Detailed Description

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

This class only stores the coordinates (x,y,z) of each point.

See mrpt::slam::CPointsMap and derived classes for other point cloud classes.

See also:: CMetricMap, CWeightedPointsMap, CPoint, mrpt::utils::CSerializable

#include <mrpt/slam/CSimplePointsMap.h>

Inheritance diagram for mrpt::slam::CSimplePointsMap:

[legend]

List of all members.

Public Types
typedef KDTreeCapable< Derived, num_t, metric_t >	self_t
Public Member Functions
	CSimplePointsMap ()
	Default constructor.
virtual	~CSimplePointsMap ()
	Destructor.
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.
virtual CSimplePointsMap *	getAsSimplePointsMap ()
virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
virtual float	squareDistanceToClosestCorrespondence (const float &x0, const float &y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
float	squareDistanceToClosestCorrespondenceT (const 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 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.
size_t	getPointsCount () const
	Returns the number of stored points in the map (DEPRECATED, use "size()" instead better)
unsigned long	getPoint (size_t index, float &x, float &y, float &z) const
	Access to a given point from map, as a 2D point.
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, CPoint2D &p) const
unsigned long	getPoint (size_t index, CPoint3D &p) 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).
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.
virtual bool	hasColorPoints () const
	Returns true if the point map has a color field for each point.
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.
void	setPoint (size_t index, CPoint2D &p)
void	setPoint (size_t index, CPoint3D &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).
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< 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< 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.
void	insertPoint (const CPoint3D &p)
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).
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...
void	clipOutOfRangeInZ (float zMin, float zMax)
	Delete points out of the given "z" axis range have been removed.
void	clipOutOfRange (const CPoint2D &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".
void	computeMatchingWith2D (const CMetricMap otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	Computes the matchings between this and another 2D/3D points map.
void	computeMatchingWith3D (const CMetricMap otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP.
float	compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=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.
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 CPose2D &b)
	Replace each point by $p'_i = b \oplus p_i$ (pose compounding operator).
void	changeCoordinatesReference (const CPose3D &b)
	Replace each point by $p'_i = b \oplus p_i$ (pose compounding operator).
void	changeCoordinatesReference (const CPointsMap &other, const CPose3D &b)
	Copy all the points from "other" map to "this", replacing each point by $p'_i = b \oplus p_i$ (pose compounding operator).
virtual bool	isEmpty () const
	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 void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map.
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 (TPoint3D &pMin, TPoint3D &pMax) const
void	extractCylinder (const CPoint2D &center, const double radius, const double zmin, const double zmax, CPointsMap *outMap)
virtual double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the likelihood of taking a given observation from a given pose in the world being modeled with this map.
double	computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 2D pose.
void	clear ()
	Erase all the contents of the map.
void	loadFromProbabilisticPosesAndObservations (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map.
void	loadFromSimpleMap (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map.
bool	insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.
bool	insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version.
virtual bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
double	computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame.
bool	canComputeObservationsLikelihood (const 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".
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).
CObject *	clone () const
	Cloning interface for smart pointers.
const Derived &	derived () const
	CRTP helper method.
Derived &	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.
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
	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	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)
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.
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 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
size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const
float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.
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< int >	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< int >	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< int > &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< int > &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
size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const
void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates.
void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const
void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< int > &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< int > &outIdx, std::vector< float > &outDistSqr) const
Public Attributes
TInsertionOptions	insertionOptions
	The options used when inserting observations in the map.
TLikelihoodOptions	likelihoodOptions
bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects.
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
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
virtual void	internal_clear ()
	Clear the map, erasing all the points.
void	mark_as_modified () const
	Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such.
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.
void	base_copyFrom (const CPointsMap &obj)
	Helper method for ::copyFrom()
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
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.
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.
void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes.
PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_vertex_count (const size_t N)
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
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.
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.
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.
virtual size_t	PLY_export_get_face_count () const
	In a base class, return the number of faces.
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.
Protected Attributes
std::vector< float >	x
std::vector< float >	y
std::vector< float >	z
	The point coordinates.
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.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPointsMap
class	mrpt::utils::CStream
RTTI stuff
typedef CSimplePointsMapPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CSimplePointsMap
static mrpt::utils::TRuntimeClassId	classCSimplePointsMap
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CSimplePointsMapPtr	Create ()
Pure virtual interfaces to be implemented by any class derived from CPointsMap
struct	detail::loadFromRangeImpl
struct	detail::pointmap_traits
virtual void	reserve (size_t newLength)
	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)
	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)
	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)
	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)
	The virtual method for insertPoint() without calling mark_as_modified()
virtual void	copyFrom (const CPointsMap &obj)
	Virtual assignment operator, to be implemented in derived classes.
virtual void	getPointAllFieldsFast (const size_t index, std::vector< float > &point_data) const
	Get all the data fields for one point as a vector: [X Y Z] Unlike getPointAllFields(), this method does not check for index out of bounds.
virtual void	setPointAllFieldsFast (const size_t index, const std::vector< float > &point_data)
	Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(), this method does not check for index out of bounds.
virtual void	loadFromRangeScan (const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL)
	See CPointsMap::loadFromRangeScan()
virtual void	loadFromRangeScan (const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL)
	See CPointsMap::loadFromRangeScan()
virtual void	addFrom_classSpecific (const CPointsMap &anotherMap, const size_t nPreviousPoints)
	Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific data.

