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maps/CPointsMap.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CPOINTSMAP_H
10 #define CPOINTSMAP_H
11 
12 #include <mrpt/maps/CMetricMap.h>
21 #include <mrpt/obs/obs_frwds.h>
22 #include <mrpt/maps/link_pragmas.h>
23 #include <mrpt/utils/adapters.h>
24 
25 // Add for declaration of mexplus::from template specialization
27 
28 namespace mrpt
29 {
30 /** \ingroup mrpt_maps_grp */
31 namespace maps
32 {
34 
35  // Forward decls. needed to make its static methods friends of CPointsMap
36  namespace detail {
37  template <class Derived> struct loadFromRangeImpl;
38  template <class Derived> struct pointmap_traits;
39  }
40 
41 
42  /** A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
43  * This is a virtual class, thus only a derived class can be instantiated by the user. The user most usually wants to use CSimplePointsMap.
44  *
45  * This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:
46  * - mrpt::obs::CObservation2DRangeScan: 2D range scans
47  * - mrpt::obs::CObservation3DRangeScan: 3D range scans (Kinect, etc...)
48  * - mrpt::obs::CObservationRange: IRs, Sonars, etc.
49  * - mrpt::obs::CObservationVelodyneScan
50  *
51  * If built against liblas, this class also provides method for loading and saving in the standard LAS LiDAR point cloud format: saveLASFile(), loadLASFile()
52  *
53  * \sa CMetricMap, CPoint, mrpt::utils::CSerializable
54  * \ingroup mrpt_maps_grp
55  */
57  public CMetricMap,
58  public mrpt::math::KDTreeCapable<CPointsMap>,
61  {
62  // This must be added to any CSerializable derived class:
64  // This must be added for declaration of MEX-related functions
66 
67  protected:
68  /** Helper struct used for \a internal_loadFromRangeScan2D_prepareOneRange() */
70  TLaserRange2DInsertContext(const mrpt::obs::CObservation2DRangeScan &_rangeScan) : HM(mrpt::math::UNINITIALIZED_MATRIX), rangeScan(_rangeScan)
71  { }
72  mrpt::math::CMatrixDouble44 HM; //!< Homog matrix of the local sensor pose within the robot
74  std::vector<float> fVars; //!< Extra variables to be used as desired by the derived class.
75  std::vector<unsigned int> uVars;
76  std::vector<uint8_t> bVars;
77  };
78 
79  /** Helper struct used for \a internal_loadFromRangeScan3D_prepareOneRange() */
81  TLaserRange3DInsertContext(const mrpt::obs::CObservation3DRangeScan &_rangeScan) : HM(mrpt::math::UNINITIALIZED_MATRIX), rangeScan(_rangeScan)
82  { }
83  mrpt::math::CMatrixDouble44 HM; //!< Homog matrix of the local sensor pose within the robot
85  float scan_x, scan_y,scan_z; //!< In \a internal_loadFromRangeScan3D_prepareOneRange, these are the local coordinates of the scan points being inserted right now.
86  std::vector<float> fVars; //!< Extra variables to be used as desired by the derived class.
87  std::vector<unsigned int> uVars;
88  std::vector<uint8_t> bVars;
89  };
90 
91  public:
92  CPointsMap(); //!< Ctor
93  virtual ~CPointsMap(); //!< Virtual destructor.
94 
95 
96  // --------------------------------------------
97  /** @name Pure virtual interfaces to be implemented by any class derived from CPointsMap
98  @{ */
99 
100  /** Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.
101  * This is useful for situations where it is approximately known the final size of the map. This method is more
102  * efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.
103  */
104  virtual void reserve(size_t newLength) = 0;
105 
106  /** Resizes all point buffers so they can hold the given number of points: newly created points are set to default values,
107  * and old contents are not changed.
108  * \sa reserve, setPoint, setPointFast, setSize
109  */
110  virtual void resize(size_t newLength) = 0;
111 
112  /** Resizes all point buffers so they can hold the given number of points, *erasing* all previous contents
113  * and leaving all points to default values.
114  * \sa reserve, setPoint, setPointFast, setSize
115  */
116  virtual void setSize(size_t newLength) = 0;
117 
118  /** Changes the coordinates of the given point (0-based index), *without* checking for out-of-bounds and *without* calling mark_as_modified() \sa setPoint */
119  virtual void setPointFast(size_t index,float x, float y, float z)=0;
120 
121  /** The virtual method for \a insertPoint() *without* calling mark_as_modified() */
122  virtual void insertPointFast( float x, float y, float z = 0 ) = 0;
123 
124  /** Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source map into this one. */
125  virtual void copyFrom(const CPointsMap &obj) = 0;
126 
127  /** 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...
128  * Unlike getPointAllFields(), this method does not check for index out of bounds
129  * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast
130  */
131  virtual void getPointAllFieldsFast( const size_t index, std::vector<float> & point_data ) const = 0;
132 
133  /** 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...
134  * Unlike setPointAllFields(), this method does not check for index out of bounds
135  * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
136  */
137  virtual void setPointAllFieldsFast( const size_t index, const std::vector<float> & point_data ) = 0;
138 
139  protected:
140 
141  /** Auxiliary method called from within \a addFrom() automatically, to finish the copying of class-specific data */
142  virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) = 0;
143 
144  public:
145 
146  /** @} */
147  // --------------------------------------------
148 
149 
150  /** Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
151  */
152  virtual float squareDistanceToClosestCorrespondence(
153  float x0,
154  float y0 ) const MRPT_OVERRIDE;
155 
157  return squareDistanceToClosestCorrespondence(static_cast<float>(p0.x),static_cast<float>(p0.y));
158  }
159 
160 
161  /** With this struct options are provided to the observation insertion process.
162  * \sa CObservation::insertIntoPointsMap
163  */
165  {
166  /** Initilization of default parameters */
168  void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
169  void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
170 
171  float minDistBetweenLaserPoints; //!< The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters.
