	size () const
	Save the point cloud as a PCL PCD file, in either ASCII or binary format. More...

void	getPoint (size_t index, float &x, float &y, float &z) const
	Access to a given point from map, as a 2D point. More...

void	getPoint (size_t index, float &x, float &y) const

void	getPoint (size_t index, double &x, double &y, double &z) const

void	getPoint (size_t index, double &x, double &y) const

void	getPoint (size_t index, mrpt::math::TPoint2D &p) const

void	getPoint (size_t index, mrpt::math::TPoint3D &p) const

virtual void	getPointRGB (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, const mrpt::math::TPoint2D &p)

void	setPoint (size_t index, const mrpt::math::TPoint3D &p)

void	setPoint (size_t index, float x, float y)

virtual void	setPointRGB (size_t index, float x, float y, float z, [[maybe_unused]] float R, [[maybe_unused]] float G, [[maybe_unused]] float B)
	overload (RGB data is ignored in classes without color information) More...

virtual void	setPointWeight ([[maybe_unused]] size_t index, [[maybe_unused]] 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 ([[maybe_unused]] 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 nullptr if there is no points in the map. More...

const mrpt::aligned_std_vector< float > &	getPointsBufferRef_x () const
	Provides a direct access to a read-only reference of the internal point buffer. More...

const mrpt::aligned_std_vector< float > &	getPointsBufferRef_y () const
	Provides a direct access to a read-only reference of the internal point buffer. More...

const mrpt::aligned_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...

template<class CONTAINER >
void	getAllPoints (CONTAINER &ps, size_t decimation=1) const
	Gets all points as a STL-like container. More...

void	getAllPoints (std::vector< float > &xs, std::vector< float > &ys, size_t decimation=1) const
	Returns a copy of the 2D/3D points as a std::vector of float coordinates. More...

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

void	insertPoint (float x, float y, float z=0)
	Provides a way to insert (append) individual points into the map: the missing fields of child classes (color, weight, etc) are left to their default values. More...

void	insertPoint (const mrpt::math::TPoint3D &p)

virtual void	insertPointRGB (float x, float y, float z, [[maybe_unused]] float R, [[maybe_unused]] float G, [[maybe_unused]] float B)
	overload (RGB data is ignored in classes without color information) More...

template<typename VECTOR >
void	setAllPointsTemplate (const VECTOR &X, const VECTOR &Y, const VECTOR &Z=VECTOR())
	Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros). More...

void	setAllPoints (const std::vector< float > &X, const std::vector< float > &Y, const std::vector< float > &Z)
	Set all the points at once from vectors with X,Y and Z coordinates. More...

void	setAllPoints (const std::vector< float > &X, const std::vector< float > &Y)
	Set all the points at once from vectors with X and Y coordinates (Z=0). More...

void	getPointAllFields (const size_t index, std::vector< float > &point_data) const
	Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...

void	setPointAllFields (const size_t index, const std::vector< float > &point_data)
	Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...

void	clipOutOfRangeInZ (float zMin, float zMax)
	Delete points out of the given "z" axis range have been removed. More...

void	clipOutOfRange (const mrpt::math::TPoint2D &point, float maxRange)
	Delete points which are more far than "maxRange" away from the given "point". More...

void	applyDeletionMask (const std::vector< bool > &mask)
	Remove from the map the points marked in a bool's array as "true". More...

void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
	Computes the matching between this and another 2D point map, which includes finding: More...

void	determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...

void	compute3DDistanceToMesh (const mrpt::maps::CMetricMap *otherMap2, const mrpt::poses::CPose3D &otherMapPose, float maxDistForCorrespondence, mrpt::tfest::TMatchingPairList &correspondences, float &correspondencesRatio)
	Computes the matchings between this and another 3D points map. More...

void	loadFromVelodyneScan (const mrpt::obs::CObservationVelodyneScan &scan, const mrpt::poses::CPose3D *robotPose=nullptr)
	Like loadFromRangeScan() for Velodyne 3D scans. More...

void	fuseWith (CPointsMap anotherMap, float minDistForFuse=0.02f, std::vector< bool > notFusedPoints=nullptr)
	Insert the contents of another map into this one, fusing the previous content with the new one. More...

void	changeCoordinatesReference (const mrpt::poses::CPose2D &b)
	Replace each point by $p'_i = b \oplus p_i$ (pose compounding operator). More...

void	changeCoordinatesReference (const mrpt::poses::CPose3D &b)
	Replace each point by $p'_i = b \oplus p_i$ (pose compounding operator). More...

void	changeCoordinatesReference (const CPointsMap &other, const mrpt::poses::CPose3D &b)
	Copy all the points from "other" map to "this", replacing each point by $p'_i = b \oplus p_i$ (pose compounding operator). More...

bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. More...

bool	empty () const
	STL-like method to check whether the map is empty: More...

void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...

float	getLargestDistanceFromOrigin () const
	This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...

float	getLargestDistanceFromOriginNoRecompute (bool &output_is_valid) const
	Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin() More...

void	boundingBox (float &min_x, float &max_x, float &min_y, float &max_y, float &min_z, float &max_z) const
	Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points. More...

void	boundingBox (mrpt::math::TPoint3D &pMin, mrpt::math::TPoint3D &pMax) const

void	extractCylinder (const mrpt::math::TPoint2D &center, const double radius, const double zmin, const double zmax, CPointsMap *outMap)
	Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values. More...

void	extractPoints (const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, CPointsMap *outMap, double R=1, double G=1, double B=1)
	Extracts the points in the map within the area defined by two corners. More...

double	internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
	Internal method called by computeObservationLikelihood() More...

double	internal_computeObservationLikelihoodPointCloud3D (const mrpt::poses::CPose3D &pc_in_map, const float xs, const float ys, const float *zs, const std::size_t num_pts)

void	mark_as_modified () const
	Users normally don't need to call this. More...

void	clear ()
	Erase all the contents of the map. More...

void	loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
	! More...

bool	insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)

virtual bool	canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

double	computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...

bool	canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
	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 const mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap () 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...

mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap ()

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

const CPointsMap &	derived () const
	CRTP helper method. More...

CPointsMap &	derived ()
	CRTP helper method. More...

bool	loadFromPlyFile (const std::string &filename, std::vector< std::string > file_comments=nullptr, std::vector< std::string > file_obj_info=nullptr)
	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 std::vector< std::string > &file_comments=std::vector< std::string >(), const std::vector< std::string > &file_obj_info=std::vector< std::string >()) 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...

Pure virtual interfaces to be implemented by any class derived
from CPointsMap
void	setPointFast (size_t index, float x, float y, float z)
	Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified(). 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 override
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface) More...

Filter-by-height stuff
void	enableFilterByHeight (bool enable=true)
	Enable/disable the filter-by-height functionality. More...

bool	isFilterByHeightEnabled () const
	Return whether filter-by-height is enabled. More...

void	setHeightFilterLevels (const double _z_min, const double _z_max)
	Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before). More...

void	getHeightFilterLevels (double &_z_min, double &_z_max) const
	Get the min/max Z levels for points to be actually inserted in the map. More...

PCL library support
template<class POINTCLOUD >
void	getPCLPointCloud (POINTCLOUD &cloud) const
	Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>). More...

template<class POINTCLOUD >
void	setFromPCLPointCloud (const POINTCLOUD &cloud)
	Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ). More...

Methods that MUST be implemented by children classes of
KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points. More...

float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class: More...

float	kdtree_distance (const float *p1, const size_t idx_p2, size_t size) const
	Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...

template<typename BBOX >
bool	kdtree_get_bbox (BBOX &bb) const

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public utility methods to query the KD-tree
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...

size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const

size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const

float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...

float	kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const

void	kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
	KD Tree-based search for the TWO closest point to some given 2D coordinates. More...

void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const

std::vector< size_t >	kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates. More...

std::vector< size_t >	kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const

size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const

void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

size_t	kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 3D point. More...

size_t	kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 2D point. More...

void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

void	kdTreeEnsureIndexBuilt3D ()

void	kdTreeEnsureIndexBuilt2D ()

Public Attributes
TInsertionOptions	insertionOptions
	The options used when inserting observations in the map. More...