Member Typedef Documentation

typedef KDTreeCapable<Derived,num_t,metric_t> mrpt::math::KDTreeCapable::self_t [inherited]

Definition at line 90 of file KDTreeCapable.h.

typedef CSimplePointsMapPtr mrpt::slam::CSimplePointsMap::SmartPtr

A typedef for the associated smart pointer

Definition at line 57 of file CSimplePointsMap.h.

Constructor & Destructor Documentation

mrpt::slam::CSimplePointsMap::CSimplePointsMap ( )

Default constructor.

virtual mrpt::slam::CSimplePointsMap::~CSimplePointsMap ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimplePointsMap::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CPointsMap.

virtual void mrpt::slam::CPointsMap::addFrom ( const CPointsMap & anotherMap ) [virtual, inherited]

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::CSimplePointsMap::addFrom_classSpecific	(	const CPointsMap &	anotherMap,
		const size_t	nPreviousPoints
	)		`[inline, protected, virtual]`

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

Implements mrpt::slam::CPointsMap.

Definition at line 131 of file CSimplePointsMap.h.

void mrpt::slam::CPointsMap::applyDeletionMask ( const std::vector< bool > & mask ) [inherited]

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 ( ) [inline, virtual, inherited]

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 326 of file CMetricMap.h.

void mrpt::slam::CPointsMap::base_copyFrom ( const CPointsMap & obj ) [protected, inherited]

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 `[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.

void mrpt::slam::CPointsMap::boundingBox	(	TPoint3D &	pMin,
		TPoint3D &	pMax
	)		const `[inline, inherited]`

Definition at line 675 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 ) [inline, virtual, 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:

obs	The observation.

See also:: computeObservationLikelihood

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

Definition at line 184 of file CMetricMap.h.

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 ) [inherited]

Replace each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

void mrpt::slam::CPointsMap::changeCoordinatesReference ( const CPose3D & b ) [inherited]

Replace each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

void mrpt::slam::CPointsMap::changeCoordinatesReference	(	const CPointsMap &	other,
		const CPose3D &	b
	)		`[inherited]`

Copy all the points from "other" map to "this", replacing each point $ p_i $ by $p'_i = b \oplus p_i$ (pose compounding operator).

void mrpt::slam::CMetricMap::clear ( ) [inherited]

Erase all the contents of the map.

Reimplemented in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CHeightGridMap2D, and mrpt::slam::CReflectivityGridMap2D.

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

void mrpt::slam::CPointsMap::clipOutOfRange	(	const CPoint2D &	point,
		float	maxRange
	)		`[inherited]`

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

void mrpt::slam::CPointsMap::clipOutOfRangeInZ	(	float	zMin,
		float	zMax
	)		`[inherited]`

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

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

float mrpt::slam::CPointsMap::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	minDistForCorr = `0.10f`,
		float	minMahaDistForCorr = `2.0f`
	)		const `[virtual, inherited]`

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".
minDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
minMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns:: The matching ratio [0,1]

See also:: computeMatchingWith2D

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CPointsMap::computeMatchingWith2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPose2D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `false`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const `[virtual, inherited]`

Computes the matchings between this and another 2D/3D points map.

This includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs. This method is the most time critical one into the ICP algorithm.

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 distance between two points to be matched.
maxAngularDistForCorrespondence	[IN] Maximum angular distance in radians to allow far points to be matched.
angularDistPivotPoint	[IN] The point from which to measure the "angular distances"
correspondences	[OUT] The detected matchings pairs.
correspondencesRatio	[OUT] The number of correct correspondences.
sumSqrDist	[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.
covariance	[OUT] The resulting matching covariance 3x3 matrix, or NULL if undesired.
onlyKeepTheClosest	[OUT] Returns only the closest correspondence (default=false)

See also:: computeMatching3DWith

Reimplemented from mrpt::slam::CMetricMap.

void mrpt::slam::CPointsMap::computeMatchingWith3D	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPoint3D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `true`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const `[virtual, inherited]`

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 the ICP algorithm.

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.
maxAngularDistForCorrespondence	[IN] In radians: The aim is to allow larger distances to more distant correspondences.
angularDistPivotPoint	[IN] The point used to calculate distances from in both maps.
correspondences	[OUT] The detected matchings pairs.
correspondencesRatio	[OUT] The ratio [0,1] of points in otherMap with at least one correspondence.
sumSqrDist	[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.
onlyKeepTheClosest	[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.

See also:: compute3DMatchingRatio

Reimplemented from mrpt::slam::CMetricMap.

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

Definition at line 175 of file CMetricMap.h.

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

Computes the likelihood of taking a given observation from a given pose in the world being modeled with this map.

Parameters:

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

Returns:: This method returns a likelihood in the range [0,1].

See also:: Used in particle filter algorithms, see: CMultiMetricMapPDF

Note:: In CPointsMap this method is virtual so it can be redefined in derived classes, if desired.

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::CSimplePointsMap::copyFrom ( const CPointsMap & obj ) [virtual]

Virtual assignment operator, to be implemented in derived classes.

Implements mrpt::slam::CPointsMap.

static CSimplePointsMapPtr mrpt::slam::CSimplePointsMap::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CSimplePointsMap::CreateObject ( ) [static]

const Derived& mrpt::math::KDTreeCapable::derived ( ) const [inline, inherited]

CRTP helper method.

Definition at line 100 of file KDTreeCapable.h.

Derived& mrpt::math::KDTreeCapable::derived ( ) [inline, inherited]

CRTP helper method.

Definition at line 102 of file KDTreeCapable.h.

virtual mrpt::utils::CObject* mrpt::slam::CSimplePointsMap::duplicate ( ) const [virtual]

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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 151 of file CObject.h.

bool mrpt::slam::CPointsMap::empty ( ) const [inline, inherited]

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

Definition at line 646 of file CPointsMap.h.

void mrpt::slam::CPointsMap::enableFilterByHeight ( bool enable = true ) [inline, inherited]

Enable/disable the filter-by-height functionality.

See also:: setHeightFilterLevels

Note:: Default upon construction is disabled.

Definition at line 692 of file CPointsMap.h.

void mrpt::slam::CPointsMap::extractCylinder	(	const CPoint2D &	center,
		const double	radius,
		const double	zmin,
		const double	zmax,
		CPointsMap *	outMap
	)		`[inherited]`

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

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

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

Parameters:

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, inherited]`

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

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

See also:: 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::vector_float and mrpt::vector_double).

Definition at line 390 of file CPointsMap.h.

References MRPT_START, ASSERT_, Eigen::internal::y, and MRPT_END.

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

Definition at line 408 of file CPointsMap.h.

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

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

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

See also:: setAllPoints

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

Definition at line 425 of file CPointsMap.h.

virtual void mrpt::slam::CPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const [virtual, inherited]

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::CSimplePointsMap::getAsSimplePointsMap ( ) const [inline, virtual]

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::CPointsMap.

Definition at line 149 of file CSimplePointsMap.h.

virtual CSimplePointsMap* mrpt::slam::CSimplePointsMap::getAsSimplePointsMap ( ) [inline, virtual]

Reimplemented from mrpt::slam::CPointsMap.

