A map of 2D/3D points with individual colours (RGB).
For different color schemes, see CColouredPointsMap::colorScheme Colors are defined in the range [0,1].
Definition at line 32 of file maps/CColouredPointsMap.h.
#include <mrpt/maps/CColouredPointsMap.h>
Classes | |
struct | TColourOptions |
The definition of parameters for generating colors from laser scans. More... | |
struct | TMapDefinition |
struct | TMapDefinitionBase |
Public Types | |
enum | TColouringMethod { cmFromHeightRelativeToSensor = 0 , cmFromHeightRelativeToSensorJet = 0 , cmFromHeightRelativeToSensorGray = 1 , cmFromIntensityImage = 2 } |
The choices for coloring schemes: More... | |
typedef KDTreeCapable< CPointsMap, float, nanoflann::L2_Simple_Adaptor< float,CPointsMap > > | self_t |
Public Member Functions | |
virtual | ~CColouredPointsMap () |
Destructor. | |
CColouredPointsMap () | |
Default constructor. | |
bool | save3D_and_colour_to_text_file (const std::string &file) const |
Save to a text file. | |
virtual void | setPoint (size_t index, float x, float y, float z, float R, float G, float B) MRPT_OVERRIDE |
Changes a given point from map. | |
void | setPoint (size_t index, float x, float y, float z) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | setPoint (size_t index, mrpt::math::TPoint3Df &p) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | setPoint (size_t index, float x, float y) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
virtual void | insertPoint (float x, float y, float z, float R, float G, float B) MRPT_OVERRIDE |
Adds a new point given its coordinates and color (colors range is [0,1]) | |
void | insertPoint (const mrpt::poses::CPoint3D &p) |
void | insertPoint (const mrpt::math::TPoint3D &p) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | insertPoint (const mrpt::math::TPoint3Df &p) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | insertPoint (float x, float y, float z) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | setPointColor (size_t index, float R, float G, float B) |
Changes just the color of a given point from the map. | |
void | setPointColor_fast (size_t index, float R, float G, float B) |
Like setPointColor but without checking for out-of-index erors. | |
virtual void | getPoint (size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const MRPT_OVERRIDE |
Retrieves a point and its color (colors range is [0,1]) | |
unsigned long | getPoint (size_t index, float &x, float &y, float &z) const |
Retrieves a point | |
void | getPointColor (size_t index, float &R, float &G, float &B) const |
Retrieves a point color (colors range is [0,1]) | |
void | getPointColor_fast (size_t index, float &R, float &G, float &B) const |
Like getPointColor but without checking for out-of-index erors. | |
virtual bool | hasColorPoints () const MRPT_OVERRIDE |
Returns true if the point map has a color field for each point. | |
virtual void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE |
Override of the default 3D scene builder to account for the individual points' color. | |
bool | colourFromObservation (const mrpt::obs::CObservationImage &obs, const mrpt::poses::CPose3D &robotPose) |
Colour a set of points from a CObservationImage and the global pose of the robot. | |
void | resetPointsMinDist (float defValue=2000.0f) |
Reset the minimum-observed-distance buffer for all the points to a predefined value. | |
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. | |
float | squareDistanceToClosestCorrespondenceT (const mrpt::math::TPoint2D &p0) const |
virtual void | addFrom (const CPointsMap &anotherMap) |
Adds all the points from anotherMap to this map, without fusing. | |
void | operator+= (const CPointsMap &anotherMap) |
This operator is synonymous with addFrom. | |
void | insertAnotherMap (const CPointsMap *otherMap, const mrpt::poses::CPose3D &otherPose) |
Insert the contents of another map into this one with some geometric transformation, without fusing close points. | |
size_t | size () const |
Returns the number of stored points in the map. | |
unsigned long | 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 | 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 | 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 | getPoint (size_t index, mrpt::math::TPoint2D &p) 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 | getPoint (size_t index, mrpt::math::TPoint3D &p) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
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. | |
void | setPoint (size_t index, mrpt::math::TPoint2D &p) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | setPoint (size_t index, mrpt::math::TPoint3D &p) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
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). | |
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). | |
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. | |
const std::vector< float > & | getPointsBufferRef_x () const |
Provides a direct access to a read-only reference of the internal point buffer. | |
const std::vector< float > & | getPointsBufferRef_y () const |
Provides a direct access to a read-only reference of the internal point buffer. | |
const std::vector< float > & | getPointsBufferRef_z () const |
Provides a direct access to a read-only reference of the internal point buffer. | |
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. | |
void | getAllPoints (std::vector< mrpt::math::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. | |
void | getAllPoints (std::vector< mrpt::math::TPoint2D > &ps, size_t decimation=1) const |
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). | |
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. | |
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). | |
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... | |
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... Unlike setPointAllFields(), this method does not check for index out of bounds. | |
void | clipOutOfRangeInZ (float zMin, float zMax) |
Delete points out of the given "z" axis range have been removed. | |
void | clipOutOfRange (const mrpt::math::TPoint2D &point, float maxRange) |
Delete points which are more far than "maxRange" away from the given "point". | |
void | applyDeletionMask (const std::vector< bool > &mask) |
Remove from the map the points marked in a bool's array as "true". | |
virtual void | determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE |
Computes the matching between this and another 2D point map, which includes finding: | |
virtual void | determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE |
Computes the matchings between this and another 3D points map - method used in 3D-ICP. | |
float | compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const MRPT_OVERRIDE |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. | |
void | compute3DDistanceToMesh (const mrpt::maps::CMetricMap *otherMap2, const mrpt::poses::CPose3D &otherMapPose, float maxDistForCorrespondence, mrpt::utils::TMatchingPairList &correspondences, float &correspondencesRatio) |
Computes the matchings between this and another 3D points map. | |
void | loadFromVelodyneScan (const mrpt::obs::CObservationVelodyneScan &scan, const mrpt::poses::CPose3D *robotPose=NULL) |
Like loadFromRangeScan() for Velodyne 3D scans. | |
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. | |
void | changeCoordinatesReference (const mrpt::poses::CPose2D &b) |
Replace each point ![]() ![]() | |
void | changeCoordinatesReference (const mrpt::poses::CPose3D &b) |