TLikelihoodOptions	likelihoodOptions

TRenderOptions	renderOptions

TMapGenericParams	genericMapParams
	Common params to all maps. More...

TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches. More...

Protected Member Functions
void	internal_clear () override
	Clear the map, erasing all the points. More...

bool	internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose) override
	This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary. More...

void	base_copyFrom (const CPointsMap &obj)
	Helper method for ::copyFrom() More...

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...

void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes. More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

PLY Import virtual methods to implement in base classes
void	PLY_import_set_vertex_count (const size_t N) override
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...

PLY Import virtual methods to implement in base classes
void	PLY_import_set_face_count ([[maybe_unused]] const size_t N) override
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...

void	PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::img::TColorf *pt_color=nullptr) override
	In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...

PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_face_count (const size_t N)=0
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...

PLY Export virtual methods to implement in base classes
size_t	PLY_export_get_vertex_count () const override
	In a base class, return the number of vertices. More...

size_t	PLY_export_get_face_count () const override
	In a base class, return the number of faces. More...

void	PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::img::TColorf &pt_color) const override
	In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
mrpt::aligned_std_vector< uint32_t >	pointWeight
	The points weights. More...

mrpt::aligned_std_vector< float >	m_x
	The point coordinates. More...

mrpt::aligned_std_vector< float >	m_y

mrpt::aligned_std_vector< float >	m_z

mrpt::obs::CSinCosLookUpTableFor2DScans	m_scans_sincos_cache
	Cache of sin/cos values for the latest 2D scan geometries. More...

float	m_largestDistanceFromOrigin {0}
	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 {-10}
	The minimum and maximum height for a certain laser scan to be inserted into this map. More...

double	m_heightfilter_z_max {10}

bool	m_heightfilter_enabled {false}
	Whether or not (default=not) filter the input points by height. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CWeightedPointsMap >

using	ConstPtr = std::shared_ptr< const mrpt::maps ::CWeightedPointsMap >

using	UniquePtr = std::unique_ptr< mrpt::maps ::CWeightedPointsMap >

using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CWeightedPointsMap >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "CWeightedPointsMap"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Pure virtual interfaces to be implemented by any class derived
from CPointsMap
template<class Derived >
struct	detail::loadFromRangeImpl

template<class Derived >
struct	detail::pointmap_traits

void	reserve (size_t newLength) override
	Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. More...

void	resize (size_t newLength) override
	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...

void	setSize (size_t newLength) override
	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...

void	insertPointFast (float x, float y, float z=0) override
	The virtual method for insertPoint() without calling mark_as_modified() More...

void	getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const override
	Get all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike getPointAllFields(), this method does not check for index out of bounds. More...

void	setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data) override
	Set all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike setPointAllFields(), this method does not check for index out of bounds. More...

void	loadFromRangeScan (const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
	See CPointsMap::loadFromRangeScan() More...

void	loadFromRangeScan (const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
	See CPointsMap::loadFromRangeScan() More...

void	impl_copyFrom (const CPointsMap &obj) override
	Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one. More...

void	addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints) override
	Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data. More...

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CWeightedPointsMap,weightedPointsMap" , & mrpt::maps::CWeightedPointsMap ::MapDefinition, & mrpt::maps::CWeightedPointsMap ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...

static CWeightedPointsMap *	CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
	Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...

static mrpt::maps::CMetricMap *	internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)

Member Typedef Documentation

◆ ConstPtr

using mrpt::maps::CWeightedPointsMap::ConstPtr = std::shared_ptr<const mrpt::maps :: CWeightedPointsMap >

Definition at line 31 of file CWeightedPointsMap.h.

◆ ConstUniquePtr

using mrpt::maps::CWeightedPointsMap::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CWeightedPointsMap >

Definition at line 31 of file CWeightedPointsMap.h.

◆ Ptr

using mrpt::maps::CWeightedPointsMap::Ptr = std::shared_ptr< mrpt::maps :: CWeightedPointsMap >

A type for the associated smart pointer

Definition at line 31 of file CWeightedPointsMap.h.

◆ self_t

using mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::self_t = KDTreeCapable<CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >

inherited

Definition at line 87 of file KDTreeCapable.h.

◆ UniquePtr

using mrpt::maps::CWeightedPointsMap::UniquePtr = std::unique_ptr< mrpt::maps :: CWeightedPointsMap >

Definition at line 31 of file CWeightedPointsMap.h.

Constructor & Destructor Documentation

◆ CWeightedPointsMap() [1/3]

mrpt::maps::CWeightedPointsMap::CWeightedPointsMap ( )

default

Default constructor.

◆ CWeightedPointsMap() [2/3]

mrpt::maps::CWeightedPointsMap::CWeightedPointsMap ( const CPointsMap & o )

inline

Definition at line 36 of file CWeightedPointsMap.h.

References impl_copyFrom().

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◆ CWeightedPointsMap() [3/3]

mrpt::maps::CWeightedPointsMap::CWeightedPointsMap ( const CWeightedPointsMap & o )

inline

Definition at line 37 of file CWeightedPointsMap.h.

References impl_copyFrom().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CWeightedPointsMap::_GetBaseClass ( )

staticprotected

◆ addFrom()

void CPointsMap::addFrom ( const CPointsMap & anotherMap )

virtualinherited

Adds all the points from anotherMap to this map, without fusing.

This operation can be also invoked via the "+=" operator, for example:

mrpt::maps::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.

Definition at line 1638 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::addFrom_classSpecific(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::resize(), and mrpt::maps::CPointsMap::size().

Referenced by mrpt::maps::CPointsMap::operator+=().

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◆ addFrom_classSpecific()

void CWeightedPointsMap::addFrom_classSpecific	(	const CPointsMap &	anotherMap,
		const size_t	nPreviousPoints
	)

overrideprotectedvirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 116 of file CWeightedPointsMap.cpp.

References pointWeight, and mrpt::maps::CPointsMap::size().

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◆ applyDeletionMask()

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

inherited

Remove from the map the points marked in a bool's array as "true".

Exceptions

std::exception If mask size is not equal to points count.

Definition at line 1663 of file CPointsMap.cpp.

References ASSERT_EQUAL_, mrpt::maps::CPointsMap::getPointAllFieldsFast(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::resize(), mrpt::maps::CPointsMap::setPointAllFieldsFast(), and mrpt::maps::CPointsMap::size().

Referenced by mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap(), mrpt::maps::CPointCloudFilterByDistance::filter(), and mrpt::maps::CPointsMap::internal_insertObservation().

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◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 282 of file CMetricMap.h.

◆ base_copyFrom()

void CPointsMap::base_copyFrom ( const CPointsMap & obj )

protectedinherited

Helper method for ::copyFrom()

Definition at line 1720 of file CPointsMap.cpp.

References mrpt::math::KDTreeCapable< CPointsMap >::kdtree_mark_as_outdated(), mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::resize().

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◆ boundingBox() [1/2]

void CPointsMap::boundingBox	(	float &	min_x,
		float &	max_x,
		float &	min_y,
		float &	max_y,
		float &	min_z,
		float &	max_z
	)		const

inherited

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.

Definition at line 914 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::m_bb_max_x, mrpt::maps::CPointsMap::m_bb_max_y, mrpt::maps::CPointsMap::m_bb_max_z, mrpt::maps::CPointsMap::m_bb_min_x, mrpt::maps::CPointsMap::m_bb_min_y, mrpt::maps::CPointsMap::m_bb_min_z, mrpt::maps::CPointsMap::m_boundingBoxIsUpdated, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CPointsMap::boundingBox(), mrpt::maps::CPointsMap::compute3DDistanceToMesh(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::maps::CPointsMap::getAs3DObject(), and mrpt::maps::CPointsMap::kdtree_get_bbox().

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◆ boundingBox() [2/2]

void mrpt::maps::CPointsMap::boundingBox	(	mrpt::math::TPoint3D &	pMin,
		mrpt::math::TPoint3D &	pMax
	)		const

inlineinherited

Definition at line 918 of file CPointsMap.h.

