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mrpt::maps::CWeightedPointsMap Class Reference

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::utils::CSerializable, CSimplePointsMap

Definition at line 32 of file maps/CWeightedPointsMap.h.

#include <mrpt/maps/CWeightedPointsMap.h>

Inheritance diagram for mrpt::maps::CWeightedPointsMap:
Inheritance graph

Classes

struct  TMapDefinition
 
struct  TMapDefinitionBase
 

Public Types

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

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CWeightedPointsMap ()
 Default constructor. More...
 
virtual ~CWeightedPointsMap ()
 Destructor. More...
 
virtual void setPointWeight (size_t index, unsigned long w) MRPT_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...
 
virtual unsigned int getPointWeight (size_t index) const MRPT_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...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const MRPT_OVERRIDE
 Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
 
float squareDistanceToClosestCorrespondenceT (const mrpt::math::TPoint2D &p0) const
 
virtual void addFrom (const CPointsMap &anotherMap)
 Adds all the points from anotherMap to this map, without fusing. More...
 
void operator+= (const CPointsMap &anotherMap)
 This operator is synonymous with addFrom. More...
 
void insertAnotherMap (const CPointsMap *otherMap, const mrpt::poses::CPose3D &otherPose)
 Insert the contents of another map into this one with some geometric transformation, without fusing close points. More...
 
size_t size () const
 Returns the number of stored points in the map. More...
 
unsigned long getPoint (size_t index, float &x, float &y, float &z) const
 Access to a given point from map, as a 2D point. More...
 
unsigned long getPoint (size_t index, float &x, float &y) const
 
unsigned long getPoint (size_t index, double &x, double &y, double &z) const
 
unsigned long getPoint (size_t index, double &x, double &y) const
 
unsigned long getPoint (size_t index, mrpt::math::TPoint2D &p) const
 
unsigned long getPoint (size_t index, mrpt::math::TPoint3D &p) const
 
virtual void getPoint (size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const
 Access to a given point from map, and its colors, if the map defines them (othersise, R=G=B=1.0). More...
 
void getPointFast (size_t index, float &x, float &y, float &z) const
 Just like getPoint() but without checking out-of-bound index and without returning the point weight, just XYZ. More...
 
virtual bool hasColorPoints () const
 Returns true if the point map has a color field for each point. More...
 
void setPoint (size_t index, float x, float y, float z)
 Changes a given point from map, with Z defaulting to 0 if not provided. More...
 
void setPoint (size_t index, 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 setPoint (size_t index, float x, float y, float z, float R, float G, float B)
 overload (RGB data is ignored in classes without color information) More...
 
void getPointsBuffer (size_t &outPointsCount, const float *&xs, const float *&ys, const float *&zs) const
 Provides a direct access to points buffer, or NULL if there is no points in the map. More...
 
const std::vector< float > & getPointsBufferRef_x () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
const std::vector< float > & getPointsBufferRef_y () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
const std::vector< float > & getPointsBufferRef_z () const
 Provides a direct access to a read-only reference of the internal point buffer. More...
 
template<class VECTOR >
void getAllPoints (VECTOR &xs, VECTOR &ys, VECTOR &zs, size_t decimation=1) const
 Returns a copy of the 2D/3D points as a std::vector of float coordinates. More...
 
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 insertPoint (float x, float y, float z, float R, float G, 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...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
float compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const MRPT_OVERRIDE
 Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...
 
void compute3DDistanceToMesh (const mrpt::maps::CMetricMap *otherMap2, const mrpt::poses::CPose3D &otherMapPose, float maxDistForCorrespondence, mrpt::utils::TMatchingPairList &correspondences, float &correspondencesRatio)
 Computes the matchings between this and another 3D points map. More...
 
void loadFromVelodyneScan (const mrpt::obs::CObservationVelodyneScan &scan, const mrpt::poses::CPose3D *robotPose=NULL)
 Like loadFromRangeScan() for Velodyne 3D scans. More...
 
void fuseWith (CPointsMap *anotherMap, float minDistForFuse=0.02f, std::vector< bool > *notFusedPoints=NULL)
 Insert the contents of another map into this one, fusing the previous content with the new one. More...
 
void changeCoordinatesReference (const mrpt::poses::CPose2D &b)
 Replace each point $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
void changeCoordinatesReference (const mrpt::poses::CPose3D &b)
 Replace each point $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
void changeCoordinatesReference (const CPointsMap &other, const mrpt::poses::CPose3D &b)
 Copy all the points from "other" map to "this", replacing each point $ p_i $ by $ p'_i = b \oplus p_i $ (pose compounding operator). More...
 
virtual bool isEmpty () const MRPT_OVERRIDE
 Returns true if the map is empty/no observation has been inserted. More...
 
bool empty () const
 STL-like method to check whether the map is empty: More...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
 Returns a 3D object representing the map. More...
 
virtual const
mrpt::maps::CSimplePointsMap
getAsSimplePointsMap () const MRPT_OVERRIDE
 If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
 
virtual
mrpt::maps::CSimplePointsMap
getAsSimplePointsMap () MRPT_OVERRIDE
 
float getLargestDistanceFromOrigin () const
 This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...
 
float getLargestDistanceFromOriginNoRecompute (bool &output_is_valid) const
 Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin() More...
 
void boundingBox (float &min_x, float &max_x, float &min_y, float &max_y, float &min_z, float &max_z) const
 Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points. More...
 
void boundingBox (mrpt::math::TPoint3D &pMin, mrpt::math::TPoint3D &pMax) const
 
void extractCylinder (const mrpt::math::TPoint2D &center, const double radius, const double zmin, const double zmax, CPointsMap *outMap)
 Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values. More...
 
void extractPoints (const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, CPointsMap *outMap, const double &R=1, const double &G=1, const double &B=1)
 Extracts the points in the map within the area defined by two corners. More...
 
virtual double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE
 Internal method called by computeObservationLikelihood() More...
 
void 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)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
bool insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
 
virtual bool canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
bool canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) const
 
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 mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
const CPointsMapderived () const
 CRTP helper method. More...
 