Replace each point ![]() ![]() | |
void | changeCoordinatesReference (const CPointsMap &other, const mrpt::poses::CPose3D &b) |
Copy all the points from "other" map to "this", replacing each point ![]() ![]() | |
virtual bool | isEmpty () const MRPT_OVERRIDE |
Returns true if the map is empty/no observation has been inserted. | |
bool | empty () const |
STL-like method to check whether the map is empty: | |
virtual const mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () const MRPT_OVERRIDE |
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. | |
virtual mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () MRPT_OVERRIDE |
float | getLargestDistanceFromOrigin () const |
This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). | |
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() | |
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. | |
void | boundingBox (mrpt::math::TPoint3D &pMin, mrpt::math::TPoint3D &pMax) const |
void | extractCylinder (const mrpt::math::TPoint2D ¢er, 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 | extractPoints (const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, CPointsMap *outMap, const double &R=1, const double &G=1, const double &B=1) |
Extracts the points in the map within the area defined by two corners. | |
virtual double | internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE |
Internal method called by computeObservationLikelihood() | |
void | clear () |
Erase all the contents of the map. | |
void | loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. | |
void | loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. | |
bool | insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) |
Insert the observation information into this map. | |
bool | insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL) |
A wrapper for smart pointers, just calls the non-smart pointer version. | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
virtual bool | canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. | |
bool | canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
double | computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom) |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. | |
bool | canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. | |
virtual void | auxParticleFilterCleanUp () |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". | |
const CPointsMap & | derived () const |
CRTP helper method. | |
CPointsMap & | derived () |
CRTP helper method. | |
bool | loadFromPlyFile (const std::string &filename, CStringList *file_comments=NULL, CStringList *file_obj_info=NULL) |
Loads from a PLY file. | |
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. | |
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. | |
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. | |
PCL library support | |
virtual bool | savePCDFile (const std::string &filename, bool save_as_binary) const MRPT_OVERRIDE |
Save the point cloud as a PCL PCD file, in either ASCII or binary format. | |
template<class POINTCLOUD > | |
void | setFromPCLPointCloudRGB (const POINTCLOUD &cloud) |
Loads a PCL point cloud (WITH RGB information) into this MRPT class (for clouds without RGB data, see CPointsMap::setFromPCLPointCloud() ). | |
template<class POINTCLOUD > | |
void | getPCLPointCloudXYZRGB (POINTCLOUD &cloud) const |
Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZRGB> | |
File input/output methods | |
bool | load2D_from_text_file (const std::string &file) |
Load from a text file. | |
bool | load3D_from_text_file (const std::string &file) |
Load from a text file. | |
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 | |
bool | save2D_to_text_file (const std::string &file) const |
Save to a text file. | |
bool | save3D_to_text_file (const std::string &file) const |
Save to a text file. | |
void | saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface) | |
virtual bool | loadPCDFile (const std::string &filename) |
Load the point cloud from a PCL PCD file (requires MRPT built against PCL) | |
virtual bool | saveLASFile (const std::string &filename, const LAS_WriteParams ¶ms=LAS_WriteParams()) const |
Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas). | |
virtual bool | loadLASFile (const std::string &filename, LAS_HeaderInfo &out_headerInfo, const LAS_LoadParams ¶ms=LAS_LoadParams()) |
Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas). | |
Filter-by-height stuff | |
void | enableFilterByHeight (bool enable=true) |
Enable/disable the filter-by-height functionality. | |
bool | isFilterByHeightEnabled () const |
Return whether filter-by-height is enabled. | |
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). | |
void | getHeightFilterLevels (double &_z_min, double &_z_max) const |
Get the min/max Z levels for points to be actually inserted in the map. | |
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>). | |
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() ). | |
Methods that MUST be implemented by children classes of KDTreeCapable | |
size_t | kdtree_get_point_count () const |
Must return the number of data points. | |
float | kdtree_get_pt (const size_t idx, int dim) const |
Returns the dim'th component of the idx'th point in the class: | |
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: | |
template<typename BBOX > | |
bool | kdtree_get_bbox (BBOX &bb) const |
Public Attributes | |
TColourOptions | colorScheme |
The options employed when inserting laser scans in the map. | |
TInsertionOptions | insertionOptions |
The options used when inserting observations in the map. | |
TLikelihoodOptions | likelihoodOptions |
TMapGenericParams | genericMapParams |
Common params to all maps. | |
TKDTreeSearchParams | kdtree_search_params |
Parameters to tune the ANN searches. | |
Static Public Attributes | |
static float | COLOR_3DSCENE_R |
The color [0,1] of points when extracted from getAs3DObject (default=blue) | |
static float | COLOR_3DSCENE_G |
static float | COLOR_3DSCENE_B |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCPointsMap |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCMetricMap |
Protected Member Functions | |
virtual void | internal_clear () MRPT_OVERRIDE |
Minimum distance from where the points have been seen. | |
void | mark_as_modified () const |
Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such. | |
bool | internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE |
This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary. | |
void | base_copyFrom (const CPointsMap &obj) |
Helper method for copyFrom() | |
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. | |
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. | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Redefinition of PLY Import virtual methods from CPointsMap | |
virtual void | PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL) MRPT_OVERRIDE |
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. | |
virtual void | PLY_import_set_vertex_count (const size_t N) MRPT_OVERRIDE |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. | |
Redefinition of PLY Export virtual methods from CPointsMap | |
void | PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const MRPT_OVERRIDE |
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. | |
PLY Import virtual methods to implement in base classes | |
virtual void | PLY_import_set_face_count (const size_t N) MRPT_OVERRIDE |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. | |
