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maps/CWeightedPointsMap.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 CWeightedPointsMap_H
10#define CWeightedPointsMap_H
11
16#include <mrpt/math/CMatrix.h>
17
19
20namespace mrpt
21{
22 namespace maps
23 {
24
26
27 /** A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
28 * This class stores the coordinates (x,y,z) and a "weight", or counter of how many times that point has been seen, used only if points fusion is enabled in the options structure.
29 * \sa CMetricMap, CPoint, mrpt::utils::CSerializable, CSimplePointsMap
30 * \ingroup mrpt_maps_grp
31 */
33 {
34 // This must be added to any CSerializable derived class:
36
37 public:
38 CWeightedPointsMap(); //!< Default constructor
39 virtual ~CWeightedPointsMap(); //!< Destructor
40
41 // --------------------------------------------
42 /** @name Pure virtual interfaces to be implemented by any class derived from CPointsMap
43 @{ */
44 virtual void reserve(size_t newLength) MRPT_OVERRIDE; // See base class docs
45 virtual void resize(size_t newLength) MRPT_OVERRIDE; // See base class docs
46 virtual void setSize(size_t newLength) MRPT_OVERRIDE; // See base class docs
47
48 /** Changes the coordinates of the given point (0-based index), *without* checking for out-of-bounds and *without* calling mark_as_modified() \sa setPoint */
49 virtual void setPointFast(size_t index,float x, float y, float z) MRPT_OVERRIDE;
50
51 /** The virtual method for \a insertPoint() *without* calling mark_as_modified() */
52 virtual void insertPointFast( float x, float y, float z = 0 ) MRPT_OVERRIDE;
53
54 /** Virtual assignment operator, to be implemented in derived classes */
55 virtual void copyFrom(const CPointsMap &obj) MRPT_OVERRIDE;
56
57 /** Get all the data fields for one point as a vector: [X Y Z WEIGHT]
58 * Unlike getPointAllFields(), this method does not check for index out of bounds
59 * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast
60 */
61 virtual void getPointAllFieldsFast( const size_t index, std::vector<float> & point_data ) const MRPT_OVERRIDE {
62 point_data.resize(4);
63 point_data[0] = x[index];
64 point_data[1] = y[index];
65 point_data[2] = z[index];
66 point_data[3] = pointWeight[index];
67 }
68
69 /** Set all the data fields for one point as a vector: [X Y Z WEIGHT]
70 * Unlike setPointAllFields(), this method does not check for index out of bounds
71 * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
72 */
73 virtual void setPointAllFieldsFast( const size_t index, const std::vector<float> & point_data ) MRPT_OVERRIDE {
74 ASSERTDEB_(point_data.size()==4)
75 x[index] = point_data[0];
76 y[index] = point_data[1];
77 z[index] = point_data[2];
78 pointWeight[index] = point_data[3];
79 }
80
81 /** See CPointsMap::loadFromRangeScan() */
82 virtual void loadFromRangeScan(
84 const mrpt::poses::CPose3D *robotPose = NULL ) MRPT_OVERRIDE;
85
86 /** See CPointsMap::loadFromRangeScan() */
87 virtual void loadFromRangeScan(
89 const mrpt::poses::CPose3D *robotPose = NULL ) MRPT_OVERRIDE;
90
91 protected:
92
93 /** Auxiliary method called from within \a addFrom() automatically, to finish the copying of class-specific data */
94 virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE;
95
96 // Friend methods:
97 template <class Derived> friend struct detail::loadFromRangeImpl;
98 template <class Derived> friend struct detail::pointmap_traits;
99
100 public:
101
102 /** @} */
103 // --------------------------------------------
104
105 /// 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
106 virtual void setPointWeight(size_t index,unsigned long w) MRPT_OVERRIDE { pointWeight[index]=w; }
107 /// 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
108 virtual unsigned int getPointWeight(size_t index) const MRPT_OVERRIDE { return pointWeight[index]; }
109
110 protected:
111 std::vector<uint32_t> pointWeight; //!< The points weights
112
113 /** Clear the map, erasing all the points.