CPointsMapderived ()
 CRTP helper method. More...
 
bool loadFromPlyFile (const std::string &filename, CStringList *file_comments=NULL, CStringList *file_obj_info=NULL)
 Loads from a PLY file. More...
 
std::string getLoadPLYErrorString () const
 Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
 
bool saveToPlyFile (const std::string &filename, bool save_in_binary=false, const CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) const
 Saves to a PLY file. More...
 
std::string getSavePLYErrorString () const
 Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
 
File input/output methods
bool load2D_from_text_file (const std::string &file)
 Load from a text file. More...
 
bool load3D_from_text_file (const std::string &file)
 Load from a text file. More...
 
bool load2Dor3D_from_text_file (const std::string &file, const bool is_3D)
 2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file More...
 
bool save2D_to_text_file (const std::string &file) const
 Save to a text file. More...
 
bool save3D_to_text_file (const std::string &file) const
 Save to a text file. More...
 
void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE
 This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface) More...
 
virtual bool savePCDFile (const std::string &filename, bool save_as_binary) const
 Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL) More...
 
virtual bool loadPCDFile (const std::string &filename)
 Load the point cloud from a PCL PCD file (requires MRPT built against PCL) More...
 
Filter-by-height stuff
void enableFilterByHeight (bool enable=true)
 Enable/disable the filter-by-height functionality. More...
 
bool isFilterByHeightEnabled () const
 Return whether filter-by-height is enabled. More...
 
void setHeightFilterLevels (const double _z_min, const double _z_max)
 Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before). More...
 
void getHeightFilterLevels (double &_z_min, double &_z_max) const
 Get the min/max Z levels for points to be actually inserted in the map. More...
 
PCL library support
template<class POINTCLOUD >
void getPCLPointCloud (POINTCLOUD &cloud) const
 Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>). More...
 
template<class POINTCLOUD >
void setFromPCLPointCloud (const POINTCLOUD &cloud)
 Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ). More...
 
Methods that MUST be implemented by children classes of KDTreeCapable
size_t kdtree_get_point_count () const
 Must return the number of data points. More...
 
float kdtree_get_pt (const size_t idx, int dim) const
 Returns the dim'th component of the idx'th point in the class: More...
 
float kdtree_distance (const float *p1, const size_t idx_p2, size_t size) const
 Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...
 
template<typename BBOX >
bool kdtree_get_bbox (BBOX &bb) const
 
Public utility methods to query the KD-tree
size_t kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
 KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...
 
size_t kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const
 
size_t kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const
 
float kdTreeClosestPoint2DsqrError (float x0, float y0) const
 Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...
 
float kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const
 
void kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
 KD Tree-based search for the TWO closest point to some given 2D coordinates. More...
 
void kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const
 
std::vector< size_t > kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
 KD Tree-based search for the N closest point to some given 2D coordinates. More...
 
std::vector< size_t > kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const
 
void kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
 KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...
 
void kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const
 
size_t kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
 KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...
 
size_t kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const
 
size_t kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const
 
void kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
 KD Tree-based search for the N closest points to some given 3D coordinates. More...
 
void kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const
 
void kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
 KD Tree-based search for the N closest points to some given 3D coordinates. More...
 
size_t kdTreeRadiusSearch3D (const floatx0, const floaty0, const floatz0, const floatmaxRadiusSqr, std::vector< std::pair< size_t, float > > &out_indices_dist) const
 KD Tree-based search for all the points within a given radius of some 3D point. More...
 
size_t kdTreeRadiusSearch2D (const floatx0, const floaty0, const floatmaxRadiusSqr, std::vector< std::pair< size_t, float > > &out_indices_dist) const
 KD Tree-based search for all the points within a given radius of some 2D point. More...
 
void kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
 KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...
 
void kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

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

Static Public Attributes

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

Protected Member Functions

virtual void internal_clear () MRPT_OVERRIDE
 Clear the map, erasing all the points. More...
 
bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE
 This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary. More...
 
void base_copyFrom (const CPointsMap &obj)
 Helper method for ::copyFrom() More...
 
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
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 
PLY Import virtual methods to implement in base classes
virtual void PLY_import_set_vertex_count (const size_t N) MRPT_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
virtual void PLY_import_set_face_count (const size_t N) MRPT_OVERRIDE
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...
 
virtual void PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL) MRPT_OVERRIDE
 In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...
 
PLY Export virtual methods to implement in base classes
size_t PLY_export_get_vertex_count () const MRPT_OVERRIDE
 In a base class, return the number of vertices. More...
 
size_t PLY_export_get_face_count () const MRPT_OVERRIDE
 In a base class, return the number of faces. More...
 
virtual void PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const MRPT_OVERRIDE
 In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...
 

Protected Attributes

std::vector< uint32_tpointWeight
 The points weights. More...
 
std::vector< float > x
 
std::vector< float > y
 
std::vector< float > z
 The point coordinates. More...
 
mrpt::obs::CSinCosLookUpTableFor2DScans m_scans_sincos_cache
 Cache of sin/cos values for the latest 2D scan geometries. More...
 
float m_largestDistanceFromOrigin
 Auxiliary variables used in "getLargestDistanceFromOrigin". More...
 
bool m_largestDistanceFromOriginIsUpdated
 Auxiliary variables used in "getLargestDistanceFromOrigin". More...
 
bool m_boundingBoxIsUpdated
 
float m_bb_min_x
 
float m_bb_max_x
 
float m_bb_min_y
 
float m_bb_max_y
 
float m_bb_min_z
 
float m_bb_max_z
 
double m_heightfilter_z_min
 The minimum and maximum height for a certain laser scan to be inserted into this map. More...
 
double m_heightfilter_z_max
 
bool m_heightfilter_enabled
 Whether or not (default=not) filter the input points by height. More...
 

