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CSimplePointsMap.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CSimplePointsMap_H
10 #define CSimplePointsMap_H
11 
12 #include <mrpt/maps/CPointsMap.h>
14 #include <mrpt/math/CMatrix.h>
15 #include <mrpt/obs/obs_frwds.h>
16 
17 namespace mrpt
18 {
19 namespace maps
20 {
21 /** A cloud of points in 2D or 3D, which can be built from a sequence of laser
22  * scans.
23  * This class only stores the coordinates (x,y,z) of each point.
24  *
25  * See mrpt::maps::CPointsMap and derived classes for other point cloud
26  * classes.
27  *
28  * \sa CMetricMap, CWeightedPointsMap, CPoint,
29  * mrpt::serialization::CSerializable \ingroup mrpt_maps_grp
30  */
32 {
34 
35  public:
36  /** Default constructor */
38 
39  // --------------------------------------------
40  /** @name Pure virtual interfaces to be implemented by any class derived
41  from CPointsMap
42  @{ */
43  virtual void reserve(size_t newLength) override; // See base class docs
44  virtual void resize(size_t newLength) override; // See base class docs
45  virtual void setSize(size_t newLength) override; // See base class docs
46  /** Changes the coordinates of the given point (0-based index), *without*
47  * checking for out-of-bounds and *without* calling mark_as_modified() \sa
48  * setPoint */
49  virtual void setPointFast(size_t index, float x, float y, float z) override;
50  /** The virtual method for \a insertPoint() *without* calling
51  * mark_as_modified() */
52  virtual void insertPointFast(float x, float y, float z = 0) override;
53  /** Virtual assignment operator, to be implemented in derived classes */
54  virtual void copyFrom(const CPointsMap& obj) override;
55  /** Get all the data fields for one point as a vector: [X Y Z]
56  * Unlike getPointAllFields(), this method does not check for index out of
57  * bounds
58  * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast
59  */
60  virtual void getPointAllFieldsFast(
61  const size_t index, std::vector<float>& point_data) const override
62  {
63  point_data.resize(3);
64  point_data[0] = m_x[index];
65  point_data[1] = m_y[index];
66  point_data[2] = m_z[index];
67  }
68  /** Set all the data fields for one point as a vector: [X Y Z]
69  * Unlike setPointAllFields(), this method does not check for index out of
70  * bounds
71  * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
72  */
73  virtual void setPointAllFieldsFast(
74  const size_t index, const std::vector<float>& point_data) override
75  {
76  ASSERTDEB_(point_data.size() == 3);
77  m_x[index] = point_data[0];
78  m_y[index] = point_data[1];
79  m_z[index] = point_data[2];
80  }
81 
82  // See CPointsMap::loadFromRangeScan()
83  virtual void loadFromRangeScan(
84  const mrpt::obs::CObservation2DRangeScan& rangeScan,
85  const mrpt::poses::CPose3D* robotPose = nullptr) override;
86  // See CPointsMap::loadFromRangeScan()
87  virtual void loadFromRangeScan(
88  const mrpt::obs::CObservation3DRangeScan& rangeScan,
89  const mrpt::poses::CPose3D* robotPose = nullptr) override;
90 
91  protected:
92  /** Auxiliary method called from within \a addFrom() automatically, to
93  * finish the copying of class-specific data */
94  virtual void addFrom_classSpecific(
95  const CPointsMap& anotherMap, const size_t nPreviousPoints) override
96  {
97  MRPT_UNUSED_PARAM(anotherMap);
98  MRPT_UNUSED_PARAM(nPreviousPoints);
99  // No extra data.
100  }
101 
102  // Friend methods:
103  template <class Derived>
105  template <class Derived>
106  friend struct detail::pointmap_traits;
107 
108  public:
109  /** @} */
110  // --------------------------------------------
111 
112  /** If the map is a simple points map or it's a multi-metric map that
113  * contains EXACTLY one simple points map, return it.
114  * Otherwise, return NULL
115  */
117  const override
118  {
119  return this;
120  }
122  {
123  return this;
124  }
125 
126  protected:
127  /** Clear the map, erasing all the points.
128  */
129  virtual void internal_clear() override;
130 
131  /** @name PLY Import virtual methods to implement in base classes
132  @{ */
133  /** In a base class, reserve memory to prepare subsequent calls to
134  * PLY_import_set_vertex */
135  virtual void PLY_import_set_vertex_count(const size_t N) override;
136  /** @} */
137 
139  /** Observations insertion options */
140  mrpt::maps::CPointsMap::TInsertionOptions insertionOpts;
141  /** Probabilistic observation likelihood options */
142  mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts;
143  /** Rendering as 3D object options */
144  mrpt::maps::CPointsMap::TRenderOptions renderOpts;
146 }; // End of class def.