172  bool addToExistingPointsMap; //!< Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false.
173  bool also_interpolate; //!< If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).
174  bool disableDeletion; //!< If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet.
175  bool fuseWithExisting; //!< If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower.
176  bool isPlanarMap; //!< If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). \sa horizontalTolerance
177  float horizontalTolerance; //!< The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).
178  float maxDistForInterpolatePoints; //!< The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)
179  bool insertInvalidPoints; //!< Points with x,y,z coordinates set to zero will also be inserted
180 
181  void writeToStream(mrpt::utils::CStream &out) const; //!< Binary dump to stream - for usage in derived classes' serialization
182  void readFromStream(mrpt::utils::CStream &in); //!< Binary dump to stream - for usage in derived classes' serialization
183  };
184 
185  TInsertionOptions insertionOptions; //!< The options used when inserting observations in the map
186 
187  /** Options used when evaluating "computeObservationLikelihood" in the derived classes.
188  * \sa CObservation::computeObservationLikelihood
189  */
191  {
192  /** Initilization of default parameters
193  */
195  virtual ~TLikelihoodOptions() {}
196  void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
197  void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
198 
199  void writeToStream(mrpt::utils::CStream &out) const; //!< Binary dump to stream - for usage in derived classes' serialization
200  void readFromStream(mrpt::utils::CStream &in); //!< Binary dump to stream - for usage in derived classes' serialization
201 
202  double sigma_dist; //!< Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters)
203  double max_corr_distance; //!< Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)
204  uint32_t decimation; //!< Speed up the likelihood computation by considering only one out of N rays (default=10)
205  };
206 
208 
209 
210  /** Adds all the points from \a anotherMap to this map, without fusing.
211  * This operation can be also invoked via the "+=" operator, for example:
212  * \code
213  * mrpt::maps::CSimplePointsMap m1, m2;
214  * ...
215  * m1.addFrom( m2 ); // Add all points of m2 to m1
216  * m1 += m2; // Exactly the same than above
217  * \endcode
218  * \note The method in CPointsMap is generic but derived classes may redefine this virtual method to another one more optimized.
219  */
220  virtual void addFrom(const CPointsMap &anotherMap);
221 
222  /** This operator is synonymous with \a addFrom. \sa addFrom */
223  inline void operator +=(const CPointsMap &anotherMap)
224  {
225  this->addFrom(anotherMap);
226  }
227 
228  /** Insert the contents of another map into this one with some geometric transformation, without fusing close points.
229  * \param otherMap The other map whose points are to be inserted into this one.
230  * \param otherPose The pose of the other map in the coordinates of THIS map
231  * \sa fuseWith, addFrom
232  */
233  void insertAnotherMap(
234  const CPointsMap *otherMap,
235  const mrpt::poses::CPose3D &otherPose);
236 
237  // --------------------------------------------------
238  /** @name File input/output methods
239  @{ */
240 
241  /** Load from a text file. Each line should contain an "X Y" coordinate pair, separated by whitespaces.
242  * Returns false if any error occured, true elsewere.
243  */
244  inline bool load2D_from_text_file(const std::string &file) { return load2Dor3D_from_text_file(file,false); }
245 
246  /** Load from a text file. Each line should contain an "X Y Z" coordinate tuple, separated by whitespaces.
247  * Returns false if any error occured, true elsewere.
248  */
249  inline bool load3D_from_text_file(const std::string &file) { return load2Dor3D_from_text_file(file,true); }
250 
251  /** 2D or 3D generic implementation of \a load2D_from_text_file and load3D_from_text_file */
252  bool load2Dor3D_from_text_file(const std::string &file, const bool is_3D);
253 
254  /** Save to a text file. Each line will contain "X Y" point coordinates.
255  * Returns false if any error occured, true elsewere.
256  */
257  bool save2D_to_text_file(const std::string &file) const;
258 
259  /** Save to a text file. Each line will contain "X Y Z" point coordinates.
260  * Returns false if any error occured, true elsewere.
261  */
262  bool save3D_to_text_file(const std::string &file)const;
263 
264  /** 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) */
265  void saveMetricMapRepresentationToFile(const std::string &filNamePrefix)const MRPT_OVERRIDE
266  {
267  std::string fil( filNamePrefix + std::string(".txt") );
268  save3D_to_text_file( fil );
269  }
270 
271  /** Save the point cloud as a PCL PCD file, in either ASCII or binary format (requires MRPT built against PCL) \return false on any error */
272  virtual bool savePCDFile(const std::string &filename, bool save_as_binary) const;
273 
274  /** Load the point cloud from a PCL PCD file (requires MRPT built against PCL) \return false on any error */
275  virtual bool loadPCDFile(const std::string &filename);
276 
277 
278  /** Optional settings for saveLASFile() */
280  {
281  // None.
282  };
283 
284  /** Optional settings for loadLASFile() */
286  {
287  // None.
288  };
289 
290  /** Extra information gathered from the LAS file header */
292  {
293  std::string FileSignature;
294  std::string SystemIdentifier;
295  std::string SoftwareIdentifier;
296  std::string project_guid;
297  std::string spatial_reference_proj4; //!< Proj.4 string describing the Spatial Reference System.
298  uint16_t creation_year;//!< Creation date (Year number)
299  uint16_t creation_DOY; //!< Creation day of year
300 
301  LAS_HeaderInfo() : creation_year(0),creation_DOY(0)
302  {}
303  };
304 
305  /** Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas). Refer to http://www.liblas.org/
306  * \return false on any error */
307  virtual bool saveLASFile(const std::string &filename, const LAS_WriteParams & params = LAS_WriteParams() ) const;
308 
309  /** Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas). Refer to http://www.liblas.org/
310  * \note Color (RGB) information will be taken into account if using the derived class mrpt::maps::CColouredPointsMap
311  * \return false on any error */
312  virtual bool loadLASFile(const std::string &filename, LAS_HeaderInfo &out_headerInfo, const LAS_LoadParams &params = LAS_LoadParams() );
313 
314  /** @} */ // End of: File input/output methods
315  // --------------------------------------------------
316 
317  /** Returns the number of stored points in the map.
