mrpt::slam::CPointsMap Class Reference

Detailed Description

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

This is a virtual class, thus only a derived class can be instantiated by the user. The user most usually wants to use CSimplePointsMap.

This class implements generic version of mrpt::slam::CMetric::insertObservation() accepting these types of sensory data:

• mrpt::slam::CObservation2DRangeScan: 2D range scans
• mrpt::slam::CObservation3DRangeScan: 3D range scans (Kinect, etc...)
• mrpt::slam::CObservationRange: IRs, Sonars, etc.

If built against liblas, this class also provides method for loading and saving in the standard LAS LiDAR point cloud format: saveLASFile(), loadLASFile()

See also

CMetricMap, CPoint, mrpt::utils::CSerializable

Definition at line 59 of file CPointsMap.h.

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap:

Classes
struct	LAS_HeaderInfo
	Extra information gathered from the LAS file header. More...
struct	LAS_LoadParams
	Optional settings for loadLASFile() More...
struct	LAS_WriteParams
	Optional settings for saveLASFile() More...
struct	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...
struct	TLaserRange2DInsertContext
	Helper struct used for internal_loadFromRangeScan2D_prepareOneRange() More...
struct	TLaserRange3DInsertContext
	Helper struct used for internal_loadFromRangeScan3D_prepareOneRange() More...
struct	TLikelihoodOptions
	Options used when evaluating "computeObservationLikelihood" in the derived classes. More...