References mrpt::maps::CPointsMap::boundingBox(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ canComputeObservationLikelihood()

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation & obs ) const

virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

obs	The observation.

See also: computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 161 of file CMetricMap.cpp.

◆ canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame & sf ) const

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). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

Definition at line 85 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

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◆ changeCoordinatesReference() [1/3]

void CPointsMap::changeCoordinatesReference ( const mrpt::poses::CPose2D & b )

inherited

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

Definition at line 545 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint().

Referenced by mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), and TEST_F().

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◆ changeCoordinatesReference() [2/3]

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

inherited

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

Definition at line 563 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint().

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◆ changeCoordinatesReference() [3/3]

void CPointsMap::changeCoordinatesReference	(	const CPointsMap &	other,
		const mrpt::poses::CPose3D &	b
	)

inherited

Copy all the points from "other" map to "this", replacing each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

Definition at line 579 of file CPointsMap.cpp.

◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 30 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::ros1bridge::fromROS(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI(), mrpt::maps::CRandomFieldGridMap2D::setSize(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ clipOutOfRange()

void CPointsMap::clipOutOfRange	(	const mrpt::math::TPoint2D &	point,
		float	maxRange
	)

inherited

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

Definition at line 255 of file CPointsMap.cpp.

References mrpt::math::size(), mrpt::square(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ clipOutOfRangeInZ()

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

inherited

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

Definition at line 237 of file CPointsMap.cpp.

References mrpt::math::size().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CWeightedPointsMap::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ compute3DDistanceToMesh()

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

inherited

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

This method matches each point in the other map with the centroid of the 3 closest points in 3D from this map (if the distance is below a defined threshold).

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
maxDistForCorrespondence	[IN] Maximum 2D linear distance between two points to be matched.
correspondences	[OUT] The detected matchings pairs.
correspondencesRatio	[OUT] The ratio [0,1] of points in otherMap with at least one correspondence.

See also: determineMatching3D

Definition at line 1254 of file CPointsMap.cpp.

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◆ compute3DMatchingRatio()

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

overridevirtualinherited

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
params	[IN] Matching parameters

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 795 of file CPointsMap.cpp.

References mrpt::maps::TMatchingExtraResults::correspondencesRatio, mrpt::maps::CPointsMap::determineMatching3D(), mrpt::maps::CMetricMap::getAsSimplePointsMap(), mrpt::maps::TMatchingRatioParams::maxDistForCorr, and params.

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◆ computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a log-likelihood.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 170 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

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◆ computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

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

Definition at line 76 of file CMetricMap.cpp.

◆ computeObservationsLikelihood()

double CMetricMap::computeObservationsLikelihood	(	const mrpt::obs::CSensoryFrame &	sf,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See also: canComputeObservationsLikelihood

Definition at line 66 of file CMetricMap.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

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◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CWeightedPointsMap::Create ( Args &&... args )

inlinestatic

Definition at line 31 of file CWeightedPointsMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CWeightedPointsMap::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 31 of file CWeightedPointsMap.h.

◆ CreateFromMapDefinition()

mrpt::maps::CWeightedPointsMap * mrpt::maps::CWeightedPointsMap::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

Definition at line 28 of file CWeightedPointsMap.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CWeightedPointsMap::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CWeightedPointsMap::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 31 of file CWeightedPointsMap.h.

◆ derived() [1/2]

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

inlineinherited

CRTP helper method.

Definition at line 100 of file KDTreeCapable.h.

◆ derived() [2/2]

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

inlineinherited

CRTP helper method.

Definition at line 105 of file KDTreeCapable.h.

◆ determineMatching2D()

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

overridevirtualinherited

Computes the matching between this and another 2D point map, which includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 275 of file CPointsMap.cpp.

Referenced by mrpt::maps::CPointsMap::fuseWith().

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◆ determineMatching3D()

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

overridevirtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 1038 of file CPointsMap.cpp.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

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

inlineinherited

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

Definition at line 887 of file CPointsMap.h.

References mrpt::maps::CPointsMap::isEmpty().

Referenced by mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation().

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◆ enableFilterByHeight()

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

inlineinherited

Enable/disable the filter-by-height functionality.

See also: setHeightFilterLevels

Note: Default upon construction is disabled.

Definition at line 951 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_enabled.

◆ extractCylinder()

void CPointsMap::extractCylinder	(	const mrpt::math::TPoint2D &	center,
		const double	radius,
		const double	zmin,
		const double	zmax,
		CPointsMap *	outMap
	)

inherited

Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values.

Definition at line 1213 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, mrpt::square(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ extractPoints()

void CPointsMap::extractPoints	(	const mrpt::math::TPoint3D &	corner1,
		const mrpt::math::TPoint3D &	corner2,
		CPointsMap *	outMap,
		double	R = `1`,
		double	G = `1`,
		double	B = `1`
	)

inherited

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

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

Definition at line 1230 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), G, mrpt::maps::CPointsMap::insertPointRGB(), mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, R, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ fuseWith()

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

inherited

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

otherMap	The other map whose points are to be inserted into this one.
minDistForFuse	Minimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
notFusedPoints	If 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

Definition at line 2029 of file CPointsMap.cpp.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

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◆ getAllPoints() [1/4]

template<class VECTOR >

void mrpt::maps::CPointsMap::getAllPoints	(	VECTOR &	xs,
		VECTOR &	ys,
		VECTOR &	zs,
		size_t	decimation = `1`
	)		const

inlineinherited

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

VECTOR can be std::vector<float or double> or any row/column Eigen::Array or Eigen::Matrix (this includes mrpt::math::CVectorFloat and mrpt::math::CVectorDouble).

Definition at line 571 of file CPointsMap.h.

References ASSERT_, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CPointsMap::getAllPoints().

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◆ getAllPoints() [2/4]

template<class CONTAINER >

void mrpt::maps::CPointsMap::getAllPoints	(	CONTAINER &	ps,
		size_t	decimation = `1`
	)		const

inlineinherited

Gets all points as a STL-like container.

Template Parameters

CONTAINER Any STL-like container of mrpt::math::TPoint3D, mrpt::math::TPoint3Df or anything having members x,y,z. Note that this method is not efficient for large point clouds. Fastest methods are getPointsBuffer() or getPointsBufferRef_x(), getPointsBufferRef_y(), getPointsBufferRef_z()

Definition at line 599 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getAllPoints().

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◆ getAllPoints() [3/4]

void CPointsMap::getAllPoints	(	std::vector< float > &	xs,
		std::vector< float > &	ys,
		size_t	decimation = `1`
	)		const

inherited

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

Definition at line 839 of file CPointsMap.cpp.

References ASSERT_, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, MRPT_END, and MRPT_START.

◆ getAllPoints() [4/4]

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

inlineinherited

Definition at line 622 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getAllPoints().

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◆ getAs3DObject()

void CPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

overridevirtualinherited

Returns a 3D object representing the map.

The color of the points is controlled by renderOptions

Implements mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CPointsMapXYZI.

Definition at line 766 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::boundingBox(), mrpt::img::cmNONE, mrpt::maps::CPointsMap::TRenderOptions::color, mrpt::maps::CPointsMap::TRenderOptions::colormap, mrpt::opengl::CPointCloudColoured::Create(), mrpt::opengl::CPointCloud::Create(), mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, MRPT_END, MRPT_START, mrpt::maps::CPointsMap::TRenderOptions::point_size, mrpt::maps::CPointsMap::renderOptions, and mrpt::math::TPoint3D_data< T >::z.

Referenced by TEST_F().

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◆ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const

inlinevirtualinherited

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 nullptr

Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 295 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::maps::CMetricMap::getAsSimplePointsMap().

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◆ getAsSimplePointsMap() [2/2]

mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )

inlineinherited

Definition at line 299 of file CMetricMap.h.

References mrpt::maps::CMetricMap::getAsSimplePointsMap().

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◆ getClassName()

static constexpr auto mrpt::maps::CWeightedPointsMap::getClassName ( )

inlinestatic

Definition at line 31 of file CWeightedPointsMap.h.