PLY Export virtual methods to implement in base classes | |
size_t | PLY_export_get_vertex_count () const MRPT_OVERRIDE |
In a base class, return the number of vertices. | |
size_t | PLY_export_get_face_count () const MRPT_OVERRIDE |
In a base class, return the number of faces. | |
Protected Attributes | |
std::vector< float > | m_color_R |
The color data. | |
std::vector< float > | m_color_G |
std::vector< float > | m_color_B |
std::vector< float > | x |
std::vector< float > | y |
std::vector< float > | z |
The point coordinates. | |
mrpt::obs::CSinCosLookUpTableFor2DScans | m_scans_sincos_cache |
Cache of sin/cos values for the latest 2D scan geometries. | |
float | m_largestDistanceFromOrigin |
Auxiliary variables used in "getLargestDistanceFromOrigin". | |
bool | m_largestDistanceFromOriginIsUpdated |
Auxiliary variables used in "getLargestDistanceFromOrigin". | |
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. | |
double | m_heightfilter_z_max |
bool | m_heightfilter_enabled |
Whether or not (default=not) filter the input points by height. | |
Private Member Functions | |
virtual bool | internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Internal method called by canComputeObservationLikelihood() | |
virtual void | OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *) |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. | |
void | internal_observer_begin (CObserver *) |
void | internal_observer_end (CObserver *) |
Private Attributes | |
std::set< CObserver * > | m_subscribers |
std::string | m_ply_import_last_error |
std::string | m_ply_export_last_error |
RTTI stuff <br> | |
typedef CColouredPointsMapPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CColouredPointsMap |
static mrpt::utils::TRuntimeClassId | classCColouredPointsMap |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CColouredPointsMapPtr | Create () |
Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{ | |
static const size_t | m_private_map_register_id |
ID used to initialize class registration (just ignore it) | |
static mrpt::maps::TMetricMapInitializer * | MapDefinition () |
Returns default map definition initializer. | |
static CColouredPointsMap * | CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
Constructor from a map definition structure: initializes the map and its parameters accordingly. | |
static mrpt::maps::CMetricMap * | internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
Pure virtual interfaces to be implemented by any class derived from CPointsMap | |
template<class Derived > | |
struct | detail::loadFromRangeImpl |
template<class Derived > | |
struct | detail::pointmap_traits |
virtual void | reserve (size_t newLength) MRPT_OVERRIDE |
Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. | |
virtual void | resize (size_t newLength) MRPT_OVERRIDE |
Resizes all point buffers so they can hold the given number of points: newly created points are set to default values, and old contents are not changed. | |
virtual void | setSize (size_t newLength) MRPT_OVERRIDE |
Resizes all point buffers so they can hold the given number of points, erasing all previous contents and leaving all points to default values. | |
virtual void | setPointFast (size_t index, float x, float y, float z) MRPT_OVERRIDE |
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified() | |
virtual void | insertPointFast (float x, float y, float z=0) MRPT_OVERRIDE |
The virtual method for insertPoint() without calling mark_as_modified() | |
virtual void | copyFrom (const CPointsMap &obj) MRPT_OVERRIDE |
Virtual assignment operator, to be implemented in derived classes | |
virtual void | getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const MRPT_OVERRIDE |
Get all the data fields for one point as a vector: [X Y Z R G B] Unlike getPointAllFields(), this method does not check for index out of bounds. | |
virtual void | setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE |
Set all the data fields for one point as a vector: [X Y Z R G B] Unlike setPointAllFields(), this method does not check for index out of bounds. | |
virtual void | loadFromRangeScan (const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE |
See CPointsMap::loadFromRangeScan() | |
virtual void | loadFromRangeScan (const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE |
See CPointsMap::loadFromRangeScan() | |
virtual void | addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE |
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data | |
Public utility methods to query the KD-tree | |
size_t | kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const |
KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. | |
size_t | kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
size_t | kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
float | kdTreeClosestPoint2DsqrError (float x0, float y0) const |
Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. | |
float | kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const |
void | kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const |
KD Tree-based search for the TWO closest point to some given 2D coordinates. | |
void | kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const |
std::vector< size_t > | kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const |
KD Tree-based search for the N closest point to some given 2D coordinates. | |
std::vector< size_t > | kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const |
void | kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const |
KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. | |
void | kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const |
size_t | kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const |
KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. | |
size_t | kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
size_t | kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
void | kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const |
KD Tree-based search for the N closest points to some given 3D coordinates. | |
void | kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const |
void | kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const |
KD Tree-based search for the N closest points to some given 3D coordinates. | |
size_t | kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float > > &out_indices_dist) const |
KD Tree-based search for all the points within a given radius of some 3D point. | |
size_t | kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float > > &out_indices_dist) const |
KD Tree-based search for all the points within a given radius of some 2D point. | |
void | kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const |
KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. | |
void | kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const |
void | kdtree_mark_as_outdated () const |
To be called by child classes when KD tree data changes. | |
void | rebuild_kdTree_2D () const |
Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... asking the child class for the data points. | |
void | rebuild_kdTree_3D () const |
Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... asking the child class for the data points. | |
TKDTreeDataHolder< 2 > | m_kdtree2d_data |
TKDTreeDataHolder< 3 > | m_kdtree3d_data |
TKDTreeDataHolder | m_kdtreeNd_data |
bool | m_kdtree_is_uptodate |
whether the KD tree needs to be rebuilt or not. | |
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inherited |
Definition at line 71 of file KDTreeCapable.h.