RTTI stuff

typedef CWeightedPointsMapPtr Ptr
 
typedef CWeightedPointsMapPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CWeightedPointsMap
 
static mrpt::utils::TRuntimeClassId classCWeightedPointsMap
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CWeightedPointsMapPtr Create ()
 

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
 
virtual void reserve (size_t newLength) MRPT_OVERRIDE
 Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. More...
 
virtual void resize (size_t newLength) MRPT_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...
 
virtual void setSize (size_t newLength) MRPT_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...
 
virtual void setPointFast (size_t index, float x, float y, float z) MRPT_OVERRIDE
 Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified() More...
 
virtual void insertPointFast (float x, float y, float z=0) MRPT_OVERRIDE
 The virtual method for insertPoint() without calling mark_as_modified() More...
 
virtual void copyFrom (const CPointsMap &obj) MRPT_OVERRIDE
 Virtual assignment operator, to be implemented in derived classes. More...
 
virtual void getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const MRPT_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...
 
virtual void setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data) MRPT_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...
 
virtual void loadFromRangeScan (const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
 See CPointsMap::loadFromRangeScan() More...
 
virtual void loadFromRangeScan (const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
 See CPointsMap::loadFromRangeScan() More...
 
virtual void addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_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( "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 CWeightedPointsMapCreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Member Typedef Documentation

typedef CWeightedPointsMapPtr mrpt::maps::CWeightedPointsMap::ConstPtr

Definition at line 35 of file maps/CWeightedPointsMap.h.

typedef CWeightedPointsMapPtr mrpt::maps::CWeightedPointsMap::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file maps/CWeightedPointsMap.h.

typedef KDTreeCapable<CPointsMap ,float ,nanoflann::L2_Simple_Adaptor<float ,CPointsMap > > mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float ,CPointsMap > >::self_t
inherited

Definition at line 71 of file KDTreeCapable.h.

Constructor & Destructor Documentation

CWeightedPointsMap::CWeightedPointsMap ( )

Default constructor.

Definition at line 61 of file CWeightedPointsMap.cpp.

CWeightedPointsMap::~CWeightedPointsMap ( )
virtual

Destructor.

Definition at line 69 of file CWeightedPointsMap.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CWeightedPointsMap::_GetBaseClass ( )
staticprotected
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:

...
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 1531 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::addFrom_classSpecific(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::CPointsMap::resize(), mrpt::maps::CPointsMap::size(), mrpt::maps::CPointsMap::x, mrpt::maps::CPointsMap::y, and mrpt::maps::CPointsMap::z.

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

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

Implements mrpt::maps::CPointsMap.

Definition at line 142 of file CWeightedPointsMap.cpp.

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

void CPointsMap::applyDeletionMask ( const std::vector< bool > &  mask)
inherited
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 232 of file maps/CMetricMap.h.

void CPointsMap::base_copyFrom ( const CPointsMap obj)
protectedinherited
void CPointsMap::boundingBox ( float &  min_x,
float &  max_x,
float &  min_y,
float &  max_y,
float &  min_z,
float &  max_z 
) const
inherited
void mrpt::maps::CPointsMap::boundingBox ( mrpt::math::TPoint3D pMin,
mrpt::math::TPoint3D pMax 
) const
inlineinherited
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
obsThe observation.
See Also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 189 of file CMetricMap.cpp.

bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr &  obs) const
inherited

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

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
sfThe observations.
See Also
canComputeObservationLikelihood

Definition at line 94 of file CMetricMap.cpp.

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

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 559 of file CPointsMap.cpp.

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

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

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 577 of file CPointsMap.cpp.

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

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 593 of file CPointsMap.cpp.

void CMetricMap::clear ( )
inherited
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 290 of file CPointsMap.cpp.

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

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

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

Definition at line 271 of file CPointsMap.cpp.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPointsMap::compute3DDistanceToMesh ( const mrpt::maps::CMetricMap otherMap2,
const mrpt::poses::CPose3D otherMapPose,
float  maxDistForCorrespondence,
mrpt::utils::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 1202 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::boundingBox(), mrpt::math::distance(), mrpt::utils::TMatchingPair::errorSquareAfterTransformation, mrpt::math::KDTreeCapable< CPointsMap >::kdTreeNClosestPoint3DWithIdx(), MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::utils::TMatchingPair::other_idx, mrpt::utils::TMatchingPair::other_x, mrpt::utils::TMatchingPair::other_y, mrpt::utils::TMatchingPair::other_z, mrpt::maps::CPointsMap::size(), mrpt::utils::TMatchingPair::this_idx, mrpt::utils::TMatchingPair::this_x, mrpt::utils::TMatchingPair::this_y, mrpt::utils::TMatchingPair::this_z, mrpt::maps::CPointsMap::x, mrpt::maps::CPointsMap::y, and mrpt::maps::CPointsMap::z.

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

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 766 of file CPointsMap.cpp.

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

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
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See Also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 196 of file CMetricMap.cpp.

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

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 86 of file CMetricMap.cpp.

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
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe set of observations in a CSensoryFrame.
Returns
This method returns a log-likelihood.
See Also
canComputeObservationsLikelihood

Definition at line 75 of file CMetricMap.cpp.