◆ getHeightFilterLevels()

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

inlineinherited

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

See also: enableFilterByHeight, setHeightFilterLevels

Definition at line 970 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_z_max, and mrpt::maps::CPointsMap::m_heightfilter_z_min.

◆ getLargestDistanceFromOrigin()

float CPointsMap::getLargestDistanceFromOrigin ( ) const

inherited

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).

Definition at line 816 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and mrpt::square().

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◆ getLargestDistanceFromOriginNoRecompute()

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

inlineinherited

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 903 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, and mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated.

◆ getLoadPLYErrorString()

std::string mrpt::opengl::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 44 of file PLY_import_export.h.

References mrpt::opengl::PLY_Importer::m_ply_import_last_error.

◆ getPCLPointCloud()

template<class POINTCLOUD >

void mrpt::maps::CPointsMap::getPCLPointCloud ( POINTCLOUD & cloud ) const

inlineinherited

Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>).

Usage example:

mrpt::maps::CPointsCloud       pc;
pcl::PointCloud<pcl::PointXYZ> cloud;
pc.getPCLPointCloud(cloud);

See also: setFromPCLPointCloud, CColouredPointsMap::getPCLPointCloudXYZRGB (for color data)

Definition at line 1003 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and mrpt::maps::CPointsMap::size().

Referenced by mrpt::maps::CPointsMapXYZI::getPCLPointCloudXYZI(), and mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB().

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◆ getPoint() [1/6]

void CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y,
		float &	z
	)		const

inherited

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

First index is 0.

Exceptions

Throws std::exception on index out of bound.

See also: setPoint, getPointFast

Definition at line 192 of file CPointsMap.cpp.

References ASSERT_BELOW_.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), mrpt::maps::CPointsMap::fuseWith(), mrpt::maps::CPointsMap::getPoint(), mrpt::maps::CPointsMap::getPointRGB(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::getPointXYZ_RGBu8(), mrpt::maps::CPointsMap::internal_insertObservation(), ransac_data_assoc_run(), TEST(), and mrpt::ros1bridge::toROS().

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◆ getPoint() [2/6]

void CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y
	)		const

inherited

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 186 of file CPointsMap.cpp.

References ASSERT_BELOW_.

◆ getPoint() [3/6]

void CPointsMap::getPoint	(	size_t	index,
		double &	x,
		double &	y,
		double &	z
	)		const

inherited

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 205 of file CPointsMap.cpp.

References ASSERT_BELOW_.

◆ getPoint() [4/6]

void CPointsMap::getPoint	(	size_t	index,
		double &	x,
		double &	y
	)		const

inherited

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 199 of file CPointsMap.cpp.

References ASSERT_BELOW_.

◆ getPoint() [5/6]

void mrpt::maps::CPointsMap::getPoint	(	size_t	index,
		mrpt::math::TPoint2D &	p
	)		const

inlineinherited

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

Definition at line 453 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getPoint(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ getPoint() [6/6]

void mrpt::maps::CPointsMap::getPoint	(	size_t	index,
		mrpt::math::TPoint3D &	p
	)		const

inlineinherited

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

Definition at line 458 of file CPointsMap.h.

References mrpt::maps::CPointsMap::getPoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ getPointAllFields()

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

inlineinherited

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 705 of file CPointsMap.h.

References ASSERT_BELOW_, mrpt::maps::CPointsMap::getPointAllFieldsFast(), and mrpt::maps::CPointsMap::size().

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◆ getPointAllFieldsFast()

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

inlineoverridevirtual

Get all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike getPointAllFields(), this method does not check for index out of bounds.

See also: getPointAllFields, setPointAllFields, setPointAllFieldsFast

Implements mrpt::maps::CPointsMap.

Definition at line 69 of file CWeightedPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and pointWeight.

◆ getPointFast()

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

inlineinherited

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

Definition at line 480 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

Referenced by mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CSimplePointsMap >::getPointXYZ(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CWeightedPointsMap >::getPointXYZ(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMapXYZI >::getPointXYZ(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointXYZ(), mrpt::opengl::PointCloudAdapter< mrpt::maps::CPointsMap >::getPointXYZ(), and mrpt::maps::CPointsMap::insertAnotherMap().

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◆ getPointRGB()

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

inlinevirtualinherited

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

Throws std::exception on index out of bound.

Reimplemented in mrpt::maps::CPointsMapXYZI, and mrpt::maps::CColouredPointsMap.

Definition at line 469 of file CPointsMap.h.

References G, mrpt::maps::CPointsMap::getPoint(), and R.

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◆ getPointsBuffer()

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

inherited

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

Definition at line 216 of file CPointsMap.cpp.

References mrpt::math::size().

Referenced by mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::insertPointCloud(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::nav::PlannerTPS_VirtualBase::spaceTransformer(), mrpt::nav::PlannerTPS_VirtualBase::spaceTransformerOneDirectionOnly(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ getPointsBufferRef_x()

const mrpt::aligned_std_vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_x ( ) const

inlineinherited

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

See also: getAllPoints

Definition at line 545 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud().

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◆ getPointsBufferRef_y()

const mrpt::aligned_std_vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_y ( ) const

inlineinherited

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

See also: getAllPoints

Definition at line 551 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_y.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud().

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◆ getPointsBufferRef_z()

const mrpt::aligned_std_vector<float>& mrpt::maps::CPointsMap::getPointsBufferRef_z ( ) const

inlineinherited

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

See also: getAllPoints

Definition at line 557 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_z.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud(), and TEST().

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◆ getPointWeight() [1/2]

unsigned int mrpt::maps::CWeightedPointsMap::getPointWeight ( size_t index ) const

inlineoverride

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

Definition at line 129 of file CWeightedPointsMap.h.

References pointWeight.

◆ getPointWeight() [2/2]

virtual unsigned int mrpt::maps::CPointsMap::getPointWeight ( [[maybe_unused] ] size_t index ) const

inlinevirtualinherited

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

Definition at line 531 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::fuseWith().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CWeightedPointsMap::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CPointsMap.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CWeightedPointsMap::GetRuntimeClassIdStatic ( )

static

◆ getSavePLYErrorString()

std::string mrpt::opengl::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 104 of file PLY_import_export.h.

References mrpt::opengl::PLY_Exporter::m_ply_export_last_error.

◆ hasColorPoints()

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

inlinevirtualinherited

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

Reimplemented in mrpt::maps::CColouredPointsMap, and mrpt::maps::CPointsMapXYZI.

Definition at line 488 of file CPointsMap.h.

◆ hasSubscribers()

bool mrpt::system::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 53 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ impl_copyFrom()

void CWeightedPointsMap::impl_copyFrom ( const CPointsMap & obj )

overrideprotectedvirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 101 of file CWeightedPointsMap.cpp.

References pointWeight.

Referenced by CWeightedPointsMap(), and operator=().

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◆ insertAnotherMap()

void CPointsMap::insertAnotherMap	(	const CPointsMap *	otherMap,
		const mrpt::poses::CPose3D &	otherPose
	)

inherited

Insert the contents of another map into this one with some geometric transformation, without fusing close points.

Parameters

otherMap	The other map whose points are to be inserted into this one.
otherPose	The pose of the other map in the coordinates of THIS map

See also: fuseWith, addFrom

Definition at line 1689 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::addFrom_classSpecific(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::getPointFast(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::resize(), mrpt::maps::CPointsMap::setPointFast(), mrpt::maps::CPointsMap::size(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape().

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◆ insertObservation()

bool CMetricMap::insertObservation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters

obs	The observation
robotPose	The 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 93 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

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◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr	(	const mrpt::obs::CObservation::Ptr &	obs,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

inherited

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

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ insertPoint() [1/2]

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

inlineinherited

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 639 of file CPointsMap.h.

References mrpt::maps::CPointsMap::insertPointFast(), and mrpt::maps::CPointsMap::mark_as_modified().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::ros1bridge::fromROS(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::CPointsMap::insertPointRGB(), run_pc_filter_test(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), and mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI().

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◆ insertPoint() [2/2]

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

inlineinherited

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

Definition at line 645 of file CPointsMap.h.