318  */
319  inline size_t size() const { return x.size(); }
320 
321  /** Access to a given point from map, as a 2D point. First index is 0.
322  * \return The return value is the weight of the point (the times it has been fused), or 1 if weights are not used.
323  * \exception Throws std::exception on index out of bound.
324  * \sa setPoint, getPointFast
325  */
326  unsigned long getPoint(size_t index,float &x,float &y,float &z) const;
327  /// \overload
328  unsigned long getPoint(size_t index,float &x,float &y) const;
329  /// \overload
330  unsigned long getPoint(size_t index,double &x,double &y,double &z) const;
331  /// \overload
332  unsigned long getPoint(size_t index,double &x,double &y) const;
333  /// \overload
334  inline unsigned long getPoint(size_t index,mrpt::math::TPoint2D &p) const { return getPoint(index,p.x,p.y); }
335  /// \overload
336  inline unsigned long getPoint(size_t index,mrpt::math::TPoint3D &p) const { return getPoint(index,p.x,p.y,p.z); }
337 
338  /** 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.
339  * \return The return value is the weight of the point (the times it has been fused)
340  * \exception Throws std::exception on index out of bound.
341  */
342  virtual void getPoint( size_t index, float &x, float &y, float &z, float &R, float &G, float &B ) const
343  {
344  getPoint(index,x,y,z);
345  R=G=B=1;
346  }
347 
348  /** Just like \a getPoint() but without checking out-of-bound index and without returning the point weight, just XYZ.
349  */
350  inline void getPointFast(size_t index,float &x,float &y,float &z) const { x=this->x[index]; y=this->y[index]; z=this->z[index]; }
351 
352  /** Returns true if the point map has a color field for each point */
353  virtual bool hasColorPoints() const { return false; }
354 
355  /** Changes a given point from map, with Z defaulting to 0 if not provided.
356  * \exception Throws std::exception on index out of bound.
357  */
358  inline void setPoint(size_t index,float x, float y, float z) {
359  ASSERT_BELOW_(index,this->size())
360  setPointFast(index,x,y,z);
361  mark_as_modified();
362  }
363  /// \overload
364  inline void setPoint(size_t index,mrpt::math::TPoint2D &p) { setPoint(index,p.x,p.y,0); }
365  /// \overload
366  inline void setPoint(size_t index,mrpt::math::TPoint3D &p) { setPoint(index,p.x,p.y,p.z); }
367  /// \overload
368  inline void setPoint(size_t index,float x, float y) { setPoint(index,x,y,0); }
369  /// \overload (RGB data is ignored in classes without color information)
370  virtual void setPoint(size_t index,float x, float y, float z, float R, float G, float B)
371  {
373  setPoint(index,x,y,z);
374  }
375 
376  /// 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). \sa getPointWeight
377  virtual void setPointWeight(size_t index,unsigned long w)
378  {
380  }
381  /// 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). \sa setPointWeight
382  virtual unsigned int getPointWeight(size_t index) const { MRPT_UNUSED_PARAM(index); return 1; }
383 
384 
385  /** Provides a direct access to points buffer, or NULL if there is no points in the map.
386  */
387  void getPointsBuffer( size_t &outPointsCount, const float *&xs, const float *&ys, const float *&zs ) const;
388 
389  /** Provides a direct access to a read-only reference of the internal point buffer. \sa getAllPoints */
390  inline const std::vector<float> & getPointsBufferRef_x() const { return x; }
391  /** Provides a direct access to a read-only reference of the internal point buffer. \sa getAllPoints */
392  inline const std::vector<float> & getPointsBufferRef_y() const { return y; }
393  /** Provides a direct access to a read-only reference of the internal point buffer. \sa getAllPoints */
394  inline const std::vector<float> & getPointsBufferRef_z() const { return z; }
395 
396  /** Returns a copy of the 2D/3D points as a std::vector of float coordinates.
397  * 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.
398  * \sa getPointsBufferRef_x, getPointsBufferRef_y, getPointsBufferRef_z
399  * \tparam 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).
400  */
401  template <class VECTOR>
402  void getAllPoints( VECTOR &xs, VECTOR &ys, VECTOR &zs, size_t decimation = 1 ) const
403  {
404  MRPT_START
405  ASSERT_(decimation>0)
406  const size_t Nout = x.size() / decimation;
407  xs.resize(Nout);
408  ys.resize(Nout);
409  zs.resize(Nout);
410  size_t idx_in, idx_out;
411  for (idx_in=0,idx_out=0;idx_out<Nout;idx_in+=decimation,++idx_out)
412  {
413  xs[idx_out]=x[idx_in];
414  ys[idx_out]=y[idx_in];
415  zs[idx_out]=z[idx_in];
416  }
417  MRPT_END
418  }
419 
420  inline void getAllPoints(std::vector<mrpt::math::TPoint3D> &ps,size_t decimation=1) const {
421  std::vector<float> dmy1,dmy2,dmy3;
422  getAllPoints(dmy1,dmy2,dmy3,decimation);
423  ps.resize(dmy1.size());
424  for (size_t i=0;i<dmy1.size();i++) {
425  ps[i].x=static_cast<double>(dmy1[i]);
426  ps[i].y=static_cast<double>(dmy2[i]);
427  ps[i].z=static_cast<double>(dmy3[i]);
428  }
429  }
430 
431  /** Returns a copy of the 2D/3D points as a std::vector of float coordinates.
432  * 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.