A typedef for the associated smart pointer
Definition at line 35 of file maps/CColouredPointsMap.h.
The choices for coloring schemes:
Enumerator | |
---|---|
cmFromHeightRelativeToSensor | |
cmFromHeightRelativeToSensorJet | |
cmFromHeightRelativeToSensorGray | |
cmFromIntensityImage |
Definition at line 195 of file maps/CColouredPointsMap.h.
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virtual |
Destructor.
mrpt::maps::CColouredPointsMap::CColouredPointsMap | ( | ) |
Default constructor.
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staticprotected |
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virtualinherited |
Adds all the points from anotherMap to this map, without fusing.
This operation can be also invoked via the "+=" operator, for example:
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protectedvirtual |
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data
Implements mrpt::maps::CPointsMap.
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inherited |
Remove from the map the points marked in a bool's array as "true".
std::exception | If mask size is not equal to points count. |
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inlinevirtualinherited |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.
Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::CLandmarksMap.
Definition at line 235 of file maps/CMetricMap.h.
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protectedinherited |
Helper method for copyFrom()
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inherited |
Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points.
Results are cached unless the map is somehow modified to avoid repeated calculations.
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inlineinherited |
Definition at line 656 of file maps/CPointsMap.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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virtualinherited |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
obs | The observation. |
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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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).
sf | The observations. |
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inherited |
Copy all the points from "other" map to "this", replacing each point
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inherited |
Replace each point
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inherited |
Replace each point
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inherited |
Erase all the contents of the map.
Referenced by mrpt::maps::CRandomFieldGridMap2D::clear(), and mrpt::maps::CReflectivityGridMap2D::clear().
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inherited |
Delete points which are more far than "maxRange" away from the given "point".
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inherited |
Delete points out of the given "z" axis range have been removed.
bool mrpt::maps::CColouredPointsMap::colourFromObservation | ( | const mrpt::obs::CObservationImage & | obs, |
const mrpt::poses::CPose3D & | robotPose | ||
) |
Colour a set of points from a CObservationImage and the global pose of the robot.
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inherited |
Computes the matchings between this and another 3D points map.
This method matches each point in the other map with the centroid of the 3 closest points in 3D from this map (if the distance is below a defined threshold).
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. |
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virtualinherited |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
This method always return 0 for grid maps.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The 6D pose of the other map as seen from "this". |
params | [IN] Matching parameters |
Reimplemented from mrpt::maps::CMetricMap.
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
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inherited |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.
takenFrom | The robot's pose the observation is supposed to be taken from. |
sf | The set of observations in a CSensoryFrame. |
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virtual |
Virtual assignment operator, to be implemented in derived classes
Implements mrpt::maps::CPointsMap.
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static |
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static |
Constructor from a map definition structure: initializes the map and its parameters accordingly.
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static |
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inlineinherited |
CRTP helper method.
Definition at line 83 of file KDTreeCapable.h.
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inlineinherited |
CRTP helper method.
Definition at line 81 of file KDTreeCapable.h.
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virtualinherited |
Computes the matching between this and another 2D point map, which includes finding:
The algorithm is:
This method is the most time critical one into ICP-like algorithms.
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. |
Reimplemented from mrpt::maps::CMetricMap.
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virtualinherited |
Computes the matchings between this and another 3D points map - method used in 3D-ICP.
This method finds the set of point pairs in each map.
The method is the most time critical one into ICP-like algorithms.
The algorithm is:
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. |
Reimplemented from mrpt::maps::CMetricMap.
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virtual |
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inlineinherited |
STL-like method to check whether the map is empty:
Definition at line 627 of file maps/CPointsMap.h.
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inlineinherited |
Enable/disable the filter-by-height functionality.
Definition at line 680 of file maps/CPointsMap.h.
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inherited |
Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values.
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inherited |
Extracts the points in the map within the area defined by two corners.
The points are coloured according the R,G,B input data.
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inherited |
Insert the contents of another map into this one, fusing the previous content with the new one.
This means that points very close to existing ones will be "fused", rather than "added". This prevents the unbounded increase in size of these class of maps. NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done before calling this method.
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. |
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inherited |
Returns a copy of the 2D/3D points as a std::vector of float coordinates.
If decimation is greater than 1, only 1 point out of that number will be saved in the output, effectively performing a subsampling of the points.
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inlineinherited |
Definition at line 437 of file maps/CPointsMap.h.
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inlineinherited |
Definition at line 420 of file maps/CPointsMap.h.
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inlineinherited |
Returns a copy of the 2D/3D points as a std::vector of float coordinates.
If decimation is greater than 1, only 1 point out of that number will be saved in the output, effectively performing a subsampling of the points.
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 402 of file maps/CPointsMap.h.
References ASSERT_, MRPT_END, and MRPT_START.
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virtual |
Override of the default 3D scene builder to account for the individual points' color.
Reimplemented from mrpt::maps::CPointsMap.
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inlinevirtualinherited |
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
Otherwise, return NULL
Reimplemented from mrpt::maps::CMetricMap.
Reimplemented in mrpt::maps::CSimplePointsMap.