Public Member Functions
	CPointsMap ()
	Ctor. More...
virtual	~CPointsMap ()
	Virtual destructor. More...
virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const MRPT_OVERRIDE
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
float	squareDistanceToClosestCorrespondenceT (const TPoint2D &p0) const
virtual void	addFrom (const CPointsMap &anotherMap)
	Adds all the points from anotherMap to this map, without fusing. More...
void	operator+= (const CPointsMap &anotherMap)
	This operator is synonymous with addFrom. More...
void	insertAnotherMap (const CPointsMap *otherMap, const CPose3D &otherPose)
	Insert the contents of another map into this one with some geometric transformation, without fusing close points. More...
size_t	size () const
	Returns the number of stored points in the map. More...
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, mrpt::math::TPoint2D &p)
void	setPoint (size_t index, 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)
virtual void	setPointWeight (size_t index, unsigned long w)
	Sets the point weight, which is ignored in all classes but those which actually store that field (Note: No checks are done for out-of-bounds index). More...
virtual unsigned int	getPointWeight (size_t index) const
	Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually store that field (Note: No checks are done for out-of-bounds index). More...
void	getPointsBuffer (size_t &outPointsCount, const float *&xs, const float *&ys, const float *&zs) const
	Provides a direct access to points buffer, or NULL if there is no points in the map. More...
const std::vector< float > &	getPointsBufferRef_x () const
	Provides a direct access to a read-only reference of the internal point buffer. More...
const std::vector< float > &	getPointsBufferRef_y () const
	Provides a direct access to a read-only reference of the internal point buffer. More...
const std::vector< float > &	getPointsBufferRef_z () const
	Provides a direct access to a read-only reference of the internal point buffer. More...
template<class VECTOR >
void	getAllPoints (VECTOR &xs, VECTOR &ys, VECTOR &zs, size_t decimation=1) const
	Returns a copy of the 2D/3D points as a std::vector of float coordinates. More...
void	getAllPoints (std::vector< TPoint3D > &ps, size_t decimation=1) const
void	getAllPoints (std::vector< float > &xs, std::vector< float > &ys, size_t decimation=1) const
	Returns a copy of the 2D/3D points as a std::vector of float coordinates. More...
void	getAllPoints (std::vector< TPoint2D > &ps, size_t decimation=1) const
void	insertPoint (float x, float y, float z=0)
	Provides a way to insert (append) individual points into the map: the missing fields of child classes (color, weight, etc) are left to their default values. More...
void	insertPoint (const mrpt::math::TPoint3D &p)
virtual void	insertPoint (float x, float y, float z, float R, float G, float B)
template<typename VECTOR >
void	setAllPointsTemplate (const VECTOR &X, const VECTOR &Y, const VECTOR &Z=VECTOR())
	Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros). More...
void	setAllPoints (const std::vector< float > &X, const std::vector< float > &Y, const std::vector< float > &Z)
	Set all the points at once from vectors with X,Y and Z coordinates. More...
void	setAllPoints (const std::vector< float > &X, const std::vector< float > &Y)
	Set all the points at once from vectors with X and Y coordinates (Z=0). More...
void	getPointAllFields (const size_t index, std::vector< float > &point_data) const
	Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...
void	setPointAllFields (const size_t index, const std::vector< float > &point_data)
	Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...
void	clipOutOfRangeInZ (float zMin, float zMax)
	Delete points out of the given "z" axis range have been removed. More...
void	clipOutOfRange (const 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 CMetricMap *otherMap, const CPose2D &otherMapPose, TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matching between this and another 2D point map, which includes finding: More...
virtual void	determineMatching3D (const CMetricMap *otherMap, const CPose3D &otherMapPose, TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
float	compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float maxDistForCorr=0.10f, float maxMahaDistForCorr=2.0f) const
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...
void	compute3DDistanceToMesh (const CMetricMap *otherMap2, const CPose3D &otherMapPose, float maxDistForCorrespondence, TMatchingPairList &correspondences, float &correspondencesRatio)
	Computes the matchings between this and another 3D points map. More...
virtual void	loadFromRangeScan (const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL)=0
	Transform the range scan into a set of cartessian coordinated points. More...
virtual void	loadFromRangeScan (const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL)=0
	Overload of loadFromRangeScan() for 3D range scans (for example, Kinect observations). More...
void	fuseWith (CPointsMap *anotherMap, float minDistForFuse=0.02f, std::vector< bool > *notFusedPoints=NULL)
	Insert the contents of another map into this one, fusing the previous content with the new one. More...
void	changeCoordinatesReference (const CPose2D &b)
	Replace each point by (pose compounding operator). More...
void	changeCoordinatesReference (const CPose3D &b)
	Replace each point by (pose compounding operator). More...
void	changeCoordinatesReference (const CPointsMap &other, const CPose3D &b)
	Copy all the points from "other" map to "this", replacing each point by (pose compounding operator). More...
virtual bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted. More...
bool	empty () const
	STL-like method to check whether the map is empty: More...
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map. More...
virtual const CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
virtual CSimplePointsMap *	getAsSimplePointsMap ()
float	getLargestDistanceFromOrigin () const
	This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...
float	getLargestDistanceFromOriginNoRecompute (bool &output_is_valid) const
	Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin() More...
void	boundingBox (float &min_x, float &max_x, float &min_y, float &max_y, float &min_z, float &max_z) const
	Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points. More...
void	boundingBox (TPoint3D &pMin, TPoint3D &pMax) const
void	extractCylinder (const 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 TPoint3D &corner1, const TPoint3D &corner2, CPointsMap *outMap, const double &R=1, const double &G=1, const double &B=1)
	Extracts the points in the map within the area defined by two corners. More...
virtual double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
void	clear ()
	Erase all the contents of the map. More...
void	loadFromProbabilisticPosesAndObservations (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
void	loadFromSimpleMap (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
bool	insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL)
	Insert the observation information into this map. More...
bool	insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...
double	computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. More...
virtual bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
bool	canComputeObservationLikelihood (const CObservationPtr &obs)
double	computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame. More...
bool	canComputeObservationsLikelihood (const CSensoryFrame &sf)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its class. More...
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
CObject *	clone () const
	Cloning interface for smart pointers. More...
bool	loadFromPlyFile (const std::string &filename, CStringList *file_comments=NULL, CStringList *file_obj_info=NULL)
	Loads from a PLY file. More...
std::string	getLoadPLYErrorString () const
	Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
bool	saveToPlyFile (const std::string &filename, bool save_in_binary=false, const CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) const
	Saves to a PLY file. More...
std::string	getSavePLYErrorString () const
	Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
File input/output methods
bool	load2D_from_text_file (const std::string &file)
	Load from a text file. More...
bool	load3D_from_text_file (const std::string &file)
	Load from a text file. More...
bool	load2Dor3D_from_text_file (const std::string &file, const bool is_3D)
	2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file More...
bool	save2D_to_text_file (const std::string &file) const
	Save to a text file. More...
bool	save3D_to_text_file (const std::string &file) const
	Save to a text file. More...
void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...
virtual bool	savePCDFile (const std::string &filename, bool save_as_binary) const
	Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL) More...
virtual bool	loadPCDFile (const std::string &filename)
	Load the point cloud from a PCL PCD file (requires MRPT built against PCL) More...
virtual bool	saveLASFile (const std::string &filename, const LAS_WriteParams &params=LAS_WriteParams()) const
	Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas). More...
virtual bool	loadLASFile (const std::string &filename, LAS_HeaderInfo &out_headerInfo, const LAS_LoadParams &params=LAS_LoadParams())
	Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas). More...
Filter-by-height stuff
void	enableFilterByHeight (bool enable=true)
	Enable/disable the filter-by-height functionality. More...
bool	isFilterByHeightEnabled () const
	Return whether filter-by-height is enabled. More...
void	setHeightFilterLevels (const double _z_min, const double _z_max)
	Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before). More...
void	getHeightFilterLevels (double &_z_min, double &_z_max) const
	Get the min/max Z levels for points to be actually inserted in the map. More...
PCL library support
template<class POINTCLOUD >
void	getPCLPointCloud (POINTCLOUD &cloud) const
	Use to convert this MRPT point cloud object into a PCL point cloud object (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 Attributes
TInsertionOptions	insertionOptions
	The options used when inserting observations in the map. More...
TLikelihoodOptions	likelihoodOptions
bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects. More...