114 */
116
117 protected:
118 /** @name PLY Import virtual methods to implement in base classes
119 @{ */
120 /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */
121 virtual void PLY_import_set_vertex_count(const size_t N) MRPT_OVERRIDE;
122 /** @} */
123
125 mrpt::maps::CPointsMap::TInsertionOptions insertionOpts; //!< Observations insertion options
126 mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts; //!< Probabilistic observation likelihood options
128 }; // End of class def.
130 } // End of namespace
131
132 namespace utils
133 {
134 /** Specialization mrpt::utils::PointCloudAdapter<mrpt::maps::CWeightedPointsMap> \ingroup mrpt_adapters_grp*/
135 template <>
136 class PointCloudAdapter<mrpt::maps::CWeightedPointsMap> : public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CWeightedPointsMap,float>
137 {
138 private:
140 public:
141 typedef float coords_t; //!< The type of each point XYZ coordinates
142 static const int HAS_RGB = 0; //!< Has any color RGB info?
143 static const int HAS_RGBf = 0; //!< Has native RGB info (as floats)?
144 static const int HAS_RGBu8 = 0; //!< Has native RGB info (as uint8_t)?
145
146 /** Constructor (accept a const ref for convenience) */
147 inline PointCloudAdapter(const mrpt::maps::CWeightedPointsMap &obj) : m_obj(*const_cast<mrpt::maps::CWeightedPointsMap*>(&obj)) { }
148 /** Get number of points */
149 inline size_t size() const { return m_obj.size(); }
150 /** Set number of points (to uninitialized values) */
151 inline void resize(const size_t N) { m_obj.resize(N); }
152
153 /** Get XYZ coordinates of i'th point */
154 template <typename T>
155 inline void getPointXYZ(const size_t idx, T &x,T &y, T &z) const {
156 m_obj.getPointFast(idx,x,y,z);
157 }
158 /** Set XYZ coordinates of i'th point */
159 inline void setPointXYZ(const size_t idx, const coords_t x,const coords_t y, const coords_t z) {
160 m_obj.setPointFast(idx,x,y,z);
161 }
162 }; // end of PointCloudAdapter<mrpt::maps::CPointsMap>
163 }
164} // End of namespace
165
166#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ... MAP_DEFINITION_END() block inside the declaration of each metric map...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
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,...
size_t size() const
Returns the number of stored points in the map.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
virtual void reserve(size_t newLength) MRPT_OVERRIDE
Reserves memory for a given number of points: the size of the map does not change,...
std::vector< uint32_t > pointWeight
The points weights.
CWeightedPointsMap()
Default constructor.
virtual void internal_clear() MRPT_OVERRIDE
Clear the map, erasing all the points.
virtual void setPointFast(size_t index, float x, float y, float z) MRPT_OVERRIDE
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
virtual ~CWeightedPointsMap()
Destructor.
virtual void insertPointFast(float x, float y, float z=0) MRPT_OVERRIDE
The virtual method for insertPoint() without calling mark_as_modified()
virtual unsigned int getPointWeight(size_t index) const MRPT_OVERRIDE
Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually st...
virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
virtual void loadFromRangeScan(const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
See CPointsMap::loadFromRangeScan()
virtual void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
See CPointsMap::loadFromRangeScan()
virtual void resize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE
Set all the data fields for one point as a vector: [X Y Z WEIGHT] Unlike setPointAllFields(),...
virtual void setPointWeight(size_t index, unsigned long w) MRPT_OVERRIDE
Sets the point weight, which is ignored in all classes but those which actually store that field (Not...
virtual void setSize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition CPose3D.h:73
PointCloudAdapter(const mrpt::maps::CWeightedPointsMap &obj)
Constructor (accept a const ref for convenience)
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
void resize(const size_t N)
Set number of points (to uninitialized values)
An adapter to different kinds of point cloud object.
Definition adapters.h:38
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
Definition adapters.h:49
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
STL namespace.
With this struct options are provided to the observation insertion process.
Options used when evaluating "computeObservationLikelihood" in the derived classes.



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