Definition at line 638 of file maps/CPointsMap.h.
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inlinevirtualinherited |
Reimplemented from mrpt::maps::CMetricMap.
Reimplemented in mrpt::maps::CSimplePointsMap.
Definition at line 639 of file maps/CPointsMap.h.
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inlineinherited |
Get the min/max Z levels for points to be actually inserted in the map.
Definition at line 687 of file maps/CPointsMap.h.
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inherited |
This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).
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inlineinherited |
Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin()
Definition at line 646 of file maps/CPointsMap.h.
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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.
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inlineinherited |
Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>).
Usage example:
Definition at line 715 of file maps/CPointsMap.h.
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inline |
Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZRGB>
Definition at line 251 of file maps/CColouredPointsMap.h.
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
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::maps::CColouredPointsMap::getPoint | ( | size_t | index, |
float & | x, | ||
float & | y, | ||
float & | z | ||
) | const |
Retrieves a point
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virtual |
Retrieves a point and its color (colors range is [0,1])
Reimplemented from mrpt::maps::CPointsMap.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointXYZ_RGBf(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointXYZ_RGBu8().
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inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 334 of file maps/CPointsMap.h.
References mrpt::maps::CPointsMap::getPoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.
Referenced by mrpt::maps::CPointsMap::getPoint().
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inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 336 of file maps/CPointsMap.h.
References mrpt::maps::CPointsMap::getPoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
Referenced by mrpt::maps::CPointsMap::getPoint().
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inlineinherited |
Get all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc...
Definition at line 489 of file maps/CPointsMap.h.
References ASSERT_BELOW_.
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inlinevirtual |
Get all the data fields for one point as a vector: [X Y Z R G B] Unlike getPointAllFields(), this method does not check for index out of bounds.
Implements mrpt::maps::CPointsMap.
Definition at line 72 of file maps/CColouredPointsMap.h.
void mrpt::maps::CColouredPointsMap::getPointColor | ( | size_t | index, |
float & | R, | ||
float & | G, | ||
float & | B | ||
) | const |
Retrieves a point color (colors range is [0,1])
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inline |
Like getPointColor
but without checking for out-of-index erors.
Definition at line 172 of file maps/CColouredPointsMap.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointRGBf(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointRGBu8().
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inlineinherited |
Just like getPoint() but without checking out-of-bound index and without returning the point weight, just XYZ.
Definition at line 350 of file maps/CPointsMap.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::maps::CPointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::maps::CSimplePointsMap >::getPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::maps::CWeightedPointsMap >::getPointXYZ(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation().
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inherited |
Provides a direct access to points buffer, or NULL if there is no points in the map.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud().
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inlineinherited |
Provides a direct access to a read-only reference of the internal point buffer.
Definition at line 390 of file maps/CPointsMap.h.
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inlineinherited |
Provides a direct access to a read-only reference of the internal point buffer.
Definition at line 392 of file maps/CPointsMap.h.
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inlineinherited |
Provides a direct access to a read-only reference of the internal point buffer.
Definition at line 394 of file maps/CPointsMap.h.
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inlinevirtualinherited |
Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually store that field (Note: No checks are done for out-of-bounds index).
Reimplemented in mrpt::maps::CWeightedPointsMap.
Definition at line 382 of file maps/CPointsMap.h.
References MRPT_UNUSED_PARAM.
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Reimplemented from mrpt::maps::CPointsMap.
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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.
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inlinevirtual |
Returns true if the point map has a color field for each point.
Reimplemented from mrpt::maps::CPointsMap.
Definition at line 180 of file maps/CColouredPointsMap.h.
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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.
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inherited |
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inherited |
Insert the observation information into this map.
This method must be implemented in derived classes.
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. |
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inherited |
A wrapper for smart pointers, just calls the non-smart pointer version.
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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 142 of file maps/CColouredPointsMap.h.
References insertPoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
Referenced by insertPoint().
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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 144 of file maps/CColouredPointsMap.h.
References insertPoint(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
Referenced by insertPoint().
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inline |
Definition at line 140 of file maps/CColouredPointsMap.h.
References insertPoint(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by insertPoint().
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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 146 of file maps/CColouredPointsMap.h.
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Adds a new point given its coordinates and color (colors range is [0,1])
Reimplemented from mrpt::maps::CPointsMap.
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virtual |
The virtual method for insertPoint() without calling mark_as_modified()
Implements mrpt::maps::CPointsMap.
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inlineprivatevirtualinherited |
Internal method called by canComputeObservationLikelihood()
Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::COccupancyGridMap2D.
Definition at line 71 of file maps/CMetricMap.h.
References MRPT_UNUSED_PARAM.
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protectedvirtual |
Minimum distance from where the points have been seen.
Clear the map, erasing all the points
Implements mrpt::maps::CMetricMap.
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virtualinherited |
Internal method called by computeObservationLikelihood()
Implements mrpt::maps::CMetricMap.
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static |
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protectedvirtualinherited |
This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation), so derived classes don't need to worry implementing that method unless something special is really necesary.
See mrpt::maps::CPointsMap for the enumeration of types of observations which are accepted.
Implements mrpt::maps::CMetricMap.
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privateinherited |
|
privateinherited |
|
virtualinherited |
Returns true if the map is empty/no observation has been inserted.
Implements mrpt::maps::CMetricMap.
|
inlineinherited |
Return whether filter-by-height is enabled.
Definition at line 682 of file maps/CPointsMap.h.
|
inlineinherited |
Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:
Definition at line 766 of file maps/CPointsMap.h.
|
inlineinherited |
Definition at line 787 of file maps/CPointsMap.h.
|
inlineinherited |
Must return the number of data points.