433  * \sa setAllPoints
434  */
435  void getAllPoints( std::vector<float> &xs, std::vector<float> &ys, size_t decimation = 1 ) const;
436 
437  inline void getAllPoints(std::vector<mrpt::math::TPoint2D> &ps,size_t decimation=1) const {
438  std::vector<float> dmy1,dmy2;
439  getAllPoints(dmy1,dmy2,decimation);
440  ps.resize(dmy1.size());
441  for (size_t i=0;i<dmy1.size();i++) {
442  ps[i].x=static_cast<double>(dmy1[i]);
443  ps[i].y=static_cast<double>(dmy2[i]);
444  }
445  }
446 
447  /** Provides a way to insert (append) individual points into the map: the missing fields of child
448  * classes (color, weight, etc) are left to their default values
449  */
450  inline void insertPoint( float x, float y, float z=0 ) { insertPointFast(x,y,z); mark_as_modified(); }
451  /// \overload of \a insertPoint()
452  inline void insertPoint( const mrpt::math::TPoint3D &p ) { insertPoint(p.x,p.y,p.z); }
453  /// \overload (RGB data is ignored in classes without color information)
454  virtual void insertPoint( float x, float y, float z, float R, float G, float B )
455  {
457  insertPoint(x,y,z);
458  }
459 
460  /** 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).
461  * \tparam VECTOR can be mrpt::math::CVectorFloat or std::vector<float> or any other column or row Eigen::Matrix.
462  */
463  template <typename VECTOR>
464  inline void setAllPointsTemplate(const VECTOR &X,const VECTOR &Y,const VECTOR &Z = VECTOR())
465  {
466  const size_t N = X.size();
467  ASSERT_EQUAL_(X.size(),Y.size())
468  ASSERT_(Z.size()==0 || Z.size()==X.size())
469  this->setSize(N);
470  const bool z_valid = !Z.empty();
471  if (z_valid) for (size_t i=0;i<N;i++) { this->setPointFast(i,X[i],Y[i],Z[i]); }
472  else for (size_t i=0;i<N;i++) { this->setPointFast(i,X[i],Y[i],0); }
473  mark_as_modified();
474  }
475 
476  /** Set all the points at once from vectors with X,Y and Z coordinates. \sa getAllPoints */
477  inline void setAllPoints(const std::vector<float> &X,const std::vector<float> &Y,const std::vector<float> &Z) {
478  setAllPointsTemplate(X,Y,Z);
479  }
480 
481  /** Set all the points at once from vectors with X and Y coordinates (Z=0). \sa getAllPoints */
482  inline void setAllPoints(const std::vector<float> &X,const std::vector<float> &Y) {
483  setAllPointsTemplate(X,Y);
484  }
485 
486  /** 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...
487  * \sa getPointAllFieldsFast, setPointAllFields, setPointAllFieldsFast
488  */
489  void getPointAllFields( const size_t index, std::vector<float> & point_data ) const {
490  ASSERT_BELOW_(index,this->size())
491  getPointAllFieldsFast(index,point_data);
492  }
493 
494  /** 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...
495  * Unlike setPointAllFields(), this method does not check for index out of bounds
496  * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
497  */
498  void setPointAllFields( const size_t index, const std::vector<float> & point_data ){
499  ASSERT_BELOW_(index,this->size())
500  setPointAllFieldsFast(index,point_data);
501  }
502 
503 
504  /** Delete points out of the given "z" axis range have been removed.
505  */
506  void clipOutOfRangeInZ(float zMin, float zMax);
507 
508  /** Delete points which are more far than "maxRange" away from the given "point".
509  */
510  void clipOutOfRange(const mrpt::math::TPoint2D &point, float maxRange);
511 
512  /** Remove from the map the points marked in a bool's array as "true".
513  * \exception std::exception If mask size is not equal to points count.
514  */
515  void applyDeletionMask( const std::vector<bool> &mask );
516 
517  // See docs in base class.
518  virtual void determineMatching2D(
519  const mrpt::maps::CMetricMap * otherMap,
520  const mrpt::poses::CPose2D & otherMapPose,
521  mrpt::utils::TMatchingPairList & correspondences,
522  const TMatchingParams & params,
523  TMatchingExtraResults & extraResults ) const MRPT_OVERRIDE;
524 
525  // See docs in base class
526  virtual void determineMatching3D(
527  const mrpt::maps::CMetricMap * otherMap,
528  const mrpt::poses::CPose3D & otherMapPose,
529  mrpt::utils::TMatchingPairList & correspondences,
530  const TMatchingParams & params,
531  TMatchingExtraResults & extraResults ) const MRPT_OVERRIDE;
532 
533  // See docs in base class
534  float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const MRPT_OVERRIDE;
535 
536  /** Computes the matchings between this and another 3D points map.
537  This method matches each point in the other map with the centroid of the 3 closest points in 3D
538  from this map (if the distance is below a defined threshold).
539  * \param otherMap [IN] The other map to compute the matching with.
540  * \param otherMapPose [IN] The pose of the other map as seen from "this".
541  * \param maxDistForCorrespondence [IN] Maximum 2D linear distance between two points to be matched.
542  * \param correspondences [OUT] The detected matchings pairs.
543  * \param correspondencesRatio [OUT] The ratio [0,1] of points in otherMap with at least one correspondence.
544  *
545  * \sa determineMatching3D
546  */
547  void compute3DDistanceToMesh(
548  const mrpt::maps::CMetricMap *otherMap2,
549  const mrpt::poses::CPose3D &otherMapPose,
550  float maxDistForCorrespondence,
551  mrpt::utils::TMatchingPairList &correspondences,
552  float &correspondencesRatio );
553 
554  /** Transform the range scan into a set of cartessian coordinated
555  * points. The options in "insertionOptions" are considered in this method.
556  * \param rangeScan The scan to be inserted into this map
557  * \param 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).
558  *
559  * Only ranges marked as "valid=true" in the observation will be inserted
560  *
561  * \note Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific
562  * implementation of mrpt::maps::CPointsMap you are using.
563  * \note The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.
564  *
565  * \sa CObservation2DRangeScan, CObservation3DRangeScan
566  */
567  virtual void loadFromRangeScan(
568  const mrpt::obs::CObservation2DRangeScan &rangeScan,
569  const mrpt::poses::CPose3D *robotPose = NULL ) = 0;
570 
571  /** Overload of \a loadFromRangeScan() for 3D range scans (for example, Kinect observations).