References mrpt::d2f(), mrpt::maps::CPointsMap::insertPoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ insertPointFast()

void CWeightedPointsMap::insertPointFast	(	float	x,
		float	y,
		float	z = `0`
	)

overridevirtual

The virtual method for insertPoint() without calling mark_as_modified()

Implements mrpt::maps::CPointsMap.

Definition at line 92 of file CWeightedPointsMap.cpp.

◆ insertPointRGB()

virtual void mrpt::maps::CPointsMap::insertPointRGB	(	float	x,
		float	y,
		float	z,
		[[maybe_unused] ] float	R,
		[[maybe_unused] ] float	G,
		[[maybe_unused] ] float	B
	)

inlinevirtualinherited

overload (RGB data is ignored in classes without color information)

Definition at line 650 of file CPointsMap.h.

References mrpt::maps::CPointsMap::insertPoint().

Referenced by mrpt::maps::CPointsMap::extractPoints().

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◆ internal_clear()

void CWeightedPointsMap::internal_clear ( )

overrideprotectedvirtual

Clear the map, erasing all the points.

Implements mrpt::maps::CMetricMap.

Definition at line 225 of file CWeightedPointsMap.cpp.

References mrpt::vector_strong_clear().

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◆ internal_computeObservationLikelihood()

double CPointsMap::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

overridevirtualinherited

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 1457 of file CPointsMap.cpp.

References mrpt::poses::CPose2D::asTPose(), mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::maps::CPointsMap::TLikelihoodOptions::decimation, mrpt::obs::CObservationVelodyneScan::generatePointCloud(), mrpt::maps::CPointsMap::internal_computeObservationLikelihoodPointCloud3D(), IS_CLASS, mrpt::poses::CPose3D::isHorizontal(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint2D(), mrpt::keep_min(), mrpt::maps::CPointsMap::likelihoodOptions, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::TLikelihoodOptions::max_corr_distance, mrpt::math::TPose2D::phi, mrpt::obs::CObservationPointCloud::pointcloud, mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist, mrpt::maps::CPointsMap::size(), mrpt::square(), mrpt::math::TPose2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::math::TPose2D::y.

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◆ internal_computeObservationLikelihoodPointCloud3D()

double CPointsMap::internal_computeObservationLikelihoodPointCloud3D	(	const mrpt::poses::CPose3D &	pc_in_map,
		const float *	xs,
		const float *	ys,
		const float *	zs,
		const std::size_t	num_pts
	)

inherited

Definition at line 1417 of file CPointsMap.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::TLikelihoodOptions::decimation, mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint3D(), mrpt::keep_min(), mrpt::maps::CPointsMap::likelihoodOptions, mrpt::maps::CPointsMap::TLikelihoodOptions::max_corr_distance, MRPT_TRY_END, MRPT_TRY_START, mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist, and mrpt::square().

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().

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◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CWeightedPointsMap::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 48 of file CWeightedPointsMap.cpp.

References mrpt::maps::CWeightedPointsMap::TMapDefinition::insertionOpts, and mrpt::maps::CWeightedPointsMap::TMapDefinition::likelihoodOpts.

◆ internal_insertObservation()

bool CPointsMap::internal_insertObservation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose
	)

overrideprotectedvirtualinherited

This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary.

See mrpt::maps::CPointsMap for the enumeration of types of observations which are accepted.

Implements mrpt::maps::CMetricMap.

Definition at line 1747 of file CPointsMap.cpp.

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◆ isEmpty()

bool CPointsMap::isEmpty ( ) const

overridevirtualinherited

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

Implements mrpt::maps::CMetricMap.

Definition at line 589 of file CPointsMap.cpp.

Referenced by mrpt::maps::CPointsMap::empty().

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◆ isFilterByHeightEnabled()

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

inlineinherited

Return whether filter-by-height is enabled.

See also: enableFilterByHeight

Definition at line 956 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_enabled.

◆ kdtree_distance()

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

inlineinherited

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 1065 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and mrpt::maps::CPointsMap::size().

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◆ kdtree_get_bbox()

template<typename BBOX >

bool mrpt::maps::CPointsMap::kdtree_get_bbox ( BBOX & bb ) const

inlineinherited

Definition at line 1090 of file CPointsMap.h.

References mrpt::maps::CPointsMap::boundingBox().

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◆ kdtree_get_point_count()

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

inlineinherited

Must return the number of data points.

Definition at line 1049 of file CPointsMap.h.

References mrpt::maps::CPointsMap::size().

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◆ kdtree_get_pt()

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

inlineinherited

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

Definition at line 1051 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

◆ kdtree_mark_as_outdated()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdtree_mark_as_outdated ( ) const

inlineprotectedinherited

To be called by child classes when KD tree data changes.

Definition at line 714 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::base_copyFrom(), and mrpt::maps::CPointsMap::mark_as_modified().

◆ kdTreeClosestPoint2D() [1/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x,
		float &	out_y,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 136 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().

◆ kdTreeClosestPoint2D() [2/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_dist_sqr
	)		const

inlineinherited

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

Definition at line 163 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2D() [3/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

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

Definition at line 185 of file KDTreeCapable.h.

◆ kdTreeClosestPoint2DsqrError() [1/2]

float mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint2DsqrError	(	float	x0,
		float	y0
	)		const

inlineinherited

Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.

Definition at line 199 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence().

◆ kdTreeClosestPoint2DsqrError() [2/2]

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

inlineinherited

Definition at line 206 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [1/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_x,
		float &	out_y,
		float &	out_z,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_z	The Z coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint2D

Definition at line 405 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::determineMatching3D(), and mrpt::maps::CPointsMap::internal_computeObservationLikelihoodPointCloud3D().

◆ kdTreeClosestPoint3D() [2/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_dist_sqr
	)		const

inlineinherited

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

Definition at line 433 of file KDTreeCapable.h.

◆ kdTreeClosestPoint3D() [3/3]

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeClosestPoint3D	(	const TPoint3D &	p0,
		TPoint3D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

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

Definition at line 455 of file KDTreeCapable.h.

◆ kdTreeEnsureIndexBuilt2D()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeEnsureIndexBuilt2D ( )

inlineinherited

Definition at line 708 of file KDTreeCapable.h.

◆ kdTreeEnsureIndexBuilt3D()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeEnsureIndexBuilt3D ( )

inlineinherited

Definition at line 707 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2D() [1/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2D	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

Returns: The list of indices

See also: kdTreeClosestPoint2D; kdTreeTwoClosestPoint2D

Definition at line 296 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2D() [2/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2D	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< TPoint2D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 326 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2DIdx() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2DIdx	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D

Definition at line 358 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint2DIdx() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint2DIdx	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 378 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3D() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 489 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3D() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3D	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< TPoint3D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 576 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DIdx() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3DIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 679 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DIdx() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3DIdx	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 699 of file KDTreeCapable.h.

◆ kdTreeNClosestPoint3DWithIdx()

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeNClosestPoint3DWithIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_idx	The vector containing the indexes of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 544 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::compute3DDistanceToMesh().

◆ kdTreeRadiusSearch2D()

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeRadiusSearch2D	(	const float	x0,
		const float	y0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 2D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 644 of file KDTreeCapable.h.

◆ kdTreeRadiusSearch3D()

size_t mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeRadiusSearch3D	(	const float	x0,
		const float	y0,
		const float	z0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 3D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 609 of file KDTreeCapable.h.

◆ kdTreeTwoClosestPoint2D() [1/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeTwoClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x1,
		float &	out_y1,
		float &	out_x2,
		float &	out_y2,
		float &	out_dist_sqr1,
		float &	out_dist_sqr2
	)		const

inlineinherited

KD Tree-based search for the TWO closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x1	The X coordinate of the first correspondence.
out_y1	The Y coordinate of the first correspondence.
out_x2	The X coordinate of the second correspondence.
out_y2	The Y coordinate of the second correspondence.
out_dist_sqr1	The square distance between the query and the first returned point.
out_dist_sqr2	The square distance between the query and the second returned point.

See also: kdTreeClosestPoint2D

Definition at line 231 of file KDTreeCapable.h.

Referenced by mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence().