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

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

void CWeightedPointsMap::copyFrom ( const CPointsMap obj)
virtual

Virtual assignment operator, to be implemented in derived classes.

Implements mrpt::maps::CPointsMap.

Definition at line 128 of file CWeightedPointsMap.cpp.

References pointWeight.

static CWeightedPointsMapPtr mrpt::maps::CWeightedPointsMap::Create ( )
static
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 26 of file CWeightedPointsMap.cpp.

static mrpt::utils::CObject* mrpt::maps::CWeightedPointsMap::CreateObject ( )
static
const CPointsMap & mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float ,CPointsMap > >::derived ( ) const
inlineinherited

CRTP helper method.

Definition at line 81 of file KDTreeCapable.h.

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

CRTP helper method.

Definition at line 83 of file KDTreeCapable.h.

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

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 308 of file CPointsMap.cpp.

References mrpt::maps::TMatchingParams::angularDistPivotPoint, ASSERT_, ASSERT_ABOVE_, ASSERT_BELOW_, ASSERTMSG_, CLASS_ID, mrpt::maps::TMatchingParams::decimation_other_map_points, mrpt::utils::TRuntimeClassId::derivedFrom(), mrpt::utils::TMatchingPair::errorSquareAfterTransformation, mrpt::utils::TMatchingPairList::filterUniqueRobustPairs(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, mrpt::maps::TMatchingParams::maxDistForCorrespondence, min, MRPT_ALIGN16, MRPT_END, MRPT_START, mrpt::maps::TMatchingParams::offset_other_map_points, mrpt::maps::TMatchingParams::onlyKeepTheClosest, mrpt::maps::TMatchingParams::onlyUniqueRobust, mrpt::utils::TMatchingPair::other_idx, mrpt::utils::TMatchingPair::other_x, mrpt::utils::TMatchingPair::other_y, mrpt::utils::TMatchingPair::other_z, mrpt::poses::CPose2D::phi(), mrpt::math::TPose2D::size(), mrpt::math::square(), mrpt::utils::TMatchingPair::this_idx, mrpt::utils::TMatchingPair::this_x, mrpt::utils::TMatchingPair::this_y, mrpt::utils::TMatchingPair::this_z, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::TPoint3D::y.

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

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

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 1011 of file CPointsMap.cpp.

References mrpt::maps::TMatchingParams::angularDistPivotPoint, ASSERT_, ASSERT_ABOVE_, ASSERT_BELOW_, ASSERTMSG_, mrpt::maps::CPointsMap::boundingBox(), CLASS_ID, mrpt::poses::CPose3D::composePoint(), mrpt::maps::TMatchingParams::decimation_other_map_points, mrpt::utils::TRuntimeClassId::derivedFrom(), mrpt::math::TPoint3D::distanceTo(), mrpt::utils::TMatchingPair::errorSquareAfterTransformation, mrpt::utils::TMatchingPairList::filterUniqueRobustPairs(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::math::KDTreeCapable< CPointsMap >::kdTreeClosestPoint3D(), mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, mrpt::maps::TMatchingParams::maxDistForCorrespondence, min, MRPT_END, MRPT_START, mrpt::maps::TMatchingParams::offset_other_map_points, mrpt::maps::TMatchingParams::onlyKeepTheClosest, mrpt::maps::TMatchingParams::onlyUniqueRobust, mrpt::utils::TMatchingPair::other_idx, mrpt::utils::TMatchingPair::other_x, mrpt::utils::TMatchingPair::other_y, mrpt::utils::TMatchingPair::other_z, mrpt::maps::CPointsMap::size(), mrpt::math::square(), mrpt::utils::TMatchingPair::this_idx, mrpt::utils::TMatchingPair::this_x, mrpt::utils::TMatchingPair::this_y, and mrpt::utils::TMatchingPair::this_z.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::slam::observationsOverlap().

virtual mrpt::utils::CObject* mrpt::maps::CWeightedPointsMap::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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

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

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

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

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

Definition at line 596 of file maps/CPointsMap.h.

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 649 of file maps/CPointsMap.h.

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 1170 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPoint(), mrpt::math::square(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

void CPointsMap::extractPoints ( const mrpt::math::TPoint3D corner1,
const mrpt::math::TPoint3D corner2,
CPointsMap outMap,
const double &  R = 1,
const double &  G = 1,
const double &  B = 1 
)
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 1183 of file CPointsMap.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPoint(), min, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void CPointsMap::fuseWith ( CPointsMap anotherMap,
float  minDistForFuse = 0.02f,
std::vector< bool > *  notFusedPoints = NULL 
)
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
otherMapThe other map whose points are to be inserted into this one.
minDistForFuseMinimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
notFusedPointsIf a pointer is supplied, this list will contain at output a list with a "bool" value per point in "this" map. This will be false/true according to that point having been fused or not.
See Also
loadFromRangeScan, addFrom

Definition at line 1924 of file CPointsMap.cpp.

References ASSERT_, mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::CPointsMap::getPoint(), mrpt::maps::CPointsMap::insertPointFast(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, mrpt::maps::TMatchingParams::maxDistForCorrespondence, mrpt::maps::CPointsMap::reserve(), mrpt::maps::CPointsMap::setPointWeight(), mrpt::maps::CPointsMap::size(), mrpt::math::square(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

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

Definition at line 366 of file maps/CPointsMap.h.

References ASSERT_, MRPT_END, and MRPT_START.

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
CONTAINERAny 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 389 of file maps/CPointsMap.h.

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 810 of file CPointsMap.cpp.

References ASSERT_, MRPT_END, MRPT_START, mrpt::maps::CPointsMap::x, and mrpt::maps::CPointsMap::y.