572  *
573  * \param rangeScan The scan to be inserted into this map
574  * \param 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).
575  *
576  * \note Each derived class may enrich points in different ways (color, weight, etc..), so please refer to the description of the specific
577  * implementation of mrpt::maps::CPointsMap you are using.
578  * \note The actual generic implementation of this file lives in <src>/CPointsMap_crtp_common.h, but specific instantiations are generated at each derived class.
579  * \sa loadFromVelodyneScan
580  */
581  virtual void loadFromRangeScan(
582  const mrpt::obs::CObservation3DRangeScan &rangeScan,
583  const mrpt::poses::CPose3D *robotPose = NULL ) = 0;
584 
585  /** Like \a loadFromRangeScan() for Velodyne 3D scans. Points are translated and rotated according to the \a sensorPose field in the observation and, if provided, to the \a robotPose parameter.
586  *
587  * \param scan The Raw LIDAR data to be inserted into this map. It MUST contain point cloud data, generated by calling to \a mrpt::obs::CObservationVelodyneScan::generatePointCloud() prior to insertion in this map.
588  * \param 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).
589  * \sa loadFromRangeScan
590  */
591  void loadFromVelodyneScan(
593  const mrpt::poses::CPose3D *robotPose = NULL );
594 
595  /** Insert the contents of another map into this one, fusing the previous content with the new one.
596  * This means that points very close to existing ones will be "fused", rather than "added". This prevents
597  * the unbounded increase in size of these class of maps.
598  * NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done
599  * before calling this method.
600  * \param otherMap The other map whose points are to be inserted into this one.
601  * \param 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.
602  * \param 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.
603  * \sa loadFromRangeScan, addFrom
604  */
605  void fuseWith(
606  CPointsMap *anotherMap,
607  float minDistForFuse = 0.02f,
608  std::vector<bool> *notFusedPoints = NULL);
609 
610  /** Replace each point \f$ p_i \f$ by \f$ p'_i = b \oplus p_i \f$ (pose compounding operator).
611  */
612  void changeCoordinatesReference(const mrpt::poses::CPose2D &b);
613 
614  /** Replace each point \f$ p_i \f$ by \f$ p'_i = b \oplus p_i \f$ (pose compounding operator).
615  */
616  void changeCoordinatesReference(const mrpt::poses::CPose3D &b);
617 
618  /** Copy all the points from "other" map to "this", replacing each point \f$ p_i \f$ by \f$ p'_i = b \oplus p_i \f$ (pose compounding operator).
619  */
620  void changeCoordinatesReference(const CPointsMap &other, const mrpt::poses::CPose3D &b);
621 
622  /** Returns true if the map is empty/no observation has been inserted.
623  */
624  virtual bool isEmpty() const MRPT_OVERRIDE;
625 
626  /** STL-like method to check whether the map is empty: */
627  inline bool empty() const { return isEmpty(); }
628 
629  /** Returns a 3D object representing the map.
630  * The color of the points is given by the static variables: COLOR_3DSCENE_R,COLOR_3DSCENE_G,COLOR_3DSCENE_B
631  * \sa mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE
632  */
633  virtual void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj ) const MRPT_OVERRIDE;
634 
635  /** If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
636  * Otherwise, return NULL
637  */
638  virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const MRPT_OVERRIDE { return NULL; }
639  virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() MRPT_OVERRIDE { return NULL; }
640 
641 
642  /** 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). */
643  float getLargestDistanceFromOrigin() const;
644 
645  /** Like \a getLargestDistanceFromOrigin() but returns in \a output_is_valid = false if the distance was not already computed, skipping its computation then, unlike getLargestDistanceFromOrigin() */
646  float getLargestDistanceFromOriginNoRecompute(bool &output_is_valid) const {
647  output_is_valid = m_largestDistanceFromOriginIsUpdated;
648  return m_largestDistanceFromOrigin;
649  }
650 
651  /** Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points.
652  * Results are cached unless the map is somehow modified to avoid repeated calculations.
653  */
654  void boundingBox( float &min_x,float &max_x,float &min_y,float &max_y,float &min_z,float &max_z ) const;
655 
656  inline void boundingBox(mrpt::math::TPoint3D &pMin,mrpt::math::TPoint3D &pMax) const {
657  float dmy1,dmy2,dmy3,dmy4,dmy5,dmy6;
658  boundingBox(dmy1,dmy2,dmy3,dmy4,dmy5,dmy6);
659  pMin.x=dmy1;
660  pMin.y=dmy3;
661  pMin.z=dmy5;
662  pMax.x=dmy2;
663  pMax.y=dmy4;
664  pMax.z=dmy6;
665  }
666 
667  /** Extracts the points in the map within a cylinder in 3D defined the provided radius and zmin/zmax values.
668  */
669  void extractCylinder( const mrpt::math::TPoint2D &center, const double radius, const double zmin, const double zmax, CPointsMap *outMap );
670 
671  /** Extracts the points in the map within the area defined by two corners.
672  * The points are coloured according the R,G,B input data.
673  */
674  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 );
675 
676  /** @name Filter-by-height stuff
677  @{ */
678 
679  /** Enable/disable the filter-by-height functionality \sa setHeightFilterLevels \note Default upon construction is disabled. */
680  inline void enableFilterByHeight(bool enable=true) { m_heightfilter_enabled=enable; }
681  /** Return whether filter-by-height is enabled \sa enableFilterByHeight */
682  inline bool isFilterByHeightEnabled() const { return m_heightfilter_enabled; }
683 
684  /** Set the min/max Z levels for points to be actually inserted in the map (only if \a enableFilterByHeight() was called before). */
685  inline void setHeightFilterLevels(const double _z_min, const double _z_max) { m_heightfilter_z_min=_z_min; m_heightfilter_z_max=_z_max; }
686  /** Get the min/max Z levels for points to be actually inserted in the map \sa enableFilterByHeight, setHeightFilterLevels */
687  inline void getHeightFilterLevels(double &_z_min, double &_z_max) const { _z_min=m_heightfilter_z_min; _z_max=m_heightfilter_z_max; }
688 
689  /** @} */
690 
691  /** The color [0,1] of points when extracted from getAs3DObject (default=blue) */
692  static float COLOR_3DSCENE_R;
693  static float COLOR_3DSCENE_G;
694  static float COLOR_3DSCENE_B;
695 
696 
697  // See docs in base class
698  virtual double internal_computeObservationLikelihood( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom ) MRPT_OVERRIDE;
699 
700  /** @name PCL library support
701  @{ */
702 
703 
704  /** Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>).