◆ kdTreeTwoClosestPoint2D() [2/2]

void mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdTreeTwoClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut1,
		TPoint2D &	pOut2,
		float &	outDistSqr1,
		float &	outDistSqr2
	)		const

inlineinherited

Definition at line 262 of file KDTreeCapable.h.

◆ load2D_from_text_file()

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

inlineinherited

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 370 of file CPointsMap.h.

References mrpt::maps::CPointsMap::load2Dor3D_from_text_file().

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◆ load2Dor3D_from_text_file()

bool CPointsMap::load2Dor3D_from_text_file	(	const std::string &	file,
		const bool	is_3D
	)

inherited

2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file

Definition at line 100 of file CPointsMap.cpp.

References mrpt::containers::clear(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CPointsMap::load2D_from_text_file(), and mrpt::maps::CPointsMap::load3D_from_text_file().

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◆ load3D_from_text_file()

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

inlineinherited

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 379 of file CPointsMap.h.

References mrpt::maps::CPointsMap::load2Dor3D_from_text_file().

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◆ loadFromPlyFile()

bool PLY_Importer::loadFromPlyFile	(	const std::string &	filename,
		std::vector< std::string > *	file_comments = `nullptr`,
		std::vector< std::string > *	file_obj_info = `nullptr`
	)

inherited

Loads from a PLY file.

Parameters

[in]	filename	The filename to open. It can be either in binary or text format.
[out]	file_comments	If provided (!=nullptr) the list of comment strings stored in the file will be returned.
[out]	file_obj_info	If provided (!=nullptr) 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()

Definition at line 1844 of file PLY_import_export.cpp.

References TVertex::b, TVertex::g, TVertex::intensity, ply_close(), ply_get_comments(), ply_get_element(), ply_get_element_description(), ply_get_obj_info(), ply_get_property(), ply_open_for_reading(), TVertex::r, VAL_NOT_SET, vert_props, TVertex::x, TVertex::y, and TVertex::z.

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◆ loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap & Map )

inherited

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

This is done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

References ASSERTMSG_, mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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◆ loadFromRangeScan() [1/2]

void CWeightedPointsMap::loadFromRangeScan	(	const mrpt::obs::CObservation2DRangeScan &	rangeScan,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

overridevirtual

See CPointsMap::loadFromRangeScan()

Implements mrpt::maps::CPointsMap.

Definition at line 316 of file CWeightedPointsMap.cpp.

References mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan().

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◆ loadFromRangeScan() [2/2]

void CWeightedPointsMap::loadFromRangeScan	(	const mrpt::obs::CObservation3DRangeScan &	rangeScan,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

overridevirtual

See CPointsMap::loadFromRangeScan()

Implements mrpt::maps::CPointsMap.

Definition at line 324 of file CWeightedPointsMap.cpp.

References mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan().

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◆ loadFromSimpleMap()

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

inlineinherited

!

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

Definition at line 106 of file CMetricMap.h.

References mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations().

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ loadFromVelodyneScan()

void CPointsMap::loadFromVelodyneScan	(	const mrpt::obs::CObservationVelodyneScan &	scan,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

inherited

Like loadFromRangeScan() for Velodyne 3D scans.

Points are translated and rotated according to the sensorPose field in the observation and, if provided, to the robotPose parameter.

Parameters

scan	The Raw LIDAR data to be inserted into this map. It MUST contain point cloud data, generated by calling to mrpt::obs::CObservationVelodyneScan::generatePointCloud() prior to insertion in this map.
robotPose	Default to (0,0,0\|0deg,0deg,0deg). Changes the frame of reference for the point cloud (i.e. the vehicle/robot pose in world coordinates).

See also: loadFromRangeScan

Definition at line 2119 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap, ASSERT_EQUAL_, mrpt::poses::CPose3D::getHomogeneousMatrix(), mrpt::maps::CPointsMap::insertionOptions, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::obs::CObservationVelodyneScan::point_cloud, mrpt::maps::CPointsMap::resize(), mrpt::obs::CObservationVelodyneScan::sensorPose, mrpt::maps::CPointsMap::setPointRGB(), mrpt::obs::CObservationVelodyneScan::TPointCloud::size(), mrpt::maps::CPointsMap::size(), mrpt::obs::CObservationVelodyneScan::TPointCloud::x, mrpt::obs::CObservationVelodyneScan::TPointCloud::y, and mrpt::obs::CObservationVelodyneScan::TPointCloud::z.

Referenced by mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), and mrpt::maps::CPointsMap::internal_insertObservation().

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◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CWeightedPointsMap::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 28 of file CWeightedPointsMap.cpp.

◆ mark_as_modified()

void mrpt::maps::CPointsMap::mark_as_modified ( ) const

inlineinherited

Users normally don't need to call this.

Called by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false, invalidates the kd-tree cache, and such.

Definition at line 1107 of file CPointsMap.h.

References mrpt::math::KDTreeCapable< CPointsMap >::kdtree_mark_as_outdated(), mrpt::maps::CPointsMap::m_boundingBoxIsUpdated, and mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated.

Referenced by mrpt::maps::CPointsMap::addFrom(), mrpt::maps::CPointsMap::applyDeletionMask(), mrpt::maps::CPointsMap::fuseWith(), mrpt::maps::CPointsMap::insertAnotherMap(), mrpt::maps::CPointsMap::insertPoint(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), mrpt::maps::CPointsMap::setAllPointsTemplate(), and mrpt::maps::CPointsMap::setPoint().

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◆ operator+=()

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

inlineinherited

This operator is synonymous with addFrom.

See also: addFrom

Definition at line 347 of file CPointsMap.h.

References mrpt::maps::CPointsMap::addFrom().

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◆ operator=() [1/2]

CWeightedPointsMap& mrpt::maps::CWeightedPointsMap::operator= ( const CPointsMap & o )

inline

Definition at line 41 of file CWeightedPointsMap.h.

References impl_copyFrom().

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◆ operator=() [2/2]

CWeightedPointsMap& mrpt::maps::CWeightedPointsMap::operator= ( const CWeightedPointsMap & o )

inline

Definition at line 46 of file CWeightedPointsMap.h.

References impl_copyFrom().

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◆ PLY_export_get_face_count()

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

inlineoverrideprotectedvirtualinherited

In a base class, return the number of faces.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 1167 of file CPointsMap.h.

◆ PLY_export_get_vertex()

void CPointsMap::PLY_export_get_vertex	(	const size_t	idx,
		mrpt::math::TPoint3Df &	pt,
		bool &	pt_has_color,
		mrpt::img::TColorf &	pt_color
	)		const

overrideprotectedvirtualinherited

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

Parameters

pt_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Exporter.

Reimplemented in mrpt::maps::CPointsMapXYZI.

Definition at line 1625 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

◆ PLY_export_get_vertex_count()

size_t CPointsMap::PLY_export_get_vertex_count ( ) const

overrideprotectedvirtualinherited

In a base class, return the number of vertices.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 1620 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::size().

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◆ PLY_import_set_face_count() [1/2]

virtual void mrpt::opengl::PLY_Importer::PLY_import_set_face_count ( const size_t N )

protectedpure virtualinherited

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

◆ PLY_import_set_face_count() [2/2]

void mrpt::maps::CPointsMap::PLY_import_set_face_count ( [[maybe_unused] ] const size_t N )

inlineoverrideprotectedinherited

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

Definition at line 1152 of file CPointsMap.h.

◆ PLY_import_set_vertex()

void CPointsMap::PLY_import_set_vertex	(	const size_t	idx,
		const mrpt::math::TPoint3Df &	pt,
		const mrpt::img::TColorf *	pt_color = `nullptr`
	)

overrideprotectedvirtualinherited

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

Parameters

pt_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Importer.

Reimplemented in mrpt::maps::CPointsMapXYZI.

Definition at line 1612 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ PLY_import_set_vertex_count()

void CWeightedPointsMap::PLY_import_set_vertex_count ( const size_t N )

overrideprotectedvirtual

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

Implements mrpt::opengl::PLY_Importer.

Definition at line 336 of file CWeightedPointsMap.cpp.