Definition at line 150 of file CSimplePointsMap.h.

void mrpt::slam::CPointsMap::getHeightFilterLevels	(	double &	_z_min,
		double &	_z_max
	)		const `[inline, inherited]`

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

See also:: enableFilterByHeight, setHeightFilterLevels

Definition at line 699 of file CPointsMap.h.

float mrpt::slam::CPointsMap::getLargestDistanceFromOrigin ( ) const [inherited]

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

float mrpt::slam::CPointsMap::getLargestDistanceFromOriginNoRecompute ( bool & output_is_valid ) const [inline, inherited]

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 665 of file CPointsMap.h.

std::string mrpt::utils::PLY_Importer::getLoadPLYErrorString ( ) const [inline, inherited]

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

Definition at line 60 of file PLY_import_export.h.

template<class POINTCLOUD >

void mrpt::slam::CPointsMap::getPCLPointCloud ( POINTCLOUD & cloud ) const [inline, inherited]

Use to convert this MRPT point cloud object into a PCL point cloud object.

Usage example:

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

    pc.getPCLPointCloud(cloud);

Definition at line 733 of file CPointsMap.h.

References mrpt::math::size(), and Eigen::internal::y.

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

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

First index is 0.

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

Exceptions:

Throws std::exception on index out of bound.

See also:: setPoint, getPointFast

Reimplemented in mrpt::slam::CColouredPointsMap.

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

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

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

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

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

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

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		CPoint2D &	p
	)		const `[inline, inherited]`

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

Definition at line 325 of file CPointsMap.h.

References mrpt::slam::CPointsMap::getPoint().

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

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		CPoint3D &	p
	)		const `[inline, inherited]`

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

Definition at line 327 of file CPointsMap.h.

References mrpt::slam::CPointsMap::getPoint().

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

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		mrpt::math::TPoint2D &	p
	)		const `[inline, inherited]`

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

Definition at line 329 of file CPointsMap.h.

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

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

unsigned long mrpt::slam::CPointsMap::getPoint	(	size_t	index,
		mrpt::math::TPoint3D &	p
	)		const `[inline, inherited]`

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

Definition at line 331 of file CPointsMap.h.

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

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

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

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 337 of file CPointsMap.h.

void mrpt::slam::CPointsMap::getPointAllFields	(	const size_t	index,
		std::vector< float > &	point_data
	)		const `[inline, inherited]`

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 475 of file CPointsMap.h.

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

virtual void mrpt::slam::CSimplePointsMap::getPointAllFieldsFast	(	const size_t	index,
		std::vector< float > &	point_data
	)		const `[inline, virtual]`

Get all the data fields for one point as a vector: [X Y Z] Unlike getPointAllFields(), this method does not check for index out of bounds.

See also:: getPointAllFields, setPointAllFields, setPointAllFieldsFast

Implements mrpt::slam::CPointsMap.

Definition at line 99 of file CSimplePointsMap.h.

void mrpt::slam::CPointsMap::getPointFast	(	size_t	index,
		float &	x,
		float &	y,
		float &	z
	)		const `[inline, inherited]`

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

Definition at line 345 of file CPointsMap.h.

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

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

const std::vector<float>& mrpt::slam::CPointsMap::getPointsBufferRef_x ( ) const [inline, inherited]

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

See also:: getAllPoints

Definition at line 378 of file CPointsMap.h.

const std::vector<float>& mrpt::slam::CPointsMap::getPointsBufferRef_y ( ) const [inline, inherited]

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

See also:: getAllPoints

Definition at line 380 of file CPointsMap.h.

References Eigen::internal::y.

const std::vector<float>& mrpt::slam::CPointsMap::getPointsBufferRef_z ( ) const [inline, inherited]

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

See also:: getAllPoints

Definition at line 382 of file CPointsMap.h.

size_t mrpt::slam::CPointsMap::getPointsCount ( ) const [inline, inherited]

Returns the number of stored points in the map (DEPRECATED, use "size()" instead better)

Definition at line 310 of file CPointsMap.h.