705  * Usage example:
706  * \code
707  * mrpt::maps::CPointsCloud pc;
708  * pcl::PointCloud<pcl::PointXYZ> cloud;
709  *
710  * pc.getPCLPointCloud(cloud);
711  * \endcode
712  * \sa setFromPCLPointCloud, CColouredPointsMap::getPCLPointCloudXYZRGB (for color data)
713  */
714  template <class POINTCLOUD>
715  void getPCLPointCloud(POINTCLOUD &cloud) const
716  {
717  const size_t nThis = this->size();
718  // Fill in the cloud data
719  cloud.width = nThis;
720  cloud.height = 1;
721  cloud.is_dense = false;
722  cloud.points.resize(cloud.width * cloud.height);
723  for (size_t i = 0; i < nThis; ++i) {
724  cloud.points[i].x =this->x[i];
725  cloud.points[i].y =this->y[i];
726  cloud.points[i].z =this->z[i];
727  }
728  }
729 
730  /** Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information, see CColouredPointsMap::setFromPCLPointCloudRGB() ).
731  * Usage example:
732  * \code
733  * pcl::PointCloud<pcl::PointXYZ> cloud;
734  * mrpt::maps::CPointsCloud pc;
735  *
736  * pc.setFromPCLPointCloud(cloud);
737  * \endcode
738  * \sa getPCLPointCloud, CColouredPointsMap::setFromPCLPointCloudRGB()
739  */
740  template <class POINTCLOUD>
741  void setFromPCLPointCloud(const POINTCLOUD &cloud)
742  {
743  const size_t N = cloud.points.size();
744  clear();
745  reserve(N);
746  for (size_t i=0;i<N;++i)
747  this->insertPointFast(cloud.points[i].x,cloud.points[i].y,cloud.points[i].z);
748  }
749 
750  /** @} */
751 
752  /** @name Methods that MUST be implemented by children classes of KDTreeCapable
753  @{ */
754 
755  /// Must return the number of data points
756  inline size_t kdtree_get_point_count() const { return this->size(); }
757 
758  /// Returns the dim'th component of the idx'th point in the class:
759  inline float kdtree_get_pt(const size_t idx, int dim) const {
760  if (dim==0) return this->x[idx];
761  else if (dim==1) return this->y[idx];
762  else if (dim==2) return this->z[idx]; else return 0;
763  }
764 
765  /// Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:
766  inline float kdtree_distance(const float *p1, const size_t idx_p2,size_t size) const
767  {
768  if (size==2)
769  {
770  const float d0 = p1[0]-x[idx_p2];
771  const float d1 = p1[1]-y[idx_p2];
772  return d0*d0+d1*d1;
773  }
774  else
775  {
776  const float d0 = p1[0]-x[idx_p2];
777  const float d1 = p1[1]-y[idx_p2];
778  const float d2 = p1[2]-z[idx_p2];
779  return d0*d0+d1*d1+d2*d2;
780  }
781  }
782 
783  // Optional bounding-box computation: return false to default to a standard bbox computation loop.
784  // Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it again.
785  // Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3 for point clouds)
786  template <typename BBOX>
787  bool kdtree_get_bbox(BBOX &bb) const
788  {
789  float min_z,max_z;
790  this->boundingBox(
791  bb[0].low, bb[0].high,
792  bb[1].low, bb[1].high,
793  min_z,max_z);
794  if (bb.size()==3) {
795  bb[2].low = min_z; bb[2].high = max_z;
796  }
797  return true;
798  }
799 
800 
801  /** @} */
802 
803  protected:
804  std::vector<float> x,y,z; //!< The point coordinates
805 
806  mrpt::obs::CSinCosLookUpTableFor2DScans m_scans_sincos_cache; //!< Cache of sin/cos values for the latest 2D scan geometries.
807 
808  /** Auxiliary variables used in "getLargestDistanceFromOrigin"
809  * \sa getLargestDistanceFromOrigin
810  */
812 
813  /** Auxiliary variables used in "getLargestDistanceFromOrigin"
814  * \sa getLargestDistanceFromOrigin
815  */
817 
819  mutable float m_bb_min_x,m_bb_max_x, m_bb_min_y,m_bb_max_y, m_bb_min_z,m_bb_max_z;
820 
821 
822  /** Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and such. */
823  inline void mark_as_modified() const
824  {
825  m_largestDistanceFromOriginIsUpdated=false;
826  m_boundingBoxIsUpdated = false;
827  kdtree_mark_as_outdated();
828  }
829 
830  /** This is a common version of CMetricMap::insertObservation() for point maps (actually, CMetricMap::internal_insertObservation),
831  * so derived classes don't need to worry implementing that method unless something special is really necesary.
832  * See mrpt::maps::CPointsMap for the enumeration of types of observations which are accepted. */
833  bool internal_insertObservation(const mrpt::obs::CObservation *obs,const mrpt::poses::CPose3D *robotPose) MRPT_OVERRIDE;
834 
835  /** Helper method for ::copyFrom() */
836  void base_copyFrom(const CPointsMap &obj);
837 
838 
839  /** @name PLY Import virtual methods to implement in base classes
840  @{ */
841  /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face */
842  virtual void PLY_import_set_face_count(const size_t N) MRPT_OVERRIDE { MRPT_UNUSED_PARAM(N); }
843 
844  /** In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
845  * \param pt_color Will be NULL if the loaded file does not provide color info.