◆ publishEvent()

void 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.

Definition at line 57 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ reserve()

void CWeightedPointsMap::reserve ( size_t newLength )

overridevirtual

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.

Implements mrpt::maps::CPointsMap.

Definition at line 62 of file CWeightedPointsMap.cpp.

References reserve().

Referenced by reserve().

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◆ resize()

void CWeightedPointsMap::resize ( size_t newLength )

overridevirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 73 of file CWeightedPointsMap.cpp.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::maps::CWeightedPointsMap >::resize().

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◆ save2D_to_text_file()

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

inherited

Save to a text file.

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

Definition at line 66 of file CPointsMap.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

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◆ save3D_to_text_file()

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

inherited

Save to a text file.

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

Definition at line 83 of file CPointsMap.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

Referenced by mrpt::maps::CPointsMap::saveMetricMapRepresentationToFile().

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◆ saveMetricMapRepresentationToFile()

void mrpt::maps::CPointsMap::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

inlineoverridevirtualinherited

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface)

Implements mrpt::maps::CMetricMap.

Definition at line 402 of file CPointsMap.h.

References mrpt::maps::CPointsMap::save3D_to_text_file().

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◆ saveToPlyFile()

bool PLY_Exporter::saveToPlyFile	(	const std::string &	filename,
		bool	save_in_binary = `false`,
		const std::vector< std::string > &	file_comments = `std::vector<std::string>()`,
		const std::vector< std::string > &	file_obj_info = `std::vector<std::string>()`
	)		const

inherited

Saves to a PLY file.

Parameters

[in]	filename	The filename to be saved.
[in]	file_comments	If provided (!=nullptr) the list of comment strings stored in the file will be returned.
[in]	file_obj_info	If provided (!=nullptr) 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()

Definition at line 1945 of file PLY_import_export.cpp.

References mrpt::img::TColorf::B, face_props, mrpt::img::TColorf::G, TVertex::intensity, PLY_ASCII, PLY_BINARY_BE, PLY_BINARY_LE, ply_close(), ply_describe_property(), ply_element_count(), ply_header_complete(), ply_open_for_writing(), ply_put_comment(), ply_put_element(), ply_put_element_setup(), ply_put_obj_info(), mrpt::img::TColorf::R, vert_props, mrpt::math::TPoint3D_data< T >::x, TVertex::x, mrpt::math::TPoint3D_data< T >::y, TVertex::y, mrpt::math::TPoint3D_data< T >::z, and TVertex::z.

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◆ serializeFrom() [1/2]

void CWeightedPointsMap::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 154 of file CWeightedPointsMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadBufferFixEndianness(), and resize().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CWeightedPointsMap::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 132 of file CWeightedPointsMap.cpp.

◆ serializeTo() [1/2]

void CWeightedPointsMap::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 133 of file CWeightedPointsMap.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setAllPoints() [1/2]

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

inlineinherited

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

See also: getAllPoints

Definition at line 686 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setAllPointsTemplate().

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

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◆ setAllPoints() [2/2]

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

inlineinherited

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

See also: getAllPoints

Definition at line 695 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setAllPointsTemplate().

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◆ setAllPointsTemplate()

template<typename VECTOR >

void mrpt::maps::CPointsMap::setAllPointsTemplate	(	const VECTOR &	X,
		const VECTOR &	Y,
		const VECTOR &	Z = `VECTOR()`
	)

inlineinherited

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

VECTOR can be mrpt::math::CVectorFloat or std::vector<float> or any other column or row Eigen::Matrix.

Definition at line 663 of file CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::setPointFast(), and mrpt::maps::CPointsMap::setSize().

Referenced by mrpt::maps::CPointsMap::setAllPoints().

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◆ setFromPCLPointCloud()

template<class POINTCLOUD >

void mrpt::maps::CPointsMap::setFromPCLPointCloud ( const POINTCLOUD & cloud )

inlineinherited

Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ).

Usage example:

pcl::PointCloud<pcl::PointXYZ> cloud;
mrpt::maps::CPointsCloud       pc;
pc.setFromPCLPointCloud(cloud);

See also: getPCLPointCloud, CColouredPointsMap::setFromPCLPointCloudRGB()

Definition at line 1032 of file CPointsMap.h.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPointFast(), and mrpt::maps::CPointsMap::reserve().

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◆ setHeightFilterLevels()

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

inlineinherited

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

Definition at line 963 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_heightfilter_z_max, and mrpt::maps::CPointsMap::m_heightfilter_z_min.

◆ setPoint() [1/4]

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

inlineinherited

Changes a given point from map, with Z defaulting to 0 if not provided.

Exceptions

Throws std::exception on index out of bound.

Definition at line 492 of file CPointsMap.h.

References ASSERT_BELOW_, mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::setPointFast(), and mrpt::maps::CPointsMap::size().

Referenced by mrpt::maps::CPointsMap::PLY_import_set_vertex(), ransac_data_assoc_run(), mrpt::maps::CPointsMap::setPoint(), and mrpt::maps::CPointsMap::setPointRGB().

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◆ setPoint() [2/4]

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

inlineinherited

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

Definition at line 499 of file CPointsMap.h.

References mrpt::d2f(), mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ setPoint() [3/4]

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

inlineinherited

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

Definition at line 504 of file CPointsMap.h.

References mrpt::d2f(), mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ setPoint() [4/4]

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

inlineinherited

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

Definition at line 509 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setPoint().

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◆ setPointAllFields()

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

inlineinherited

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 718 of file CPointsMap.h.

References ASSERT_BELOW_, mrpt::maps::CPointsMap::setPointAllFieldsFast(), and mrpt::maps::CPointsMap::size().

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◆ setPointAllFieldsFast()

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

inlineoverridevirtual

Set all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike setPointAllFields(), this method does not check for index out of bounds.

See also: setPointAllFields, getPointAllFields, getPointAllFieldsFast

Implements mrpt::maps::CPointsMap.

Definition at line 84 of file CWeightedPointsMap.h.

References ASSERTDEB_, mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, mrpt::maps::CPointsMap::m_z, and pointWeight.

◆ setPointFast()

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

inlineinherited

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

Also, color, intensity, or other data is left unchanged.

See also: setPoint

Definition at line 161 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x, mrpt::maps::CPointsMap::m_y, and mrpt::maps::CPointsMap::m_z.

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◆ setPointRGB()

virtual void mrpt::maps::CPointsMap::setPointRGB	(	size_t	index,
		float	x,
		float	y,
		float	z,
		[[maybe_unused] ] float	R,
		[[maybe_unused] ] float	G,
		[[maybe_unused] ] float	B
	)

inlinevirtualinherited

overload (RGB data is ignored in classes without color information)

Definition at line 514 of file CPointsMap.h.

References mrpt::maps::CPointsMap::setPoint().

Referenced by mrpt::maps::CPointsMap::loadFromVelodyneScan().

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◆ setPointWeight() [1/2]

void mrpt::maps::CWeightedPointsMap::setPointWeight	(	size_t	index,
		unsigned long	w
	)

inlineoverride

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

Definition at line 122 of file CWeightedPointsMap.h.

References pointWeight.

◆ setPointWeight() [2/2]

virtual void mrpt::maps::CPointsMap::setPointWeight	(	[[maybe_unused] ] size_t	index,
		[[maybe_unused] ] unsigned long	w
	)

inlinevirtualinherited

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

Definition at line 524 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::fuseWith().

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◆ setSize()

void CWeightedPointsMap::setSize ( size_t newLength )

overridevirtual

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

Implements mrpt::maps::CPointsMap.

Definition at line 84 of file CWeightedPointsMap.cpp.

◆ size()

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

inlineinherited

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

Note: This method requires user code to include PCL before MRPT headers.

Returns: false on any error Load the point cloud from a PCL PCD file.

Note: This method requires user code to include PCL before MRPT headers.

Returns: false on any error Returns the number of stored points in the map.

Definition at line 440 of file CPointsMap.h.

References mrpt::maps::CPointsMap::m_x.

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◆ squareDistanceToClosestCorrespondence()

float CPointsMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const

overridevirtualinherited

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 871 of file CPointsMap.cpp.