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

Definition at line 406 of file maps/CPointsMap.h.

void CPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj) const
virtualinherited
virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CPointsMap::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 NULL

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap.

Definition at line 607 of file maps/CPointsMap.h.

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

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CSimplePointsMap.

Definition at line 608 of file maps/CPointsMap.h.

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 656 of file maps/CPointsMap.h.

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 786 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::m_largestDistanceFromOrigin, mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated, and mrpt::math::square().

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 615 of file maps/CPointsMap.h.

std::string mrpt::utils::PLY_Importer::getLoadPLYErrorString ( ) const
inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 41 of file PLY_import_export.h.

template<class POINTCLOUD >
void mrpt::maps::CPointsMap::getPCLPointCloud ( POINTCLOUD &  cloud) const
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 684 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::loadPCDFile(), and mrpt::maps::CPointsMap::savePCDFile().

unsigned long 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.

Returns
The return value is the weight of the point (the times it has been fused), or 1 if weights are not used.
Exceptions
Throwsstd::exception on index out of bound.
See Also
setPoint, getPointFast

Definition at line 219 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::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::CPointsMap::fuseWith(), mrpt::maps::CPointsMap::internal_insertObservation(), and ransac_data_assoc_run().

unsigned long 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 210 of file CPointsMap.cpp.

References ASSERT_BELOW_.

unsigned long 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 238 of file CPointsMap.cpp.

References ASSERT_BELOW_.

unsigned long 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 229 of file CPointsMap.cpp.

References ASSERT_BELOW_.

unsigned long 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 298 of file maps/CPointsMap.h.

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

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

unsigned long 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 300 of file maps/CPointsMap.h.

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

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

virtual void mrpt::maps::CPointsMap::getPoint ( 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
Throwsstd::exception on index out of bound.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 306 of file maps/CPointsMap.h.

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 458 of file maps/CPointsMap.h.

References ASSERT_BELOW_.

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

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 61 of file maps/CWeightedPointsMap.h.

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 314 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointCloudFilterByDistance::filter(), and mrpt::maps::CPointsMap::insertAnotherMap().

void CPointsMap::getPointsBuffer ( size_t &  outPointsCount,
const float *&  xs,
const float *&  ys,
const float *&  zs 
) const
inherited
const 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 354 of file maps/CPointsMap.h.

const 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 356 of file maps/CPointsMap.h.

const 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 358 of file maps/CPointsMap.h.

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

Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually store that field (Note: No checks are done for out-of-bounds index).

See Also
setPointWeight

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 108 of file maps/CWeightedPointsMap.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CPointsMap.

std::string mrpt::utils::PLY_Exporter::getSavePLYErrorString ( ) const
inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 87 of file PLY_import_export.h.

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

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

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 317 of file maps/CPointsMap.h.

bool mrpt::utils::CObservable::hasSubscribers ( ) const
inlineprotectedinherited

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

Definition at line 52 of file CObservable.h.

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

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
otherMapThe other map whose points are to be inserted into this one.
otherPoseThe pose of the other map in the coordinates of THIS map
See Also
fuseWith, addFrom

Definition at line 1618 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::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape().

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

Insert the observation information into this map.

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

Parameters
obsThe observation
robotPoseThe 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.
See Also
CObservation::insertObservationInto

Definition at line 102 of file CMetricMap.cpp.

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

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

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

See: Maps and observations compatibility matrix

Definition at line 118 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

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 419 of file maps/CPointsMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), and run_pc_filter_test().

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 421 of file maps/CPointsMap.h.

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

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

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

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

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 423 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

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

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

Implements mrpt::maps::CPointsMap.

Definition at line 116 of file CWeightedPointsMap.cpp.

void CWeightedPointsMap::internal_clear ( )
protectedvirtual

Clear the map, erasing all the points.

Implements mrpt::maps::CMetricMap.

Definition at line 259 of file CWeightedPointsMap.cpp.

References mrpt::utils::vector_strong_clear().

double CPointsMap::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
virtualinherited
mrpt::maps::CMetricMap * CWeightedPointsMap::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static
bool CPointsMap::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose 
)
protectedvirtualinherited

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 1679 of file CPointsMap.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap, mrpt::maps::CPointsMap::applyDeletionMask(), mrpt::obs::CObservationRange::begin(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::TInsertionOptions::disableDeletion, mrpt::obs::CObservationRange::end(), mrpt::maps::CPointsMap::fuseWith(), mrpt::maps::CPointsMap::TInsertionOptions::fuseWithExisting, mrpt::maps::CPointsMap::getPoint(), mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::maps::CPointsMap::TInsertionOptions::horizontalTolerance, mrpt::maps::CPointsMap::insertionOptions, mrpt::maps::CPointsMap::insertPointFast(), IS_CLASS, mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap, mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::maps::CSimplePointsMap::loadFromRangeScan(), mrpt::maps::CPointsMap::loadFromRangeScan(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), mrpt::maps::CPointsMap::mark_as_modified(), mrpt::obs::CObservationRange::maxSensorDistance, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, MRPT_END, MRPT_START, mrpt::math::CPolygon::PointIntoPolygon(), mrpt::maps::CPointsMap::reserve(), mrpt::utils::round(), mrpt::obs::CObservationRange::sensedData, mrpt::obs::CObservationRange::sensorConeApperture, mrpt::math::CPolygon::setAllVertices(), mrpt::maps::CPointsMap::size(), mrpt::math::TPoint3D::x, mrpt::maps::CPointsMap::x, mrpt::math::TPoint3D::y, mrpt::maps::CPointsMap::y, and mrpt::math::TPoint3D::z.

bool CPointsMap::isEmpty ( ) const
virtualinherited

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

Implements mrpt::maps::CMetricMap.