References mrpt::math::size().

virtual unsigned int mrpt::slam::CPointsMap::getPointWeight ( size_t index ) const [inline, virtual, inherited]

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 370 of file CPointsMap.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimplePointsMap::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CPointsMap.

std::string mrpt::utils::PLY_Exporter::getSavePLYErrorString ( ) const [inline, inherited]

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

Definition at line 106 of file PLY_import_export.h.

virtual bool mrpt::slam::CPointsMap::hasColorPoints ( ) const [inline, virtual, inherited]

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

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 348 of file CPointsMap.h.

bool mrpt::utils::CObservable::hasSubscribers ( ) const [inline, protected, inherited]

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 69 of file CObservable.h.

void mrpt::slam::CPointsMap::insertAnotherMap	(	const CPointsMap *	otherMap,
		const CPose3D &	otherPose
	)		`[inherited]`

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`
	)		`[inline, 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

Definition at line 133 of file CMetricMap.h.

bool mrpt::slam::CMetricMap::insertObservationPtr	(	const CObservationPtr &	obs,
		const CPose3D *	robotPose = `NULL`
	)		`[inline, inherited]`

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

Definition at line 147 of file CMetricMap.h.

References MRPT_START, THROW_EXCEPTION, mrpt::slam::CObservationPtr::pointer(), and MRPT_END.

void mrpt::slam::CPointsMap::insertPoint	(	float	x,
		float	y,
		float	z = `0`
	)		`[inline, inherited]`

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.

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 438 of file CPointsMap.h.

void mrpt::slam::CPointsMap::insertPoint ( const CPoint3D & p ) [inline, inherited]

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 440 of file CPointsMap.h.

References mrpt::slam::CPointsMap::insertPoint().

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

void mrpt::slam::CPointsMap::insertPoint ( const mrpt::math::TPoint3D & p ) [inline, inherited]

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 442 of file CPointsMap.h.

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

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

virtual void mrpt::slam::CPointsMap::insertPoint	(	float	x,
		float	y,
		float	z,
		float	R,
		float	G,
		float	B
	)		`[inline, virtual, inherited]`

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 444 of file CPointsMap.h.

References mrpt::slam::CPointsMap::insertPoint().

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

virtual void mrpt::slam::CSimplePointsMap::insertPointFast	(	float	x,
		float	y,
		float	z = `0`
	)		`[virtual]`

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

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CSimplePointsMap::internal_clear ( ) [protected, virtual]

Clear the map, erasing all the points.

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CPointsMap::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose
	)		`[protected, virtual, inherited]`

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, inherited]

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

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CPointsMap::isFilterByHeightEnabled ( ) const [inline, inherited]

Return whether filter-by-height is enabled.

See also:: enableFilterByHeight

Definition at line 694 of file CPointsMap.h.

float mrpt::slam::CPointsMap::kdtree_distance	(	const float *	p1,
		const size_t	idx_p2,
		size_t	size
	)		const `[inline, inherited]`

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 764 of file CPointsMap.h.

References Eigen::internal::y.

template<typename BBOX >

bool mrpt::slam::CPointsMap::kdtree_get_bbox ( BBOX & bb ) const [inline, inherited]

Definition at line 785 of file CPointsMap.h.

size_t mrpt::slam::CPointsMap::kdtree_get_point_count ( ) const [inline, inherited]

Must return the number of data points.

Definition at line 754 of file CPointsMap.h.

References mrpt::math::size().

float mrpt::slam::CPointsMap::kdtree_get_pt	(	const size_t	idx,
		int	dim
	)		const `[inline, inherited]`

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

Definition at line 757 of file CPointsMap.h.

References Eigen::internal::y.

void mrpt::math::KDTreeCapable::kdtree_mark_as_outdated ( ) const [inline, protected, inherited]

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

Definition at line 575 of file KDTreeCapable.h.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x,
		float &	out_y,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters:

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.

Returns:: The index of the closest point in the map array.

See also:: kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 136 of file KDTreeCapable.h.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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

Definition at line 166 of file KDTreeCapable.h.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut,
		float &	outDistSqr
	)		const `[inline, inherited]`

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

Definition at line 189 of file KDTreeCapable.h.

float mrpt::math::KDTreeCapable::kdTreeClosestPoint2DsqrError	(	float	x0,
		float	y0
	)		const `[inline, inherited]`

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

Definition at line 199 of file KDTreeCapable.h.

float mrpt::math::KDTreeCapable::kdTreeClosestPoint2DsqrError ( const TPoint2D & p0 ) const [inline, inherited]

Definition at line 208 of file KDTreeCapable.h.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_x,
		float &	out_y,
		float &	out_z,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters:

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.

Returns:: The index of the closest point in the map array.