References ASSERT_, mrpt::math::closestFromPointToLine(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint2DsqrError(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeTwoClosestPoint2D(), and mrpt::square().

Referenced by mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondenceT().

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◆ squareDistanceToClosestCorrespondenceT()

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

inlineinherited

Definition at line 210 of file CPointsMap.h.

References mrpt::d2f(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ detail::loadFromRangeImpl

template<class Derived >

friend struct detail::loadFromRangeImpl

friend

Definition at line 111 of file CWeightedPointsMap.h.

◆ detail::pointmap_traits

template<class Derived >

friend struct detail::pointmap_traits

friend

Definition at line 113 of file CWeightedPointsMap.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::CWeightedPointsMap::className = "mrpt::maps" "::" "CWeightedPointsMap"

static

Definition at line 31 of file CWeightedPointsMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 274 of file CMetricMap.h.

◆ insertionOptions

TInsertionOptions mrpt::maps::CPointsMap::insertionOptions

inherited

The options used when inserting observations in the map.

Definition at line 272 of file CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), internal_build_points_map_from_scan2D(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan2D(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and run_rnav_test().

◆ kdtree_search_params

TKDTreeSearchParams mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float , CPointsMap > >::kdtree_search_params

inherited

Parameters to tune the ANN searches.

Definition at line 114 of file KDTreeCapable.h.

◆ likelihoodOptions

TLikelihoodOptions mrpt::maps::CPointsMap::likelihoodOptions

inherited

Definition at line 308 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), and mrpt::maps::CPointsMap::internal_computeObservationLikelihoodPointCloud3D().

◆ m_bb_max_x

float mrpt::maps::CPointsMap::m_bb_max_x

mutableprotectedinherited

Definition at line 1132 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_max_y

float mrpt::maps::CPointsMap::m_bb_max_y

mutableprotectedinherited

Definition at line 1132 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_max_z

float mrpt::maps::CPointsMap::m_bb_max_z

mutableprotectedinherited

Definition at line 1132 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_min_x

float mrpt::maps::CPointsMap::m_bb_min_x

mutableprotectedinherited

Definition at line 1132 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_min_y

float mrpt::maps::CPointsMap::m_bb_min_y

mutableprotectedinherited

Definition at line 1132 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_bb_min_z

float mrpt::maps::CPointsMap::m_bb_min_z

mutableprotectedinherited

Definition at line 1132 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox().

◆ m_boundingBoxIsUpdated

bool mrpt::maps::CPointsMap::m_boundingBoxIsUpdated

mutableprotectedinherited

Definition at line 1131 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::boundingBox(), and mrpt::maps::CPointsMap::mark_as_modified().

◆ m_heightfilter_enabled

bool mrpt::maps::CPointsMap::m_heightfilter_enabled {false}

protectedinherited

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

See also: m_heightfilter_z_min, m_heightfilter_z_max

Definition at line 1180 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::enableFilterByHeight(), and mrpt::maps::CPointsMap::isFilterByHeightEnabled().

◆ m_heightfilter_z_max

double mrpt::maps::CPointsMap::m_heightfilter_z_max {10}

protectedinherited

Definition at line 1176 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::getHeightFilterLevels(), and mrpt::maps::CPointsMap::setHeightFilterLevels().

◆ m_heightfilter_z_min

double mrpt::maps::CPointsMap::m_heightfilter_z_min {-10}

protectedinherited

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

See also: m_heightfilter_enabled

Definition at line 1176 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::getHeightFilterLevels(), and mrpt::maps::CPointsMap::setHeightFilterLevels().

◆ m_largestDistanceFromOrigin

float mrpt::maps::CPointsMap::m_largestDistanceFromOrigin {0}

mutableprotectedinherited

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also: getLargestDistanceFromOrigin

Definition at line 1124 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::base_copyFrom(), mrpt::maps::CPointsMap::getLargestDistanceFromOrigin(), and mrpt::maps::CPointsMap::getLargestDistanceFromOriginNoRecompute().

◆ m_largestDistanceFromOriginIsUpdated

bool mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated

mutableprotectedinherited

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also: getLargestDistanceFromOrigin

Definition at line 1129 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::base_copyFrom(), mrpt::maps::CPointsMap::getLargestDistanceFromOrigin(), mrpt::maps::CPointsMap::getLargestDistanceFromOriginNoRecompute(), and mrpt::maps::CPointsMap::mark_as_modified().

◆ m_private_map_register_id

const size_t mrpt::maps::CWeightedPointsMap::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CWeightedPointsMap,weightedPointsMap" , & mrpt::maps::CWeightedPointsMap ::MapDefinition, & mrpt::maps::CWeightedPointsMap ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 155 of file CWeightedPointsMap.h.

◆ m_scans_sincos_cache

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

protectedinherited

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

Definition at line 1119 of file CPointsMap.h.

◆ m_x

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMap::m_x

protectedinherited

The point coordinates.

Definition at line 1116 of file CPointsMap.h.

◆ m_y

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMap::m_y

protectedinherited

Definition at line 1116 of file CPointsMap.h.

◆ m_z

mrpt::aligned_std_vector<float> mrpt::maps::CPointsMap::m_z

protectedinherited

Definition at line 1116 of file CPointsMap.h.

◆ pointWeight

mrpt::aligned_std_vector<uint32_t> mrpt::maps::CWeightedPointsMap::pointWeight

protected

The points weights.

Definition at line 136 of file CWeightedPointsMap.h.

Referenced by addFrom_classSpecific(), getPointAllFieldsFast(), getPointWeight(), impl_copyFrom(), mrpt::maps::detail::pointmap_traits< CWeightedPointsMap >::internal_loadFromRangeScan2D_postPushBack(), mrpt::maps::detail::pointmap_traits< CWeightedPointsMap >::internal_loadFromRangeScan3D_postPushBack(), setPointAllFieldsFast(), and setPointWeight().

◆ renderOptions

TRenderOptions mrpt::maps::CPointsMap::renderOptions

inherited

Definition at line 331 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::getAs3DObject(), and TEST_F().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CWeightedPointsMap::runtimeClassId

staticprotected

Definition at line 31 of file CWeightedPointsMap.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Pure virtual interfaces to be implemented by any class derived

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ self_t

◆ UniquePtr

Constructor & Destructor Documentation

◆ CWeightedPointsMap() [1/3]

◆ CWeightedPointsMap() [2/3]

◆ CWeightedPointsMap() [3/3]

Member Function Documentation

◆ _GetBaseClass()

◆ addFrom()

◆ addFrom_classSpecific()

◆ applyDeletionMask()

◆ auxParticleFilterCleanUp()

◆ base_copyFrom()

◆ boundingBox() [1/2]

◆ boundingBox() [2/2]

◆ canComputeObservationLikelihood()

◆ canComputeObservationsLikelihood()

◆ changeCoordinatesReference() [1/3]

◆ changeCoordinatesReference() [2/3]

◆ changeCoordinatesReference() [3/3]

◆ clear()

◆ clipOutOfRange()

◆ clipOutOfRangeInZ()

◆ clone()

◆ compute3DDistanceToMesh()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateAlloc()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ CreateUnique()

◆ derived() [1/2]

◆ derived() [2/2]

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ empty()

◆ enableFilterByHeight()

◆ extractCylinder()

◆ extractPoints()

◆ fuseWith()

◆ getAllPoints() [1/4]

◆ getAllPoints() [2/4]

◆ getAllPoints() [3/4]

◆ getAllPoints() [4/4]

◆ getAs3DObject()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getClassName()

◆ getHeightFilterLevels()

◆ getLargestDistanceFromOrigin()

◆ getLargestDistanceFromOriginNoRecompute()

◆ getLoadPLYErrorString()

◆ getPCLPointCloud()

◆ getPoint() [1/6]

◆ getPoint() [2/6]

◆ getPoint() [3/6]

◆ getPoint() [4/6]

◆ getPoint() [5/6]

◆ getPoint() [6/6]

◆ getPointAllFields()

◆ getPointAllFieldsFast()

◆ getPointFast()