Definition at line 603 of file CPointsMap.cpp.

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

Return whether filter-by-height is enabled.

See Also
enableFilterByHeight

Definition at line 651 of file maps/CPointsMap.h.

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 735 of file maps/CPointsMap.h.

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

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

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

Must return the number of data points.

Definition at line 725 of file maps/CPointsMap.h.

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 728 of file maps/CPointsMap.h.

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

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

Definition at line 672 of file KDTreeCapable.h.

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

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 3D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
out_xThe X coordinate of the found closest correspondence.
out_yThe Y coordinate of the found closest correspondence.
out_dist_sqrThe square distance between the query and the returned point.
Returns
The index of the closest point in the map array.
See Also
kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 114 of file KDTreeCapable.h.

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

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

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

Definition at line 144 of file KDTreeCapable.h.

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

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

Definition at line 167 of file KDTreeCapable.h.

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

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

Definition at line 177 of file KDTreeCapable.h.

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

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

Definition at line 186 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 2D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
out_xThe X coordinate of the found closest correspondence.
out_yThe Y coordinate of the found closest correspondence.
out_zThe Z coordinate of the found closest correspondence.
out_dist_sqrThe square distance between the query and the returned point.
Returns
The index of the closest point in the map array.
See Also
kdTreeClosestPoint2D

Definition at line 372 of file KDTreeCapable.h.

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

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

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

Definition at line 406 of file KDTreeCapable.h.

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

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

Definition at line 432 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 3D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
NThe number of closest points to search.
out_xThe vector containing the X coordinates of the correspondences.
out_yThe vector containing the Y coordinates of the correspondences.
out_dist_sqrThe vector containing the square distance between the query and the returned points.
Returns
The list of indices
See Also
kdTreeClosestPoint2D
kdTreeTwoClosestPoint2D

Definition at line 271 of file KDTreeCapable.h.

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

Definition at line 304 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 3D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
NThe number of closest points to search.
out_idxThe indexes of the found closest correspondence.
out_dist_sqrThe square distance between the query and the returned point.
See Also
kdTreeClosestPoint2D

Definition at line 329 of file KDTreeCapable.h.

Referenced by mrpt::maps::CColouredPointsMap::colourFromObservation().

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

Definition at line 351 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 2D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
NThe number of closest points to search.
out_xThe vector containing the X coordinates of the correspondences.
out_yThe vector containing the Y coordinates of the correspondences.
out_zThe vector containing the Z coordinates of the correspondences.
out_dist_sqrThe vector containing the square distance between the query and the returned points.
See Also
kdTreeNClosestPoint2D

Definition at line 458 of file KDTreeCapable.h.

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

Definition at line 551 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 2D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
NThe number of closest points to search.
out_idxThe indexes of the found closest correspondence.
out_dist_sqrThe square distance between the query and the returned point.
See Also
kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 640 of file KDTreeCapable.h.

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

Definition at line 664 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 2D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
NThe number of closest points to search.
out_xThe vector containing the X coordinates of the correspondences.
out_yThe vector containing the Y coordinates of the correspondences.
out_zThe vector containing the Z coordinates of the correspondences.
out_idxThe vector containing the indexes of the correspondences.
out_dist_sqrThe vector containing the square distance between the query and the returned points.
See Also
kdTreeNClosestPoint2D

Definition at line 513 of file KDTreeCapable.h.

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

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 3D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
maxRadiusSqrThe square of the desired search radius.
out_indices_distThe output list, with pairs of indeces/squared distances for the found correspondences.
Returns
Number of found points.
See Also
kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 608 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 2D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
z0The Z coordinate of the query.
maxRadiusSqrThe square of the desired search radius.
out_indices_distThe output list, with pairs of indeces/squared distances for the found correspondences.
Returns
Number of found points.
See Also
kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 577 of file KDTreeCapable.h.

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

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

This method automatically build the "m_kdtree_data" structure when:

  • It is called for the first time
  • The map has changed
  • The KD-tree was build for 3D.
Parameters
x0The X coordinate of the query.
y0The Y coordinate of the query.
out_x1The X coordinate of the first correspondence.
out_y1The Y coordinate of the first correspondence.
out_x2The X coordinate of the second correspondence.
out_y2The Y coordinate of the second correspondence.
out_dist_sqr1The square distance between the query and the first returned point.
out_dist_sqr2The square distance between the query and the second returned point.
See Also
kdTreeClosestPoint2D

Definition at line 207 of file KDTreeCapable.h.

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

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

Definition at line 244 of file KDTreeCapable.h.

bool mrpt::maps::CPointsMap::load2D_from_text_file ( const std::string file)
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 245 of file maps/CPointsMap.h.

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 127 of file CPointsMap.cpp.

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

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 250 of file maps/CPointsMap.h.

bool PLY_Importer::loadFromPlyFile ( const std::string filename,
CStringList file_comments = NULL,
CStringList file_obj_info = NULL 
)
inherited

Loads from a PLY file.

Parameters
[in]filenameThe filename to open. It can be either in binary or text format.
[out]file_commentsIf provided (!=NULL) the list of comment strings stored in the file will be returned.
[out]file_obj_infoIf provided (!=NULL) the list of "object info" strings stored in the file will be returned.
Returns
false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()

Definition at line 1893 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, version, vert_props, TVertex::x, TVertex::y, and TVertex::z.

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 automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See Also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 48 of file CMetricMap.cpp.