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

Protected Member Functions
void	mark_as_modified () const
	Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such. More...
bool	internal_insertObservation (const CObservation *obs, const CPose3D *robotPose)
	This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary. More...
void	base_copyFrom (const CPointsMap &obj)
	Helper method for ::copyFrom() More...
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...
bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...
PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_face_count (const size_t N)
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...
virtual void	PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL)
	In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...
PLY Export virtual methods to implement in base classes
virtual size_t	PLY_export_get_vertex_count () const
	In a base class, return the number of vertices. More...
virtual size_t	PLY_export_get_face_count () const
	In a base class, return the number of faces. More...
virtual void	PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const
	In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...
PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_vertex_count (const size_t N)=0
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...

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

Friends
template<class Derived >
struct	detail::loadFromRangeImpl
template<class Derived >
struct	detail::pointmap_traits

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPointsMap
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

Pure virtual interfaces to be implemented by any class derived from CPointsMap
virtual void	reserve (size_t newLength)=0
	Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. More...
virtual void	resize (size_t newLength)=0
	Resizes all point buffers so they can hold the given number of points: newly created points are set to default values, and old contents are not changed. More...
virtual void	setSize (size_t newLength)=0
	Resizes all point buffers so they can hold the given number of points, erasing all previous contents and leaving all points to default values. More...
virtual void	setPointFast (size_t index, float x, float y, float z)=0
	Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified() More...
virtual void	insertPointFast (float x, float y, float z=0)=0
	The virtual method for insertPoint() without calling mark_as_modified() More...
virtual void	copyFrom (const CPointsMap &obj)=0
	Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one. More...
virtual void	getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const =0
	Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...
virtual void	setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data)=0
	Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... More...
virtual void	addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints)=0
	Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data. More...

Constructor & Destructor Documentation

mrpt::slam::CPointsMap::CPointsMap

(

)

Ctor.

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

virtual

Virtual destructor.

Member Function Documentation

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

staticprotected

virtual void mrpt::slam::CPointsMap::addFrom ( const CPointsMap &  anotherMap )

virtual

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

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

CSimplePointsMap m1, m2;
...
m1.addFrom( m2 );  // Add all points of m2 to m1
m1 += m2;          // Exactly the same than above

Note

The method in CPointsMap is generic but derived classes may redefine this virtual method to another one more optimized.

virtual void mrpt::slam::CPointsMap::addFrom_classSpecific ( const CPointsMap &  anotherMap, const size_t  nPreviousPoints  )

protectedpure virtual

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

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

void mrpt::slam::CPointsMap::applyDeletionMask

(

const std::vector< bool > &

mask

)

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

Exceptions

std::exception

If mask size is not equal to points count.

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

inlinevirtualinherited

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

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

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

Definition at line 284 of file CMetricMap.h.

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

protected

Helper method for ::copyFrom()

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

Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points.

Results are cached unless the map is somehow modified to avoid repeated calculations.

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

inline

Definition at line 664 of file CPointsMap.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

inlinevirtualinherited

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

an occupancy grid map cannot with an image).

Parameters

obs	The observation.

See also

computeObservationLikelihood

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

Definition at line 169 of file CMetricMap.h.

References MRPT_UNUSED_PARAM.

bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservationPtr &  obs )

inherited

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

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

inherited

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

an occupancy grid map cannot with an image).

Parameters

sf	The observations.

See also

canComputeObservationLikelihood

void mrpt::slam::CPointsMap::changeCoordinatesReference

(

const CPose2D &

b

)

Replace each point by (pose compounding operator).

void mrpt::slam::CPointsMap::changeCoordinatesReference

(

const CPose3D &

b

)

Replace each point by (pose compounding operator).

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

Copy all the points from "other" map to "this", replacing each point by (pose compounding operator).

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

inherited

Erase all the contents of the map.

Referenced by mrpt::slam::CReflectivityGridMap2D::clear(), mrpt::slam::CHeightGridMap2D::clear(), and mrpt::slam::CRandomFieldGridMap2D::clear().

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

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

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

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

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

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

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

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

Parameters

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

See also

determineMatching3D

float mrpt::slam::CPointsMap::compute3DMatchingRatio ( const CMetricMap *  otherMap, const CPose3D &  otherMapPose, float  maxDistForCorr = 0.10f, float  maxMahaDistForCorr = 2.0f  ) const

virtual

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

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
maxDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
maxMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns

The matching ratio [0,1]

See also

determineMatching2D

Reimplemented from mrpt::slam::CMetricMap.

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

inherited

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

Parameters

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

Returns

This method returns a log-likelihood.

See also

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

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

virtual

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

Parameters

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

Returns

This method returns a log-likelihood.

See also

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

Implements mrpt::slam::CMetricMap.

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

inherited

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

Parameters

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

Returns

This method returns a log-likelihood.

See also

canComputeObservationsLikelihood

virtual void mrpt::slam::CPointsMap::copyFrom ( const CPointsMap &  obj )

pure virtual

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

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

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

virtual

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::slam::CMetricMap.

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

virtual

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

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

The method is the most time critical one into 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::slam::CMetricMap.