846  */
847  virtual void PLY_import_set_vertex(const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color = NULL) MRPT_OVERRIDE;
848  /** @} */
849 
850  /** @name PLY Export virtual methods to implement in base classes
851  @{ */
852  size_t PLY_export_get_vertex_count() const MRPT_OVERRIDE;
853  size_t PLY_export_get_face_count() const MRPT_OVERRIDE { return 0; }
854  virtual void PLY_export_get_vertex(const size_t idx,mrpt::math::TPoint3Df &pt,bool &pt_has_color,mrpt::utils::TColorf &pt_color) const MRPT_OVERRIDE;
855  /** @} */
856 
857  /** The minimum and maximum height for a certain laser scan to be inserted into this map
858  * \sa m_heightfilter_enabled */
859  double m_heightfilter_z_min, m_heightfilter_z_max;
860 
861  /** Whether or not (default=not) filter the input points by height
862  * \sa m_heightfilter_z_min, m_heightfilter_z_max */
864 
865 
866  // Friend methods:
867  template <class Derived> friend struct detail::loadFromRangeImpl;
868  template <class Derived> friend struct detail::pointmap_traits;
869 
870  }; // End of class def.
872 
873  } // End of namespace
874 
875  namespace global_settings
876  {
877  /** The size of points when exporting with getAs3DObject() (default=3.0)
878  * Affects to:
879  * - mrpt::maps::CPointsMap and all its children classes.
880  */
882  }
883 
884  namespace utils
885  {
886  /** Specialization mrpt::utils::PointCloudAdapter<mrpt::maps::CPointsMap> \ingroup mrpt_adapters_grp*/
887  template <>
888  class PointCloudAdapter<mrpt::maps::CPointsMap> : public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CPointsMap,float>
889  {
890  private:
892  public:
893  typedef float coords_t; //!< The type of each point XYZ coordinates
894  static const int HAS_RGB = 0; //!< Has any color RGB info?
895  static const int HAS_RGBf = 0; //!< Has native RGB info (as floats)?
896  static const int HAS_RGBu8 = 0; //!< Has native RGB info (as uint8_t)?
897 
898  /** Constructor (accept a const ref for convenience) */
899  inline PointCloudAdapter(const mrpt::maps::CPointsMap &obj) : m_obj(*const_cast<mrpt::maps::CPointsMap*>(&obj)) { }
900  /** Get number of points */
901  inline size_t size() const { return m_obj.size(); }
902  /** Set number of points (to uninitialized values) */
903  inline void resize(const size_t N) { m_obj.resize(N); }
904 
905  /** Get XYZ coordinates of i'th point */
906  template <typename T>
907  inline void getPointXYZ(const size_t idx, T &x,T &y, T &z) const {
908  m_obj.getPointFast(idx,x,y,z);
909  }
910  /** Set XYZ coordinates of i'th point */
911  inline void setPointXYZ(const size_t idx, const coords_t x,const coords_t y, const coords_t z) {
912  m_obj.setPointFast(idx,x,y,z);
913  }
914  }; // end of PointCloudAdapter<mrpt::maps::CPointsMap>
915 
916  }
917 
918 } // End of namespace
919 
920 #endif
#define ASSERT_EQUAL_(__A, __B)
const std::vector< float > & getPointsBufferRef_x() const
Provides a direct access to a read-only reference of the internal point buffer.
void setPoint(size_t index, mrpt::math::TPoint3D &p)
void setFromPCLPointCloud(const POINTCLOUD &cloud)
Loads a PCL point cloud into this MRPT class (note: this method ignores potential RGB information...
MAPS_IMPEXP float POINTSMAPS_3DOBJECT_POINTSIZE
The size of points when exporting with getAs3DObject() (default=3.0) Affects to:
Parameters for CMetricMap::compute3DMatchingRatio()
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).
bool isPlanarMap
If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default v...
bool empty() const
STL-like method to check whether the map is empty:
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i&#39;th point.
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...
double y
X,Y coordinates.
A CObservation-derived class for RAW DATA (and optionally, point cloud) of scans from 3D Velodyne LID...
bool m_heightfilter_enabled
Whether or not (default=not) filter the input points by height.
std::string spatial_reference_proj4
Proj.4 string describing the Spatial Reference System.
const mrpt::obs::CObservation2DRangeScan & rangeScan
const mrpt::obs::CObservation3DRangeScan & rangeScan
const std::vector< float > & getPointsBufferRef_y() const
Provides a direct access to a read-only reference of the internal point buffer.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
Definition: adapters.h:48
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).
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class...
#define ASSERT_BELOW_(__A, __B)
virtual void setPointFast(size_t index, float x, float y, float z)=0
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
void getAllPoints(std::vector< mrpt::math::TPoint2D > &ps, size_t decimation=1) const
static float COLOR_3DSCENE_R
The color [0,1] of points when extracted from getAs3DObject (default=blue)
void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const MRPT_OVERRIDE
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >...
size_t kdtree_get_point_count() const
Must return the number of data points.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
static float COLOR_3DSCENE_G
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...
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i&#39;th point.
virtual 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 st...
double z
X,Y,Z coordinates.
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 ...
float squareDistanceToClosestCorrespondenceT(const mrpt::math::TPoint2D &p0) 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).
uint16_t creation_year
Creation date (Year number)
float maxDistForInterpolatePoints
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)...
float scan_z
In internal_loadFromRangeScan3D_prepareOneRange, these are the local coordinates of the scan points b...
This class allows loading and storing values and vectors of different types from a configuration text...
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
bool kdtree_get_bbox(BBOX &bb) const
unsigned long getPoint(size_t index, mrpt::math::TPoint2D &p) const
A generic adaptor class for providing Nearest Neighbor (NN) lookup via the nanoflann library...
Definition: KDTreeCapable.h:67
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 ...
bool isFilterByHeightEnabled() const
Return whether filter-by-height is enabled.