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

Referenced by run_test_pf_localization().

void CWeightedPointsMap::loadFromRangeScan ( const mrpt::obs::CObservation2DRangeScan rangeScan,
const mrpt::poses::CPose3D robotPose = NULL 
)
virtual
void CWeightedPointsMap::loadFromRangeScan ( const mrpt::obs::CObservation3DRangeScan rangeScan,
const mrpt::poses::CPose3D robotPose = NULL 
)
virtual
void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap Map)
inlineinherited

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

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See Also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 105 of file maps/CMetricMap.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

void CPointsMap::loadFromVelodyneScan ( const mrpt::obs::CObservationVelodyneScan scan,
const mrpt::poses::CPose3D robotPose = NULL 
)
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
scanThe Raw LIDAR data to be inserted into this map. It MUST contain point cloud data, generated by calling to mrpt::obs::CObservationVelodyneScan::generatePointCloud() prior to insertion in this map.
robotPoseDefault to (0,0,0|0deg,0deg,0deg). Changes the frame of reference for the point cloud (i.e. the vehicle/robot pose in world coordinates).
See Also
loadFromRangeScan

Definition at line 2015 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::setPoint(), 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::CPointsMap::internal_insertObservation().

bool CPointsMap::loadPCDFile ( const std::string filename)
virtualinherited

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

Returns
false on any error

Definition at line 1570 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::getPCLPointCloud(), MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 26 of file CWeightedPointsMap.cpp.

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 771 of file maps/CPointsMap.h.

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

void mrpt::maps::CWeightedPointsMap::operator delete ( void ptr)
throw (
)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

void mrpt::maps::CWeightedPointsMap::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

void mrpt::maps::CWeightedPointsMap::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

void mrpt::maps::CWeightedPointsMap::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

static void* mrpt::maps::CWeightedPointsMap::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 35 of file maps/CWeightedPointsMap.h.

void* mrpt::maps::CWeightedPointsMap::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

void* mrpt::maps::CWeightedPointsMap::operator new ( size_t  size)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

void* mrpt::maps::CWeightedPointsMap::operator new[] ( size_t  size)
inline

Definition at line 35 of file maps/CWeightedPointsMap.h.

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

This operator is synonymous with addFrom.

See Also
addFrom

Definition at line 224 of file maps/CPointsMap.h.

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

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

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

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

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

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

Implements mrpt::utils::PLY_Exporter.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 1516 of file CPointsMap.cpp.

References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

size_t CPointsMap::PLY_export_get_vertex_count ( ) const
protectedvirtualinherited

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

Definition at line 1508 of file CPointsMap.cpp.

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

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

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

Implements mrpt::utils::PLY_Importer.

Definition at line 808 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

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

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

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

Implements mrpt::utils::PLY_Importer.

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 1501 of file CPointsMap.cpp.

References MRPT_UNUSED_PARAM, mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

void CWeightedPointsMap::PLY_import_set_vertex_count ( const size_t  N)
protectedvirtual

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

Implements mrpt::utils::PLY_Importer.

Definition at line 345 of file CWeightedPointsMap.cpp.

References setSize().

void CObservable::publishEvent ( const mrptEvent e) const
protectedinherited
void CWeightedPointsMap::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 191 of file CWeightedPointsMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::utils::CStream::ReadBufferFixEndianness().

void CWeightedPointsMap::reserve ( size_t  newLength)
virtual

Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.

This is useful for situations where it is approximately known the final size of the map. This method is more efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.

Implements mrpt::maps::CPointsMap.

Definition at line 76 of file CWeightedPointsMap.cpp.

References mrpt::utils::length2length4N().

void CWeightedPointsMap::resize ( size_t  newLength)
virtual

Resizes all point buffers so they can hold the given number of points: newly created points are set to default values, and old contents are not changed.

See Also
reserve, setPoint, setPointFast, setSize

Implements mrpt::maps::CPointsMap.

Definition at line 87 of file CWeightedPointsMap.cpp.

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 92 of file CPointsMap.cpp.

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

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 109 of file CPointsMap.cpp.

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

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

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 266 of file maps/CPointsMap.h.

bool CPointsMap::savePCDFile ( const std::string filename,
bool  save_as_binary 
) const
virtualinherited

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

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

Returns
false on any error

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 1554 of file CPointsMap.cpp.

References mrpt::maps::CPointsMap::getPCLPointCloud(), MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

Saves to a PLY file.

Parameters
[in]filenameThe filename to be saved.
[in]file_commentsIf provided (!=NULL) the list of comment strings stored in the file will be returned.
[in]file_obj_infoIf provided (!=NULL) the list of "object info" strings stored in the file will be returned.
Returns
false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()

Definition at line 1993 of file PLY_import_export.cpp.

References mrpt::utils::TColorf::B, face_props, mrpt::utils::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::utils::TColorf::R, mrpt::utils::CStringList::size(), version, vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.

void mrpt::maps::CPointsMap::setAllPoints ( const std::vector< float > &  X,
const std::vector< float > &  Y,
const std::vector< float > &  Z 
)
inlineinherited
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 451 of file maps/CPointsMap.h.

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

Definition at line 433 of file maps/CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, and setSize().

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 710 of file maps/CPointsMap.h.

References mrpt::utils::clear().

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 654 of file maps/CPointsMap.h.

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
Throwsstd::exception on index out of bound.

Definition at line 322 of file maps/CPointsMap.h.

References ASSERT_BELOW_.

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

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 328 of file maps/CPointsMap.h.

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

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

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 330 of file maps/CPointsMap.h.

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

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

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 332 of file maps/CPointsMap.h.

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

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

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

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

Reimplemented in mrpt::maps::CColouredPointsMap.

Definition at line 334 of file maps/CPointsMap.h.

References MRPT_UNUSED_PARAM.

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 467 of file maps/CPointsMap.h.

References ASSERT_BELOW_.

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

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 73 of file maps/CWeightedPointsMap.h.