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

pure virtualinherited

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

Implemented in mrpt::reactivenav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::slam::CObservationIMU, mrpt::slam::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::gui::CDisplayWindow3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::hmtslam::THypothesisIDSet, mrpt::slam::COccupancyGridMap2D, mrpt::hmtslam::CHMTSLAM, mrpt::poses::CPose3D, mrpt::slam::CHeightGridMap2D, mrpt::slam::CMultiMetricMapPDF, mrpt::slam::CObservationRGBD360, mrpt::slam::CMultiMetricMap, mrpt::slam::CLandmarksMap, mrpt::opengl::COctoMapVoxels, mrpt::opengl::COpenGLViewport, mrpt::vision::CFeature, mrpt::poses::CPointPDFParticles, mrpt::kinematics::CKinematicChain, mrpt::slam::CRawlog, mrpt::slam::CSensoryFrame, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPlanarLaserScan, mrpt::slam::CBeaconMap, mrpt::pbmap::Plane, mrpt::slam::CObservation2DRangeScan, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::slam::CReflectivityGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::opengl::CFrustum, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CHMHMapNode, mrpt::slam::CBeacon, mrpt::slam::CObservationStereoImages, mrpt::opengl::CVectorField2D, mrpt::opengl::CAngularObservationMesh, mrpt::slam::CObservationStereoImagesFeatures, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::slam::CGasConcentrationGridMap2D, mrpt::opengl::CAssimpModel, mrpt::slam::CLandmark, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::gui::CDisplayWindowPlots, mrpt::slam::COctoMap, mrpt::slam::CWirelessPowerGridMap2D, mrpt::slam::CObservationImage, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::opengl::CPolyhedron, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::slam::CRBPFParticleData, mrpt::poses::CPointPDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::slam::CColouredOctoMap, mrpt::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::slam::CActionRobotMovement2D, mrpt::slam::CObservationBatteryState, mrpt::slam::CSimpleMap, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::slam::CWeightedPointsMap, mrpt::slam::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGrid, mrpt::gui::CDisplayWindow, mrpt::slam::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::reactivenav::CLogFileRecord, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::slam::CActionCollection, mrpt::slam::CObservationGPS, mrpt::slam::CObservationRange, mrpt::slam::CObservationRawDAQ, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationWirelessPower, mrpt::slam::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::slam::CActionRobotMovement3D, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationComment, mrpt::slam::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::slam::CObservation6DFeatures, mrpt::slam::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CGeneralizedCylinder, mrpt::reactivenav::CLogFileRecord_VFF, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::slam::CObservationCANBusJ1939, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

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 136 of file CObject.h.

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

inline

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

Definition at line 635 of file CPointsMap.h.

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

inline

Enable/disable the filter-by-height functionality.

See also

setHeightFilterLevels

Note

Default upon construction is disabled.

Definition at line 688 of file CPointsMap.h.

void mrpt::slam::CPointsMap::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.

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

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

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

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

Insert the contents of another map into this one, fusing the previous content with the new one.

This means that points very close to existing ones will be "fused", rather than "added". This prevents the unbounded increase in size of these class of maps. NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done before calling this method.

Parameters

otherMap	The other map whose points are to be inserted into this one.
minDistForFuse	Minimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
notFusedPoints	If a pointer is supplied, this list will contain at output a list with a "bool" value per point in "this" map. This will be false/true according to that point having been fused or not.

See also

loadFromRangeScan, addFrom

template<class VECTOR >

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

inline

Returns a copy of the 2D/3D points as a std::vector of float coordinates.

If decimation is greater than 1, only 1 point out of that number will be saved in the output, effectively performing a subsampling of the points.

See also

getPointsBufferRef_x, getPointsBufferRef_y, getPointsBufferRef_z

Template Parameters

VECTOR

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

Definition at line 414 of file CPointsMap.h.

References ASSERT_, MRPT_END, and MRPT_START.

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

inline

Definition at line 432 of file CPointsMap.h.

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

Returns a copy of the 2D/3D points as a std::vector of float coordinates.

If decimation is greater than 1, only 1 point out of that number will be saved in the output, effectively performing a subsampling of the points.

See also

setAllPoints

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

inline

Definition at line 449 of file CPointsMap.h.

virtual void mrpt::slam::CPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj ) const

virtual

Returns a 3D object representing the map.

The color of the points is given by the static variables: COLOR_3DSCENE_R,COLOR_3DSCENE_G,COLOR_3DSCENE_B

See also

mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE

Implements mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CColouredPointsMap.

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

inlinevirtual

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented from mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CSimplePointsMap.

Definition at line 646 of file CPointsMap.h.

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

inlinevirtual

Reimplemented from mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CSimplePointsMap.

Definition at line 647 of file CPointsMap.h.

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

inline

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

See also

enableFilterByHeight, setHeightFilterLevels

Definition at line 695 of file CPointsMap.h.

float mrpt::slam::CPointsMap::getLargestDistanceFromOrigin

(

)

const

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

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

inline

Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin()

Definition at line 654 of file 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::slam::CPointsMap::getPCLPointCloud ( POINTCLOUD &  cloud ) const

inline

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

Usage example:

mrpt::slam::CPointsCloud       pc;
pcl::PointCloud<pcl::PointXYZ> cloud;

pc.getPCLPointCloud(cloud);

See also

setFromPCLPointCloud, CColouredPointsMap::getPCLPointCloudXYZRGB (for color data)

Definition at line 723 of file CPointsMap.h.