With this struct options are provided to the observation insertion process.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
A numeric matrix of compile-time fixed size.
bool insertInvalidPoints
Points with x,y,z coordinates set to zero will also be inserted.
TLaserRange3DInsertContext(const mrpt::obs::CObservation3DRangeScan &_rangeScan)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
float kdtree_get_pt(const size_t idx, int dim) const
Returns the dim&#39;th component of the idx&#39;th point in the class:
Additional results from the determination of matchings between point clouds, etc., apart from the pairings themselves.
Lightweight 3D point (float version).
#define MRPT_END
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
double sigma_dist
Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0...
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class...
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.
A smart look-up-table (LUT) of sin/cos values for 2D laser scans.
std::vector< float > z
The point coordinates.
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.
mrpt::math::CMatrixDouble44 HM
Homog matrix of the local sensor pose within the robot.
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
Definition: ops_vectors.h:70
float coords_t
The type of each point XYZ coordinates.
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.
A list of TMatchingPair.
Definition: TMatchingPair.h:66
void getHeightFilterLevels(double &_z_min, double &_z_max) const
Get the min/max Z levels for points to be actually inserted in the map.
void setPoint(size_t index, float x, float y)
bool m_largestDistanceFromOriginIsUpdated
Auxiliary variables used in "getLargestDistanceFromOrigin".
void getAllPoints(std::vector< mrpt::math::TPoint3D > &ps, size_t decimation=1) const
EIGEN_STRONG_INLINE void setSize(size_t row, size_t col)
Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...
TLaserRange2DInsertContext(const mrpt::obs::CObservation2DRangeScan &_rangeScan)
std::vector< float > fVars
Extra variables to be used as desired by the derived class.
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 (Not...
bool load2D_from_text_file(const std::string &file)
Load from a text file.
A virtual base class that implements the capability of importing 3D point clouds and faces from a fil...
void getPCLPointCloud(POINTCLOUD &cloud) const
Use to convert this MRPT point cloud object into a PCL point cloud object (PointCloud<PointXYZ>).
size_t PLY_export_get_face_count() const MRPT_OVERRIDE
In a base class, return the number of faces.
float m_largestDistanceFromOrigin
Auxiliary variables used in "getLargestDistanceFromOrigin".
Optional settings for saveLASFile()
std::vector< float > fVars
Extra variables to be used as desired by the derived class.
virtual void setPoint(size_t index, float x, float y, float z, float R, float G, float B)
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(...
bool also_interpolate
If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" inte...
mrpt::obs::CSinCosLookUpTableFor2DScans m_scans_sincos_cache
Cache of sin/cos values for the latest 2D scan geometries.
#define MRPT_START
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Extra information gathered from the LAS file header.
static float COLOR_3DSCENE_B
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
virtual void resize(size_t newLength)=0
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
void mark_as_modified() const
Called only by this class or children classes, set m_largestDistanceFromOriginIsUpdated=false and suc...
bool addToExistingPointsMap
Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded...
bool fuseWithExisting
If set to true (default=false), inserted points are "fused" with previously existent ones...
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 ...
TLikelihoodOptions likelihoodOptions
bool load3D_from_text_file(const std::string &file)
Load from a text file.
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.
size_t size(const MATRIXLIKE &m, int dim)
Definition: bits.h:38
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose.
Definition: CPose2D.h:36
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Declares a class that represents any robot&#39;s observation.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
unsigned long getPoint(size_t index, mrpt::math::TPoint3D &p) const
virtual void insertPoint(float x, float y, float z, float R, float G, float B)
float horizontalTolerance
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).
#define ASSERT_(f)
A RGB color - floats in the range [0,1].
Definition: TColor.h:52
const std::vector< float > & getPointsBufferRef_z() const
Provides a direct access to a read-only reference of the internal point buffer.
PointCloudAdapter(const mrpt::maps::CPointsMap &obj)
Constructor (accept a const ref for convenience)
Helper struct used for internal_loadFromRangeScan3D_prepareOneRange()
TInsertionOptions insertionOptions
The options used when inserting observations in the map.
double max_corr_distance
Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point ...
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const MRPT_OVERRIDE
If the map is a simple points map or it&#39;s a multi-metric map that contains EXACTLY one simple points ...
void enableFilterByHeight(bool enable=true)
Enable/disable the filter-by-height functionality.
An adapter to different kinds of point cloud object.
Definition: adapters.h:38
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() MRPT_OVERRIDE
uint32_t decimation
Speed up the likelihood computation by considering only one out of N rays (default=10) ...
Lightweight 3D point.
Parameters for the determination of matchings between point clouds, etc.
mrpt::math::CMatrixDouble44 HM
Homog matrix of the local sensor pose within the robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Lightweight 2D point.
size_t size() const
Returns the number of stored points in the map.
float getLargestDistanceFromOriginNoRecompute(bool &output_is_valid) const
Like getLargestDistanceFromOrigin() but returns in output_is_valid = false if the distance was not al...
A virtual base class that implements the capability of exporting 3D point clouds and faces to a file ...
bool disableDeletion
If set to false (default=true) points in the same plane as the inserted scan and inside the free spac...
void boundingBox(mrpt::math::TPoint3D &pMin, mrpt::math::TPoint3D &pMax) const
void setPoint(size_t index, mrpt::math::TPoint2D &p)
void insertPoint(const mrpt::math::TPoint3D &p)
virtual bool hasColorPoints() const
Returns true if the point map has a color field for each point.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Helper struct used for internal_loadFromRangeScan2D_prepareOneRange()
void resize(const size_t N)
Set number of points (to uninitialized values)
uint16_t creation_DOY
Creation day of year.
double m_heightfilter_z_min
The minimum and maximum height for a certain laser scan to be inserted into this map.
float minDistBetweenLaserPoints
The minimum distance between points (in 3D): If two points are too close, one of them is not inserted...
Optional settings for loadLASFile()



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