Definition at line 756 of file maps/CPointsMap.h.
|
inlineinherited |
Returns the dim'th component of the idx'th point in the class:
Definition at line 759 of file maps/CPointsMap.h.
|
inlineprotectedinherited |
To be called by child classes when KD tree data changes.
Definition at line 672 of file KDTreeCapable.h.
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 167 of file KDTreeCapable.h.
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 144 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
out_x | The X coordinate of the found closest correspondence. |
out_y | The Y coordinate of the found closest correspondence. |
out_dist_sqr | The square distance between the query and the returned point. |
Definition at line 114 of file KDTreeCapable.h.
|
inlineinherited |
Definition at line 186 of file KDTreeCapable.h.
|
inlineinherited |
Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.
Definition at line 177 of file KDTreeCapable.h.
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 432 of file KDTreeCapable.h.
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 406 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
z0 | The Z coordinate of the query. |
out_x | The X coordinate of the found closest correspondence. |
out_y | The Y coordinate of the found closest correspondence. |
out_z | The Z coordinate of the found closest correspondence. |
out_dist_sqr | The square distance between the query and the returned point. |
Definition at line 372 of file KDTreeCapable.h.
|
inlineinherited |
Definition at line 304 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the N closest point to some given 2D coordinates.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
N | The number of closest points to search. |
out_x | The vector containing the X coordinates of the correspondences. |
out_y | The vector containing the Y coordinates of the correspondences. |
out_dist_sqr | The vector containing the square distance between the query and the returned points. |
Definition at line 271 of file KDTreeCapable.h.
|
inlineinherited |
Definition at line 351 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
N | The number of closest points to search. |
out_idx | The indexes of the found closest correspondence. |
out_dist_sqr | The square distance between the query and the returned point. |
Definition at line 329 of file KDTreeCapable.h.
|
inlineinherited |
Definition at line 551 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the N closest points to some given 3D coordinates.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
z0 | The Z coordinate of the query. |
N | The number of closest points to search. |
out_x | The vector containing the X coordinates of the correspondences. |
out_y | The vector containing the Y coordinates of the correspondences. |
out_z | The vector containing the Z coordinates of the correspondences. |
out_dist_sqr | The vector containing the square distance between the query and the returned points. |
Definition at line 458 of file KDTreeCapable.h.
|
inlineinherited |
Definition at line 664 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
z0 | The Z coordinate of the query. |
N | The number of closest points to search. |
out_idx | The indexes of the found closest correspondence. |
out_dist_sqr | The square distance between the query and the returned point. |
Definition at line 640 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the N closest points to some given 3D coordinates.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
z0 | The Z coordinate of the query. |
N | The number of closest points to search. |
out_x | The vector containing the X coordinates of the correspondences. |
out_y | The vector containing the Y coordinates of the correspondences. |
out_z | The vector containing the Z coordinates of the correspondences. |
out_idx | The vector containing the indexes of the correspondences. |
out_dist_sqr | The vector containing the square distance between the query and the returned points. |
Definition at line 513 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for all the points within a given radius of some 2D point.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
maxRadiusSqr | The square of the desired search radius. |
out_indices_dist | The output list, with pairs of indeces/squared distances for the found correspondences. |
Definition at line 608 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for all the points within a given radius of some 3D point.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
z0 | The Z coordinate of the query. |
maxRadiusSqr | The square of the desired search radius. |
out_indices_dist | The output list, with pairs of indeces/squared distances for the found correspondences. |
Definition at line 577 of file KDTreeCapable.h.
|
inlineinherited |
Definition at line 244 of file KDTreeCapable.h.
|
inlineinherited |
KD Tree-based search for the TWO closest point to some given 2D coordinates.
This method automatically build the "m_kdtree_data" structure when:
x0 | The X coordinate of the query. |
y0 | The Y coordinate of the query. |
out_x1 | The X coordinate of the first correspondence. |
out_y1 | The Y coordinate of the first correspondence. |
out_x2 | The X coordinate of the second correspondence. |
out_y2 | The Y coordinate of the second correspondence. |
out_dist_sqr1 | The square distance between the query and the first returned point. |
out_dist_sqr2 | The square distance between the query and the second returned point. |
Definition at line 207 of file KDTreeCapable.h.
|
inlineinherited |
Load from a text file.
Each line should contain an "X Y" coordinate pair, separated by whitespaces. Returns false if any error occured, true elsewere.
Definition at line 244 of file maps/CPointsMap.h.
|
inherited |
2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file
|
inlineinherited |
Load from a text file.
Each line should contain an "X Y Z" coordinate tuple, separated by whitespaces. Returns false if any error occured, true elsewere.
Definition at line 249 of file maps/CPointsMap.h.
|
inherited |
Loads from a PLY file.
[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. |
|
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.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
|
virtual |
See CPointsMap::loadFromRangeScan()
Implements mrpt::maps::CPointsMap.
|
virtual |
See CPointsMap::loadFromRangeScan()
Implements mrpt::maps::CPointsMap.
|
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.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
Definition at line 105 of file maps/CMetricMap.h.
|
inherited |
Like loadFromRangeScan() for Velodyne 3D scans.
Points are translated and rotated according to the sensorPose field in the observation and, if provided, to the robotPose parameter.
scan | The Raw LIDAR data to be inserted into this map. It MUST contain point cloud data, generated by calling to mrpt::obs::CObservationVelodyneScan::generatePointCloud() prior to insertion in this map. |
robotPose | Default to (0,0,0|0deg,0deg,0deg). Changes the frame of reference for the point cloud (i.e. the vehicle/robot pose in world coordinates). |
|
virtualinherited |
Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas).