References mrpt::math::size().

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y,
		float &	z
	)		const

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

First index is 0.

Returns

The return value is the weight of the point (the times it has been fused), or 1 if weights are not used.

Exceptions

Throws

std::exception on index out of bound.

See also

setPoint, getPointFast

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		float &	x,
		float &	y
	)		const

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

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		double &	x,
		double &	y,
		double &	z
	)		const

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

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		double &	x,
		double &	y
	)		const

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

unsigned long mrpt::slam::CPointsMap::getPoint ( size_t  index, mrpt::math::TPoint2D &  p  ) const

inline

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

Definition at line 346 of file CPointsMap.h.

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

Referenced by getPoint().

unsigned long mrpt::slam::CPointsMap::getPoint ( size_t  index, mrpt::math::TPoint3D &  p  ) const

inline

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

Definition at line 348 of file CPointsMap.h.

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

Referenced by getPoint().

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

inlinevirtual

Access to a given point from map, and its colors, if the map defines them (othersise, R=G=B=1.0).

First index is 0.

Returns

The return value is the weight of the point (the times it has been fused)

Exceptions

Throws

std::exception on index out of bound.

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 354 of file CPointsMap.h.

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

inline

Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

See also

getPointAllFieldsFast, setPointAllFields, setPointAllFieldsFast

Definition at line 501 of file CPointsMap.h.

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

virtual void mrpt::slam::CPointsMap::getPointAllFieldsFast ( const size_t  index, std::vector< float > &  point_data  ) const

pure virtual

Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

Unlike getPointAllFields(), this method does not check for index out of bounds

See also

getPointAllFields, setPointAllFields, setPointAllFieldsFast

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

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

inline

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

Definition at line 362 of file CPointsMap.h.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::slam::CWeightedPointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::slam::CSimplePointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::slam::CColouredPointsMap >::getPointXYZ(), and mrpt::utils::PointCloudAdapter< mrpt::slam::CPointsMap >::getPointXYZ().

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

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

Referenced by mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud().

const std::vector<float>& mrpt::slam::CPointsMap::getPointsBufferRef_x ( ) const

inline

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

See also

getAllPoints

Definition at line 402 of file CPointsMap.h.

const std::vector<float>& mrpt::slam::CPointsMap::getPointsBufferRef_y ( ) const

inline

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

See also

getAllPoints

Definition at line 404 of file CPointsMap.h.

const std::vector<float>& mrpt::slam::CPointsMap::getPointsBufferRef_z ( ) const

inline

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

See also

getAllPoints

Definition at line 406 of file CPointsMap.h.

virtual unsigned int mrpt::slam::CPointsMap::getPointWeight ( size_t  index ) const

inlinevirtual

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

See also

setPointWeight

Reimplemented in mrpt::slam::CWeightedPointsMap.

Definition at line 394 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

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

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::slam::CPointsMap::hasColorPoints ( ) const

inlinevirtual

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

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 365 of file 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.

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

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

Parameters

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

See also

fuseWith, addFrom

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

inherited

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.

See also

CObservation::insertObservationInto

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

inherited

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

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

inline

Provides a way to insert (append) individual points into the map: the missing fields of child classes (color, weight, etc) are left to their default values.

Definition at line 462 of file CPointsMap.h.

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

inline

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

Definition at line 464 of file CPointsMap.h.

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

Referenced by insertPoint().

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

inlinevirtual

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

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 466 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

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

pure virtual

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

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

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

protectedvirtual

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

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

Implements mrpt::slam::CMetricMap.

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

virtual

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

Implements mrpt::slam::CMetricMap.

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

inline

Return whether filter-by-height is enabled.

See also

enableFilterByHeight

Definition at line 690 of file CPointsMap.h.

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

inline

Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

Definition at line 774 of file CPointsMap.h.

template<typename BBOX >

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

inline

Definition at line 795 of file CPointsMap.h.

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

inline

Must return the number of data points.

Definition at line 764 of file CPointsMap.h.

References mrpt::math::size().

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

inline

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

Definition at line 767 of file CPointsMap.h.

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

inline

Load from a text file.

Each line should contain an "X Y" coordinate pair, separated by whitespaces. Returns false if any error occured, true elsewere.

Definition at line 253 of file CPointsMap.h.

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

2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file

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

inline

Load from a text file.

Each line should contain an "X Y Z" coordinate tuple, separated by whitespaces. Returns false if any error occured, true elsewere.

Definition at line 258 of file CPointsMap.h.

bool mrpt::utils::PLY_Importer::loadFromPlyFile ( const std::string &  filename, CStringList *  file_comments = NULL, CStringList *  file_obj_info = NULL  )

inherited

Loads from a PLY file.

Parameters

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

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

inherited

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

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

See also

insertObservation, CSimpleMap

Exceptions

std::exception

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

virtual void mrpt::slam::CPointsMap::loadFromRangeScan ( const CObservation2DRangeScan &  rangeScan, const CPose3D *  robotPose = NULL  )

pure virtual

Transform the range scan into a set of cartessian coordinated points.