147 } // namespace maps
148 
149 namespace opengl
150 {
151 /** Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CSimplePointsMap>
152  * \ingroup mrpt_adapters_grp*/
153 template <>
155  : public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CSimplePointsMap,
156  float>
157 {
158  private:
160 
161  public:
162  /** The type of each point XYZ coordinates */
163  using coords_t = float;
164  /** Has any color RGB info? */
165  static const int HAS_RGB = 0;
166  /** Has native RGB info (as floats)? */
167  static const int HAS_RGBf = 0;
168  /** Has native RGB info (as uint8_t)? */
169  static const int HAS_RGBu8 = 0;
170 
171  /** Constructor (accept a const ref for convenience) */
173  : m_obj(*const_cast<mrpt::maps::CSimplePointsMap*>(&obj))
174  {
175  }
176  /** Get number of points */
177  inline size_t size() const { return m_obj.size(); }
178  /** Set number of points (to uninitialized values) */
179  inline void resize(const size_t N) { m_obj.resize(N); }
180  /** Get XYZ coordinates of i'th point */
181  template <typename T>
182  inline void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
183  {
184  m_obj.getPointFast(idx, x, y, z);
185  }
186  /** Set XYZ coordinates of i'th point */
187  inline void setPointXYZ(
188  const size_t idx, const coords_t x, const coords_t y, const coords_t z)
189  {
190  m_obj.setPointFast(idx, x, y, z);
191  }
192 
193  /** Set XYZ coordinates of i'th point */
194  inline void setInvalidPoint(const size_t idx)
195  {
196  THROW_EXCEPTION("mrpt::maps::CSimplePointsMap needs to be dense");
197  }
198 }; // end of PointCloudAdapter<mrpt::maps::CPointsMap>
199 } // namespace opengl
200 
201 } // namespace mrpt
202 
203 #endif
virtual void insertPointFast(float x, float y, float z=0) override
The virtual method for insertPoint() without calling mark_as_modified()
void getPointFast(size_t index, float &x, float &y, float &z) const
Just like getPoint() but without checking out-of-bound index and without returning the point weight...
Definition: CPointsMap.h:450
GLdouble GLdouble z
Definition: glext.h:3872
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:41
virtual void reserve(size_t newLength) override
Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.
void setInvalidPoint(const size_t idx)
Set XYZ coordinates of i&#39;th point.
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
CSimplePointsMap()
Default constructor.
GLsizei GLsizei GLuint * obj
Definition: glext.h:4070
Rendering options, used in getAs3DObject()
Definition: CPointsMap.h:297
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const override
If the map is a simple points map or it&#39;s a multi-metric map that contains EXACTLY one simple points ...
With this struct options are provided to the observation insertion process.
Definition: CPointsMap.h:205
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
Definition: CPointsMap.h:64
virtual void setSize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...
An adapter to different kinds of point cloud object.
virtual void getPointAllFieldsFast(const size_t index, std::vector< float > &point_data) const override
Get all the data fields for one point as a vector: [X Y Z] Unlike getPointAllFields(), this method does not check for index out of bounds.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i&#39;th point.
GLuint index
Definition: glext.h:4054
virtual void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
See CPointsMap::loadFromRangeScan()
virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) override
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
float coords_t
The type of each point XYZ coordinates.
virtual void internal_clear() override
Clear the map, erasing all the points.
virtual void copyFrom(const CPointsMap &obj) override
Virtual assignment operator, to be implemented in derived classes.
mrpt::aligned_std_vector< float > m_z
Definition: CPointsMap.h:1094
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
mrpt::aligned_std_vector< float > m_y
Definition: CPointsMap.h:1094
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Options used when evaluating "computeObservationLikelihood" in the derived classes.
Definition: CPointsMap.h:263
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
Definition: exceptions.h:205
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i&#39;th point.
virtual void setPointFast(size_t index, float x, float y, float z) override
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) override
Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(), this method does not check for index out of bounds.
GLenum GLint GLint y
Definition: glext.h:3538
virtual void PLY_import_set_vertex_count(const size_t N) override
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
void resize(const size_t N)
Set number of points (to uninitialized values)
GLenum GLint x
Definition: glext.h:3538
mrpt::aligned_std_vector< float > m_x
The point coordinates.
Definition: CPointsMap.h:1094
#define MAP_DEFINITION_END(_CLASS_NAME_)
size_t size() const
Returns the number of stored points in the map.
Definition: CPointsMap.h:408
virtual void resize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() override
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
Definition: common.h:186



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