Refer to http://www.liblas.org/
|
virtualinherited |
Load the point cloud from a PCL PCD file (requires MRPT built against PCL)
|
static |
Returns default map definition initializer.
|
inlineprotectedinherited |
Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such.
Definition at line 823 of file maps/CPointsMap.h.
|
inlineprivatevirtualinherited |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.
Reimplemented in mrpt::maps::COccupancyGridMap2D.
Definition at line 79 of file maps/CMetricMap.h.
|
inlineinherited |
This operator is synonymous with addFrom.
Definition at line 223 of file maps/CPointsMap.h.
|
inlineprotectedvirtualinherited |
In a base class, return the number of faces.
Implements mrpt::utils::PLY_Exporter.
Definition at line 853 of file maps/CPointsMap.h.
|
protectedvirtual |
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
pt_color | Will be NULL if the loaded file does not provide color info. |
Reimplemented from mrpt::maps::CPointsMap.
|
protectedvirtualinherited |
In a base class, return the number of vertices.
Implements mrpt::utils::PLY_Exporter.
|
inlineprotectedvirtualinherited |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.
Implements mrpt::utils::PLY_Importer.
Definition at line 842 of file maps/CPointsMap.h.
References MRPT_UNUSED_PARAM.
|
protectedvirtual |
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
pt_color | Will be NULL if the loaded file does not provide color info. |
Reimplemented from mrpt::maps::CPointsMap.
|
protectedvirtual |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
Implements mrpt::utils::PLY_Importer.
|
protectedinherited |
Called when you want this object to emit an event to all the observers currently subscribed to this object.
|
protected |
|
inlineprivateinherited |
Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... asking the child class for the data points.
Definition at line 712 of file KDTreeCapable.h.
|
inlineprivateinherited |
Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... asking the child class for the data points.
Definition at line 737 of file KDTreeCapable.h.
|
virtual |
Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.
This is useful for situations where it is approximately known the final size of the map. This method is more efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.
Implements mrpt::maps::CPointsMap.
void mrpt::maps::CColouredPointsMap::resetPointsMinDist | ( | float | defValue = 2000.0f | ) |
Reset the minimum-observed-distance buffer for all the points to a predefined value.
|
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.
Implements mrpt::maps::CPointsMap.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::resize().
|
inherited |
Save to a text file.
Each line will contain "X Y" point coordinates. Returns false if any error occured, true elsewere.
bool mrpt::maps::CColouredPointsMap::save3D_and_colour_to_text_file | ( | const std::string & | file | ) | const |
Save to a text file.
In each line contains X Y Z (meters) R G B (range [0,1]) for each point in the map. Returns false if any error occured, true elsewere.
|
inherited |
Save to a text file.
Each line will contain "X Y Z" point coordinates. Returns false if any error occured, true elsewere.
|
virtualinherited |
Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas).
Refer to http://www.liblas.org/
|
inlinevirtualinherited |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface)
Implements mrpt::maps::CMetricMap.
Definition at line 265 of file maps/CPointsMap.h.
|
virtual |
Save the point cloud as a PCL PCD file, in either ASCII or binary format.
Reimplemented from mrpt::maps::CPointsMap.
|
inherited |
Saves to a PLY file.
[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. |
|
inlineinherited |
Set all the points at once from vectors with X and Y coordinates (Z=0).
Definition at line 482 of file maps/CPointsMap.h.
|
inlineinherited |
Set all the points at once from vectors with X,Y and Z coordinates.
Definition at line 477 of file maps/CPointsMap.h.
|
inlineinherited |
Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros).
VECTOR | can be mrpt::math::CVectorFloat or std::vector<float> or any other column or row Eigen::Matrix. |
Definition at line 464 of file maps/CPointsMap.h.
References ASSERT_, ASSERT_EQUAL_, and setSize().
|
inlineinherited |
Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ).
Usage example:
Definition at line 741 of file maps/CPointsMap.h.
|
inline |
Loads a PCL point cloud (WITH RGB information) into this MRPT class (for clouds without RGB data, see CPointsMap::setFromPCLPointCloud() ).
Usage example:
Definition at line 239 of file maps/CColouredPointsMap.h.
|
inlineinherited |
Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before).
Definition at line 685 of file maps/CPointsMap.h.
|
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 133 of file maps/CColouredPointsMap.h.
References setPoint().
Referenced by setPoint().
|
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 125 of file maps/CColouredPointsMap.h.
References ASSERT_BELOW_.
|
virtual |
Changes a given point from map.
First index is 0.
Throws | std::exception on index out of bound. |
Reimplemented from mrpt::maps::CPointsMap.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::setPointXYZ_RGBf(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::setPointXYZ_RGBu8().
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 364 of file maps/CPointsMap.h.
References mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.
Referenced by mrpt::maps::CPointsMap::setPoint().
|
inlineinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
Definition at line 366 of file maps/CPointsMap.h.
References mrpt::maps::CPointsMap::setPoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
Referenced by mrpt::maps::CPointsMap::setPoint().
|
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 131 of file maps/CColouredPointsMap.h.
References setPoint(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
Referenced by setPoint().
|
inlineinherited |
Set all the data fields for one point as a vector: depending on the implementation class this can be [X Y Z] or [X Y Z R G B], etc... Unlike setPointAllFields(), this method does not check for index out of bounds.
Definition at line 498 of file maps/CPointsMap.h.
References ASSERT_BELOW_.
|
inlinevirtual |
Set all the data fields for one point as a vector: [X Y Z R G B] Unlike setPointAllFields(), this method does not check for index out of bounds.