References ASSERTDEB_.

void CWeightedPointsMap::setPointFast ( size_t  index,
float  x,
float  y,
float  z 
)
virtual

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

See Also
setPoint

Implements mrpt::maps::CPointsMap.

Definition at line 107 of file CWeightedPointsMap.cpp.

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

Sets the point weight, which is ignored in all classes but those which actually store that field (Note: No checks are done for out-of-bounds index).

See Also
getPointWeight

Reimplemented from mrpt::maps::CPointsMap.

Definition at line 106 of file maps/CWeightedPointsMap.h.

void CWeightedPointsMap::setSize ( size_t  newLength)
virtual

Resizes all point buffers so they can hold the given number of points, erasing all previous contents and leaving all points to default values.

See Also
reserve, setPoint, setPointFast, setSize

Implements mrpt::maps::CPointsMap.

Definition at line 98 of file CWeightedPointsMap.cpp.

size_t mrpt::maps::CPointsMap::size ( ) const
inlineinherited
float CPointsMap::squareDistanceToClosestCorrespondence ( float  x0,
float  y0 
) const
virtualinherited

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 842 of file CPointsMap.cpp.

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

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

Definition at line 157 of file maps/CPointsMap.h.

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

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

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

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

Definition at line 79 of file CSerializable.h.

void CWeightedPointsMap::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

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

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

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

Implements mrpt::utils::CSerializable.

Definition at line 161 of file CWeightedPointsMap.cpp.

References mrpt::utils::CStream::WriteBufferFixEndianness().

Friends And Related Function Documentation

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

Definition at line 97 of file maps/CWeightedPointsMap.h.

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

Definition at line 98 of file maps/CWeightedPointsMap.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CWeightedPointsMap::_init_CWeightedPointsMap
staticprotected

Definition at line 35 of file maps/CWeightedPointsMap.h.

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

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

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

Definition at line 128 of file CObject.h.

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

Definition at line 65 of file maps/CPointsMap.h.

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

Definition at line 42 of file CSerializable.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CWeightedPointsMap::classCWeightedPointsMap
static

Definition at line 35 of file maps/CWeightedPointsMap.h.

const mrpt::utils::TRuntimeClassId* mrpt::maps::CWeightedPointsMap::classinfo
static

Definition at line 35 of file maps/CWeightedPointsMap.h.

float CPointsMap::COLOR_3DSCENE_B = 1
staticinherited

Definition at line 663 of file maps/CPointsMap.h.

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

float CPointsMap::COLOR_3DSCENE_G = 0
staticinherited

Definition at line 662 of file maps/CPointsMap.h.

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

float CPointsMap::COLOR_3DSCENE_R = 0
staticinherited

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

Definition at line 661 of file maps/CPointsMap.h.

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

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited
TInsertionOptions mrpt::maps::CPointsMap::insertionOptions
inherited
TKDTreeSearchParams mrpt::math::KDTreeCapable< CPointsMap , float , nanoflann::L2_Simple_Adaptor<float ,CPointsMap > >::kdtree_search_params
inherited

Parameters to tune the ANN searches.

Definition at line 94 of file KDTreeCapable.h.

TLikelihoodOptions mrpt::maps::CPointsMap::likelihoodOptions
inherited
float mrpt::maps::CPointsMap::m_bb_max_x
mutableprotectedinherited

Definition at line 794 of file maps/CPointsMap.h.

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

float mrpt::maps::CPointsMap::m_bb_max_y
mutableprotectedinherited

Definition at line 794 of file maps/CPointsMap.h.

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

float mrpt::maps::CPointsMap::m_bb_max_z
mutableprotectedinherited

Definition at line 794 of file maps/CPointsMap.h.

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

float mrpt::maps::CPointsMap::m_bb_min_x
mutableprotectedinherited

Definition at line 794 of file maps/CPointsMap.h.

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

float mrpt::maps::CPointsMap::m_bb_min_y
mutableprotectedinherited

Definition at line 794 of file maps/CPointsMap.h.

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

float mrpt::maps::CPointsMap::m_bb_min_z
mutableprotectedinherited

Definition at line 794 of file maps/CPointsMap.h.

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

bool mrpt::maps::CPointsMap::m_boundingBoxIsUpdated
mutableprotectedinherited

Definition at line 793 of file maps/CPointsMap.h.

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

bool mrpt::maps::CPointsMap::m_heightfilter_enabled
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 829 of file maps/CPointsMap.h.

double mrpt::maps::CPointsMap::m_heightfilter_z_max
protectedinherited

Definition at line 825 of file maps/CPointsMap.h.

double mrpt::maps::CPointsMap::m_heightfilter_z_min
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 825 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::m_largestDistanceFromOrigin
mutableprotectedinherited

Auxiliary variables used in "getLargestDistanceFromOrigin".

See Also
getLargestDistanceFromOrigin

Definition at line 786 of file maps/CPointsMap.h.

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

bool mrpt::maps::CPointsMap::m_largestDistanceFromOriginIsUpdated
mutableprotectedinherited

Auxiliary variables used in "getLargestDistanceFromOrigin".

See Also
getLargestDistanceFromOrigin

Definition at line 791 of file maps/CPointsMap.h.

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

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

ID used to initialize class registration (just ignore it)

Definition at line 127 of file maps/CWeightedPointsMap.h.

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 781 of file maps/CPointsMap.h.

std::vector<uint32_t> mrpt::maps::CWeightedPointsMap::pointWeight
protected
std::vector<float> mrpt::maps::CPointsMap::x
protectedinherited
std::vector<float> mrpt::maps::CPointsMap::y
protectedinherited
std::vector<float> mrpt::maps::CPointsMap::z
protectedinherited



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