9 #ifndef CSimplePointsMap_H 10 #define CSimplePointsMap_H 43 virtual void reserve(
size_t newLength)
override;
44 virtual void resize(
size_t newLength)
override;
45 virtual void setSize(
size_t newLength)
override;
61 const size_t index, std::vector<float>& point_data)
const override 74 const size_t index,
const std::vector<float>& point_data)
override 95 const CPointsMap& anotherMap,
const size_t nPreviousPoints)
override 103 template <
class Derived>
105 template <
class Derived>
165 static const int HAS_RGB = 0;
167 static const int HAS_RGBf = 0;
169 static const int HAS_RGBu8 = 0;
177 inline size_t size()
const {
return m_obj.
size(); }
185 template <
typename T>
virtual void insertPointFast(float x, float y, float z=0) override
The virtual method for insertPoint() without calling mark_as_modified()
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...
#define THROW_EXCEPTION(msg)
virtual 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.
void setInvalidPoint(const size_t idx)
Set XYZ coordinates of i'th point.
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
mrpt::maps::CSimplePointsMap & m_obj
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
CSimplePointsMap()
Default constructor.
GLsizei GLsizei GLuint * obj
Rendering options, used in getAs3DObject()
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const override
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points ...
void setDimensions(const size_t &height, const size_t &width)
Does nothing as of now.
With this struct options are provided to the observation insertion process.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
virtual void setSize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...
An adapter to different kinds of point cloud object.
virtual 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] Unlike getPointAllFields(), this method does not check for index out of bounds.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
virtual void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
See CPointsMap::loadFromRangeScan()
virtual 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 ...
size_t size() const
Get number of points.
float coords_t
The type of each point XYZ coordinates.
virtual void internal_clear() override
Clear the map, erasing all the points.
virtual void copyFrom(const CPointsMap &obj) override
Virtual assignment operator, to be implemented in derived classes.
mrpt::aligned_std_vector< float > m_z
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
mrpt::aligned_std_vector< float > m_y
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Options used when evaluating "computeObservationLikelihood" in the derived classes.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
virtual void setPointFast(size_t index, float x, float y, float z) override
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
virtual 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] Unlike setPointAllFields(), this method does not check for index out of bounds.
virtual 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.
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
void resize(const size_t N)
Set number of points (to uninitialized values)
GLenum GLsizei GLsizei height
mrpt::aligned_std_vector< float > m_x
The point coordinates.
#define MAP_DEFINITION_END(_CLASS_NAME_)
size_t size() const
Returns the number of stored points in the map.
virtual void resize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() override
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.