The options in "insertionOptions" are considered in this method.

Parameters

rangeScan	The scan to be inserted into this map
robotPose	The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.

Only ranges marked as "valid=true" in the observation will be inserted

Note

Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific implementation of mrpt::slam::CPointsMap you are using.

The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.

See also

CObservation2DRangeScan, CObservation3DRangeScan

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

virtual void mrpt::slam::CPointsMap::loadFromRangeScan ( const CObservation3DRangeScan &  rangeScan, const CPose3D *  robotPose = NULL  )

pure virtual

Overload of loadFromRangeScan() for 3D range scans (for example, Kinect observations).

Parameters

rangeScan	The scan to be inserted into this map
robotPose	The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.

Note

Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific implementation of mrpt::slam::CPointsMap you are using.

The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.

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

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

inlineinherited

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

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

See also

insertObservation, CSimpleMap

Exceptions

std::exception

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

Definition at line 131 of file CMetricMap.h.

virtual bool mrpt::slam::CPointsMap::loadLASFile ( const std::string &  filename, LAS_HeaderInfo &  out_headerInfo, const LAS_LoadParams &  params = LAS_LoadParams()  )

virtual

Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas).

Refer to http://www.liblas.org/

Note

Color (RGB) information will be taken into account if using the derived class mrpt::slam::CColouredPointsMap

Returns

false on any error

virtual bool mrpt::slam::CPointsMap::loadPCDFile ( const std::string &  filename )

virtual

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

Returns

false on any error

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

inlineprotected

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

Definition at line 831 of file CPointsMap.h.

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

inline

This operator is synonymous with addFrom.

See also

addFrom

Definition at line 232 of file CPointsMap.h.

virtual size_t mrpt::slam::CPointsMap::PLY_export_get_face_count ( ) const

inlineprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 868 of file CPointsMap.h.

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

protectedvirtual

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

Parameters

pt_color

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

Implements mrpt::utils::PLY_Exporter.

Reimplemented in mrpt::slam::CColouredPointsMap.

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

protectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

virtual void mrpt::slam::CPointsMap::PLY_import_set_face_count ( const size_t  N )

inlineprotectedvirtual

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

Implements mrpt::utils::PLY_Importer.

Definition at line 853 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

virtual void mrpt::slam::CPointsMap::PLY_import_set_vertex ( const size_t  idx, const mrpt::math::TPoint3Df &  pt, const mrpt::utils::TColorf *  pt_color = NULL  )

protectedvirtual

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

Parameters

pt_color

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

Implements mrpt::utils::PLY_Importer.

Reimplemented in mrpt::slam::CColouredPointsMap.

virtual void mrpt::utils::PLY_Importer::PLY_import_set_vertex_count ( const size_t  N )

protectedpure virtualinherited

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

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

void mrpt::utils::CObservable::publishEvent ( const mrptEvent &  e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedpure virtualinherited

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

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implemented in mrpt::reactivenav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::slam::CObservationIMU, mrpt::slam::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::hmtslam::THypothesisIDSet, mrpt::slam::COccupancyGridMap2D, mrpt::hmtslam::CHMTSLAM, mrpt::poses::CPose3D, mrpt::slam::CHeightGridMap2D, mrpt::slam::CMultiMetricMapPDF, mrpt::slam::CObservationRGBD360, mrpt::slam::CMultiMetricMap, mrpt::slam::CLandmarksMap, mrpt::opengl::COctoMapVoxels, mrpt::opengl::COpenGLViewport, mrpt::vision::CFeature, mrpt::poses::CPointPDFParticles, mrpt::kinematics::CKinematicChain, mrpt::slam::CRawlog, mrpt::slam::CSensoryFrame, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPlanarLaserScan, mrpt::slam::CBeaconMap, mrpt::pbmap::Plane, mrpt::slam::CObservation2DRangeScan, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::slam::CReflectivityGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::opengl::CFrustum, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CHMHMapNode, mrpt::slam::CBeacon, mrpt::slam::CObservationStereoImages, mrpt::opengl::CVectorField2D, mrpt::opengl::CAngularObservationMesh, mrpt::slam::CObservationStereoImagesFeatures, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::slam::CGasConcentrationGridMap2D, mrpt::opengl::CAssimpModel, mrpt::slam::CLandmark, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::slam::COctoMap, mrpt::slam::CWirelessPowerGridMap2D, mrpt::slam::CObservationImage, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::opengl::CPolyhedron, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::slam::CRBPFParticleData, mrpt::poses::CPointPDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::slam::CColouredOctoMap, mrpt::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::slam::CActionRobotMovement2D, mrpt::slam::CObservationBatteryState, mrpt::slam::CSimpleMap, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::slam::CWeightedPointsMap, mrpt::slam::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGrid, mrpt::slam::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::reactivenav::CLogFileRecord, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::slam::CActionCollection, mrpt::slam::CObservationGPS, mrpt::slam::CObservationRange, mrpt::slam::CObservationRawDAQ, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationWirelessPower, mrpt::slam::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::slam::CActionRobotMovement3D, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationComment, mrpt::slam::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::slam::CObservation6DFeatures, mrpt::slam::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CGeneralizedCylinder, mrpt::reactivenav::CLogFileRecord_VFF, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::slam::CObservationCANBusJ1939, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

virtual void mrpt::slam::CPointsMap::reserve ( size_t  newLength )

pure virtual

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

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

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

virtual void mrpt::slam::CPointsMap::resize ( size_t  newLength )

pure virtual

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

See also

reserve, setPoint, setPointFast, setSize

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

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

bool mrpt::slam::CPointsMap::save2D_to_text_file

(

const std::string &

file

)

const

Save to a text file.