See also:: kdTreeClosestPoint2D

Definition at line 394 of file KDTreeCapable.h.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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

Definition at line 428 of file KDTreeCapable.h.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint3D	(	const TPoint3D &	p0,
		TPoint3D &	pOut,
		float &	outDistSqr
	)		const `[inline, inherited]`

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

Definition at line 454 of file KDTreeCapable.h.

std::vector<int> mrpt::math::KDTreeCapable::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 `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters:

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.

Returns:: The list of indices

See also:: kdTreeClosestPoint2D; kdTreeTwoClosestPoint2D

Definition at line 293 of file KDTreeCapable.h.

std::vector<int> mrpt::math::KDTreeCapable::kdTreeNClosestPoint2D	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< TPoint2D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 326 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint2DIdx	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< int > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters:

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.

See also:: kdTreeClosestPoint2D

Definition at line 351 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint2DIdx	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< int > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 373 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::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 `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters:

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.

See also:: kdTreeNClosestPoint2D

Definition at line 480 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint3D	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< TPoint3D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 517 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< int > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters:

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.

See also:: kdTreeClosestPoint2D

Definition at line 543 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< int > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 567 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::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 `[inline, inherited]`

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

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters:

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.

See also:: kdTreeClosestPoint2D

Definition at line 229 of file KDTreeCapable.h.

void mrpt::math::KDTreeCapable::kdTreeTwoClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut1,
		TPoint2D &	pOut2,
		float &	outDistSqr1,
		float &	outDistSqr2
	)		const `[inline, inherited]`

Definition at line 266 of file KDTreeCapable.h.

bool mrpt::slam::CPointsMap::load2D_from_text_file ( const std::string & file ) [inline, inherited]

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 268 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::load2Dor3D_from_text_file	(	const std::string &	file,
		const bool	is_3D
	)		`[inherited]`

2D or 3D generic implementation of load2D_from_text_file and load3D_from_text_file

bool mrpt::slam::CPointsMap::load3D_from_text_file ( const std::string & file ) [inline, inherited]

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 273 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::CSimplePointsMap::loadFromRangeScan	(	const CObservation2DRangeScan &	rangeScan,
		const CPose3D *	robotPose = `NULL`
	)		`[virtual]`

See CPointsMap::loadFromRangeScan()

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CSimplePointsMap::loadFromRangeScan	(	const CObservation3DRangeScan &	rangeScan,
		const CPose3D *	robotPose = `NULL`
	)		`[virtual]`

See CPointsMap::loadFromRangeScan()

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CMetricMap::loadFromSimpleMap ( const CSimpleMap & Map ) [inline, 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...

Definition at line 124 of file CMetricMap.h.

void mrpt::slam::CPointsMap::mark_as_modified ( ) const [inline, protected, inherited]

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

Definition at line 821 of file CPointsMap.h.

void mrpt::slam::CPointsMap::operator+= ( const CPointsMap & anotherMap ) [inline, inherited]

This operator is synonymous with addFrom.

See also:: addFrom

Definition at line 247 of file CPointsMap.h.

virtual size_t mrpt::slam::CPointsMap::PLY_export_get_face_count ( ) const [inline, protected, virtual, inherited]

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 858 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 `[protected, virtual, inherited]`

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 [protected, virtual, inherited]

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 ) [inline, protected, virtual, inherited]

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

Implements mrpt::utils::PLY_Importer.

Definition at line 843 of file CPointsMap.h.

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`
	)		`[protected, virtual, inherited]`

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::slam::CSimplePointsMap::PLY_import_set_vertex_count ( const size_t N ) [protected, virtual]

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

Implements mrpt::utils::PLY_Importer.

void mrpt::utils::CObservable::publishEvent ( const mrptEvent & e ) const [protected, inherited]

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
	)		`[protected, pure virtual, inherited]`

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::math::CMatrixD, and mrpt::math::CMatrix.

virtual void mrpt::slam::CSimplePointsMap::reserve ( size_t newLength ) [virtual]

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

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

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CSimplePointsMap::resize ( size_t newLength ) [virtual]

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

See also:: reserve, setPoint, setPointFast, setSize

Implements mrpt::slam::CPointsMap.

bool mrpt::slam::CPointsMap::save2D_to_text_file ( const std::string & file ) const [inherited]

Save to a text file.

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

bool mrpt::slam::CPointsMap::save3D_to_text_file ( const std::string & file ) const [inherited]

Save to a text file.