Implements mrpt::maps::CPointsMap.
Definition at line 86 of file maps/CColouredPointsMap.h.
References ASSERTDEB_.
void mrpt::maps::CColouredPointsMap::setPointColor | ( | size_t | index, |
float | R, | ||
float | G, | ||
float | B | ||
) |
Changes just the color of a given point from the map.
First index is 0.
Throws | std::exception on index out of bound. |
|
inline |
Like setPointColor
but without checking for out-of-index erors.
Definition at line 154 of file maps/CColouredPointsMap.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::setPointRGBf(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::setPointRGBu8().
|
inlinevirtual |
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and without calling mark_as_modified()
Implements mrpt::maps::CPointsMap.
Definition at line 55 of file maps/CColouredPointsMap.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::setPointXYZ().
|
inlinevirtualinherited |
Sets the point weight, which is ignored in all classes but those which actually store that field (Note: No checks are done for out-of-bounds index).
Reimplemented in mrpt::maps::CWeightedPointsMap.
Definition at line 377 of file maps/CPointsMap.h.
References MRPT_UNUSED_PARAM.
|
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.
Implements mrpt::maps::CPointsMap.
|
inlineinherited |
Returns the number of stored points in the map.
Definition at line 319 of file maps/CPointsMap.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::utils::PointCloudAdapter< mrpt::maps::CColouredPointsMap >::size(), mrpt::utils::PointCloudAdapter< mrpt::maps::CPointsMap >::size(), mrpt::utils::PointCloudAdapter< mrpt::maps::CSimplePointsMap >::size(), and mrpt::utils::PointCloudAdapter< mrpt::maps::CWeightedPointsMap >::size().
|
virtualinherited |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
Reimplemented from mrpt::maps::CMetricMap.
|
inlineinherited |
Definition at line 156 of file maps/CPointsMap.h.
References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.
|
protected |
|
friend |
Definition at line 106 of file maps/CColouredPointsMap.h.
|
friend |
Definition at line 107 of file maps/CColouredPointsMap.h.
|
staticprotected |
Definition at line 35 of file maps/CColouredPointsMap.h.
|
static |
Definition at line 35 of file maps/CColouredPointsMap.h.
|
staticinherited |
Definition at line 57 of file maps/CMetricMap.h.
|
staticinherited |
Definition at line 63 of file maps/CPointsMap.h.
|
static |
Definition at line 35 of file maps/CColouredPointsMap.h.
|
staticinherited |
Definition at line 694 of file maps/CPointsMap.h.
|
staticinherited |
Definition at line 693 of file maps/CPointsMap.h.
|
staticinherited |
The color [0,1] of points when extracted from getAs3DObject (default=blue)
Definition at line 692 of file maps/CPointsMap.h.
TColourOptions mrpt::maps::CColouredPointsMap::colorScheme |
The options employed when inserting laser scans in the map.
Definition at line 218 of file maps/CColouredPointsMap.h.
|
inherited |
Common params to all maps.
Definition at line 230 of file maps/CMetricMap.h.
|
inherited |
The options used when inserting observations in the map.
Definition at line 185 of file maps/CPointsMap.h.
|
inherited |
Parameters to tune the ANN searches.
Definition at line 94 of file KDTreeCapable.h.
|
inherited |
Definition at line 207 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 819 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 819 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 819 of file maps/CPointsMap.h.
|
mutableprotectedinherited |
Definition at line 819 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 819 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 819 of file maps/CPointsMap.h.
|
mutableprotectedinherited |
Definition at line 818 of file maps/CPointsMap.h.
|
protected |
Definition at line 268 of file maps/CColouredPointsMap.h.
|
protected |
Definition at line 268 of file maps/CColouredPointsMap.h.
|
protected |
The color data.
Definition at line 268 of file maps/CColouredPointsMap.h.
|
protectedinherited |
Whether or not (default=not) filter the input points by height.
Definition at line 863 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 859 of file maps/CPointsMap.h.
|
protectedinherited |
The minimum and maximum height for a certain laser scan to be inserted into this map.
Definition at line 859 of file maps/CPointsMap.h.
|
mutableprivateinherited |
Definition at line 706 of file KDTreeCapable.h.
|
mutableprivateinherited |
Definition at line 707 of file KDTreeCapable.h.
|
mutableprivateinherited |
whether the KD tree needs to be rebuilt or not.
Definition at line 709 of file KDTreeCapable.h.
|
mutableprivateinherited |
Definition at line 708 of file KDTreeCapable.h.
|
mutableprotectedinherited |
Auxiliary variables used in "getLargestDistanceFromOrigin".
Definition at line 811 of file maps/CPointsMap.h.
|
mutableprotectedinherited |
Auxiliary variables used in "getLargestDistanceFromOrigin".
Definition at line 816 of file maps/CPointsMap.h.
|
mutableprivateinherited |
Definition at line 111 of file PLY_import_export.h.
|
privateinherited |
Definition at line 61 of file PLY_import_export.h.
|
static |
ID used to initialize class registration (just ignore it)
Definition at line 296 of file maps/CColouredPointsMap.h.
|
protectedinherited |
Cache of sin/cos values for the latest 2D scan geometries.
Definition at line 806 of file maps/CPointsMap.h.
|
privateinherited |
Definition at line 42 of file CObservable.h.
|
protectedinherited |
Definition at line 804 of file maps/CPointsMap.h.
|
protectedinherited |
Definition at line 804 of file maps/CPointsMap.h.
|
protectedinherited |
The point coordinates.
Definition at line 804 of file maps/CPointsMap.h.
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