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

bool mrpt::slam::CPointsMap::save3D_to_text_file

(

const std::string &

file

)

const

Save to a text file.

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

virtual bool mrpt::slam::CPointsMap::saveLASFile ( const std::string &  filename, const LAS_WriteParams &  params = LAS_WriteParams()  ) const

virtual

Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas).

Refer to http://www.liblas.org/

Returns

false on any error

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

inlinevirtual

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

Implements mrpt::slam::CMetricMap.

Definition at line 275 of file CPointsMap.h.

virtual bool mrpt::slam::CPointsMap::savePCDFile ( const std::string &  filename, bool  save_as_binary  ) const

virtual

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

Returns

false on any error

Reimplemented in mrpt::slam::CColouredPointsMap.

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

inherited

Saves to a PLY file.

Parameters

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

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

inline

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

See also

getAllPoints

Definition at line 489 of file CPointsMap.h.

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

inline

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

See also

getAllPoints

Definition at line 494 of file CPointsMap.h.

template<typename VECTOR >

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

inline

Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros).

Template Parameters

VECTOR

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

Definition at line 476 of file CPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, and setSize().

template<class POINTCLOUD >

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

inline

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

Usage example:

pcl::PointCloud<pcl::PointXYZ> cloud;
mrpt::slam::CPointsCloud       pc;

pc.setFromPCLPointCloud(cloud);

See also

getPCLPointCloud, CColouredPointsMap::setFromPCLPointCloudRGB()

Definition at line 749 of file CPointsMap.h.

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

inline

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

Definition at line 693 of file CPointsMap.h.

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

inline

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

Exceptions

Throws

std::exception on index out of bound.

Definition at line 370 of file CPointsMap.h.

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

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

inline

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

Definition at line 376 of file CPointsMap.h.

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

Referenced by setPoint().

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

inline

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

Definition at line 378 of file CPointsMap.h.

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

Referenced by setPoint().

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

inline

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

Definition at line 380 of file CPointsMap.h.

References setPoint().

Referenced by setPoint().

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

inlinevirtual

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

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 382 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

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

inline

Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

Unlike setPointAllFields(), this method does not check for index out of bounds

See also

setPointAllFields, getPointAllFields, getPointAllFieldsFast

Definition at line 510 of file CPointsMap.h.

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

virtual void mrpt::slam::CPointsMap::setPointAllFieldsFast ( const size_t  index, const std::vector< float > &  point_data  )

pure virtual

Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...

Unlike setPointAllFields(), this method does not check for index out of bounds

See also

setPointAllFields, getPointAllFields, getPointAllFieldsFast

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

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

pure virtual

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

See also

setPoint

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

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

virtual void mrpt::slam::CPointsMap::setPointWeight ( size_t  index, unsigned long  w  )

inlinevirtual

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

See also

getPointWeight

Reimplemented in mrpt::slam::CWeightedPointsMap.

Definition at line 389 of file CPointsMap.h.

References MRPT_UNUSED_PARAM.

virtual void mrpt::slam::CPointsMap::setSize ( size_t  newLength )

pure virtual

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

See also

reserve, setPoint, setPointFast, setSize

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

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

inline

Returns the number of stored points in the map.

Definition at line 331 of file CPointsMap.h.

Referenced by mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::utils::PointCloudAdapter< mrpt::slam::CWeightedPointsMap >::size(), mrpt::utils::PointCloudAdapter< mrpt::slam::CSimplePointsMap >::size(), mrpt::utils::PointCloudAdapter< mrpt::slam::CColouredPointsMap >::size(), and mrpt::utils::PointCloudAdapter< mrpt::slam::CPointsMap >::size().

virtual float mrpt::slam::CPointsMap::squareDistanceToClosestCorrespondence ( float  x0, float  y0  ) const

virtual

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

Reimplemented from mrpt::slam::CMetricMap.

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

inline

Definition at line 157 of file CPointsMap.h.