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

void mrpt::slam::CPointsMap::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const [inline, virtual, inherited]

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 290 of file CPointsMap.h.

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

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, inherited]`

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

See also:: getAllPoints

Definition at line 463 of file CPointsMap.h.

void mrpt::slam::CPointsMap::setAllPoints	(	const std::vector< float > &	X,
		const std::vector< float > &	Y
	)		`[inline, inherited]`

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

See also:: getAllPoints

Definition at line 468 of file CPointsMap.h.

template<typename VECTOR >

void mrpt::slam::CPointsMap::setAllPointsTemplate	(	const VECTOR &	X,
		const VECTOR &	Y,
		const VECTOR &	Z = `VECTOR()`
	)		`[inline, inherited]`

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::vector_float or std::vector<float> or any other column or row Eigen::Matrix.

Definition at line 450 of file CPointsMap.h.

References ASSERT_EQUAL_, ASSERT_, and setSize().

void mrpt::slam::CPointsMap::setHeightFilterLevels	(	const double	_z_min,
		const double	_z_max
	)		`[inline, inherited]`

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

Definition at line 697 of file CPointsMap.h.

void mrpt::slam::CPointsMap::setPoint	(	size_t	index,
		float	x,
		float	y,
		float	z
	)		`[inline, inherited]`

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

Exceptions:

Throws std::exception on index out of bound.

Reimplemented in mrpt::slam::CColouredPointsMap.

Definition at line 353 of file CPointsMap.h.

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

void mrpt::slam::CPointsMap::setPoint	(	size_t	index,
		CPoint2D &	p
	)		`[inline, inherited]`

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 359 of file CPointsMap.h.

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

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

void mrpt::slam::CPointsMap::setPoint	(	size_t	index,
		CPoint3D &	p
	)		`[inline, inherited]`

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 361 of file CPointsMap.h.

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

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

void mrpt::slam::CPointsMap::setPoint	(	size_t	index,
		float	x,
		float	y
	)		`[inline, inherited]`

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 363 of file CPointsMap.h.

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

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

virtual void mrpt::slam::CPointsMap::setPoint	(	size_t	index,
		float	x,
		float	y,
		float	z,
		float	R,
		float	G,
		float	B
	)		`[inline, virtual, inherited]`

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 365 of file CPointsMap.h.

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

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

void mrpt::slam::CPointsMap::setPointAllFields	(	const size_t	index,
		const std::vector< float > &	point_data
	)		`[inline, inherited]`

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 484 of file CPointsMap.h.

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

virtual void mrpt::slam::CSimplePointsMap::setPointAllFieldsFast	(	const size_t	index,
		const std::vector< float > &	point_data
	)		`[inline, virtual]`

Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(), this method does not check for index out of bounds.

See also:: setPointAllFields, getPointAllFields, getPointAllFieldsFast

Implements mrpt::slam::CPointsMap.

Definition at line 110 of file CSimplePointsMap.h.

References ASSERTDEB_, and Eigen::internal::y.

virtual void mrpt::slam::CSimplePointsMap::setPointFast	(	size_t	index,
		float	x,
		float	y,
		float	z
	)		`[virtual]`

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

See also:: setPoint

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CPointsMap::setPointWeight	(	size_t	index,
		unsigned long	w
	)		`[inline, virtual, inherited]`

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 368 of file CPointsMap.h.

virtual void mrpt::slam::CSimplePointsMap::setSize ( size_t newLength ) [virtual]

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

See also:: reserve, setPoint, setPointFast, setSize

Implements mrpt::slam::CPointsMap.

size_t mrpt::slam::CPointsMap::size ( ) const [inline, inherited]

Returns the number of stored points in the map.

Definition at line 306 of file CPointsMap.h.

virtual float mrpt::slam::CPointsMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const `[virtual, inherited]`

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

virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence	(	const float &	x0,
		const float &	y0
	)		const `[inline, virtual, inherited]`

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

Definition at line 333 of file CMetricMap.h.

References MRPT_START, THROW_EXCEPTION, and MRPT_END.

float mrpt::slam::CPointsMap::squareDistanceToClosestCorrespondenceT ( const TPoint2D & p0 ) const [inline, inherited]

Definition at line 175 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 `[protected, pure virtual, inherited]`

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