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

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedpure virtualinherited

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

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

Parameters

out	The output binary stream where object must be dumped.
getVersion	If 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::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implemented in mrpt::reactivenav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::slam::CObservationIMU, mrpt::slam::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::hmtslam::THypothesisIDSet, mrpt::slam::COccupancyGridMap2D, mrpt::hmtslam::CHMTSLAM, mrpt::poses::CPose3D, mrpt::slam::CHeightGridMap2D, mrpt::slam::CMultiMetricMapPDF, mrpt::slam::CObservationRGBD360, mrpt::slam::CMultiMetricMap, mrpt::slam::CLandmarksMap, mrpt::opengl::COctoMapVoxels, mrpt::opengl::COpenGLViewport, mrpt::vision::CFeature, mrpt::poses::CPointPDFParticles, mrpt::kinematics::CKinematicChain, mrpt::slam::CRawlog, mrpt::slam::CSensoryFrame, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPlanarLaserScan, mrpt::slam::CBeaconMap, mrpt::pbmap::Plane, mrpt::slam::CObservation2DRangeScan, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::slam::CReflectivityGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::opengl::CFrustum, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CHMHMapNode, mrpt::slam::CBeacon, mrpt::slam::CObservationStereoImages, mrpt::opengl::CVectorField2D, mrpt::opengl::CAngularObservationMesh, mrpt::slam::CObservationStereoImagesFeatures, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::slam::CGasConcentrationGridMap2D, mrpt::opengl::CAssimpModel, mrpt::slam::CLandmark, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::slam::COctoMap, mrpt::slam::CWirelessPowerGridMap2D, mrpt::slam::CObservationImage, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::opengl::CPolyhedron, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::slam::CRBPFParticleData, mrpt::poses::CPointPDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::slam::CColouredOctoMap, mrpt::slam::CColouredPointsMap, mrpt::slam::CSimplePointsMap, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::slam::CActionRobotMovement2D, mrpt::slam::CObservationBatteryState, mrpt::slam::CSimpleMap, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::slam::CWeightedPointsMap, mrpt::slam::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGrid, mrpt::slam::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::reactivenav::CLogFileRecord, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::slam::CActionCollection, mrpt::slam::CObservationGPS, mrpt::slam::CObservationRange, mrpt::slam::CObservationRawDAQ, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationWirelessPower, mrpt::slam::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::slam::CActionRobotMovement3D, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationComment, mrpt::slam::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::slam::CObservation6DFeatures, mrpt::slam::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CGeneralizedCylinder, mrpt::reactivenav::CLogFileRecord_VFF, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::slam::CObservationCANBusJ1939, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.

Friends And Related Function Documentation

template<class Derived >

friend struct detail::loadFromRangeImpl

friend

Definition at line 891 of file CPointsMap.h.

template<class Derived >

friend struct detail::pointmap_traits

friend

Definition at line 892 of file CPointsMap.h.

friend class mrpt::utils::CStream

friend

Definition at line 66 of file CPointsMap.h.

Member Data Documentation

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

staticinherited

Definition at line 88 of file CMetricMap.h.

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

staticinherited

Definition at line 124 of file CObject.h.

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

static

Definition at line 66 of file CPointsMap.h.

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

staticinherited

Definition at line 38 of file CSerializable.h.

float mrpt::slam::CPointsMap::COLOR_3DSCENE_B

static

Definition at line 702 of file CPointsMap.h.

float mrpt::slam::CPointsMap::COLOR_3DSCENE_G

static

Definition at line 701 of file CPointsMap.h.

float mrpt::slam::CPointsMap::COLOR_3DSCENE_R

static

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

Definition at line 700 of file CPointsMap.h.

TInsertionOptions mrpt::slam::CPointsMap::insertionOptions

The options used when inserting observations in the map.

Definition at line 188 of file CPointsMap.h.

TLikelihoodOptions mrpt::slam::CPointsMap::likelihoodOptions

Definition at line 216 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_bb_max_x

mutableprotected

Definition at line 827 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_bb_max_y

mutableprotected

Definition at line 827 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_bb_max_z

mutableprotected

Definition at line 827 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_bb_min_x

mutableprotected

Definition at line 827 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_bb_min_y

mutableprotected

Definition at line 827 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_bb_min_z

mutableprotected

Definition at line 827 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::m_boundingBoxIsUpdated

mutableprotected

Definition at line 826 of file CPointsMap.h.

bool mrpt::slam::CMetricMap::m_disableSaveAs3DObject

inherited

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

Definition at line 279 of file CMetricMap.h.

bool mrpt::slam::CPointsMap::m_heightfilter_enabled

protected

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

See also

m_heightfilter_z_min, m_heightfilter_z_max

Definition at line 887 of file CPointsMap.h.

double mrpt::slam::CPointsMap::m_heightfilter_z_max

protected

Definition at line 883 of file CPointsMap.h.

double mrpt::slam::CPointsMap::m_heightfilter_z_min

protected

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

See also

m_heightfilter_enabled

Definition at line 883 of file CPointsMap.h.

float mrpt::slam::CPointsMap::m_largestDistanceFromOrigin

mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also

getLargestDistanceFromOrigin

Definition at line 819 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::m_largestDistanceFromOriginIsUpdated

mutableprotected

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also

getLargestDistanceFromOrigin

Definition at line 824 of file CPointsMap.h.

CSinCosLookUpTableFor2DScans mrpt::slam::CPointsMap::m_scans_sincos_cache

protected

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

Definition at line 814 of file CPointsMap.h.

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

protected

Definition at line 812 of file CPointsMap.h.

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

protected

Definition at line 812 of file CPointsMap.h.

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

protected

The point coordinates.

Definition at line 812 of file CPointsMap.h.