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9 #ifndef CColouredPointsMap_H
10 #define CColouredPointsMap_H
63 virtual void insertPointFast(
float x,
float y,
float z = 0 )
MRPT_OVERRIDE;
72 virtual
void getPointAllFieldsFast( const
size_t index, std::vector<
float> & point_data ) const
MRPT_OVERRIDE {
74 point_data[0] = x[index];
75 point_data[1] = y[index];
76 point_data[2] = z[index];
77 point_data[3] = m_color_R[index];
78 point_data[4] = m_color_G[index];
79 point_data[5] = m_color_B[index];
88 x[index] = point_data[0];
89 y[index] = point_data[1];
90 z[index] = point_data[2];
91 m_color_R[index] = point_data[3];
92 m_color_G[index] = point_data[4];
93 m_color_B[index] = point_data[5];
116 bool save3D_and_colour_to_text_file(
const std::string &file)
const;
121 virtual void setPoint(
size_t index,
float x,
float y,
float z,
float R,
float G,
float B)
MRPT_OVERRIDE;
125 inline void setPoint(
size_t index,
float x,
float y,
float z) {
127 setPointFast(index,x,y,z);
137 virtual void insertPoint(
float x,
float y,
float z,
float R,
float G,
float B )
MRPT_OVERRIDE;
146 inline void insertPoint(
float x,
float y,
float z) { insertPointFast(x,y,z); mark_as_modified(); }
151 void setPointColor(
size_t index,
float R,
float G,
float B);
156 this->m_color_R[index]=R;
157 this->m_color_G[index]=G;
158 this->m_color_B[index]=B;
163 virtual void getPoint(
size_t index,
float &x,
float &y,
float &z,
float &R,
float &G,
float &B )
const MRPT_OVERRIDE;
166 unsigned long getPoint(
size_t index,
float &x,
float &y,
float &z)
const;
169 void getPointColor(
size_t index,
float &R,
float &G,
float &B )
const;
174 R = m_color_R[index];
175 G = m_color_G[index];
176 B = m_color_B[index];
185 virtual void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj )
const MRPT_OVERRIDE;
197 cmFromHeightRelativeToSensor = 0,
198 cmFromHeightRelativeToSensorJet = 0,
199 cmFromHeightRelativeToSensorGray = 1,
200 cmFromIntensityImage = 2
220 void resetPointsMinDist(
float defValue = 2000.0f );
226 virtual bool savePCDFile(
const std::string &filename,
bool save_as_binary)
const MRPT_OVERRIDE;
238 template <
class POINTCLOUD>
241 const size_t N = cloud.points.size();
244 const float f = 1.0f/255.0f;
245 for (
size_t i=0;i<N;++i)
246 this->insertPoint(cloud.points[i].x,cloud.points[i].y,cloud.points[i].z,cloud.points[i].r*f,cloud.points[i].g*f,cloud.points[i].b*f);
250 template <
class POINTCLOUD>
253 const size_t nThis = this->
size();
254 this->getPCLPointCloud(cloud);
256 for (
size_t i = 0; i < nThis; ++i) {
258 this->getPointColor_fast(i,R,G,B);
259 cloud.points[i].r =
static_cast<uint8_t
>(R*255);
260 cloud.points[i].g =
static_cast<uint8_t
>(G*255);
261 cloud.points[i].b =
static_cast<uint8_t
>(B*255);
281 virtual
void PLY_import_set_vertex(const
size_t idx, const
mrpt::math::TPoint3Df &pt, const
mrpt::utils::TColorf *pt_color = NULL)
MRPT_OVERRIDE;
284 virtual
void PLY_import_set_vertex_count(const
size_t N)
MRPT_OVERRIDE;
289 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;
303 #include <mrpt/utils/adapters.h>
314 static const int HAS_RGB = 1;
315 static const int HAS_RGBf = 1;
316 static const int HAS_RGBu8 = 0;
321 inline size_t size()
const {
return m_obj.
size(); }
326 template <
typename T>
327 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
336 template <
typename T>
337 inline void getPointXYZ_RGBf(
const size_t idx, T &x,T &y, T &z,
float &r,
float &g,
float &b)
const {
346 template <
typename T>
347 inline void getPointXYZ_RGBu8(
const size_t idx, T &x,T &y, T &z, uint8_t &r,uint8_t &g,uint8_t &b)
const {
350 r=Rf*255; g=Gf*255; b=Bf*255;
354 m_obj.
setPoint(idx,x,y,z,r/255.f,g/255.f,b/255.f);
363 inline void getPointRGBu8(
const size_t idx, uint8_t &r,uint8_t &g,uint8_t &b)
const {
366 r=R*255; g=G*255; b=B*255;
369 inline void setPointRGBu8(
const size_t idx,
const uint8_t r,
const uint8_t g,
const uint8_t b) {
Lightweight 3D point (float version).
An adapter to different kinds of point cloud object.
std::vector< float > m_color_R
The color data.
void getPointXYZ_RGBu8(const size_t idx, T &x, T &y, T &z, uint8_t &r, uint8_t &g, uint8_t &b) const
Get XYZ_RGBu8 coordinates of i'th point.
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...
mrpt::maps::CColouredPointsMap & m_obj
void getPointXYZ_RGBf(const size_t idx, T &x, T &y, T &z, float &r, float &g, float &b) const
Get XYZ_RGBf coordinates of i'th point.
size_t size() const
Returns the number of stored points in the map.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
A map of 2D/3D points with individual colours (RGB).
void setPointRGBu8(const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
Set RGBu8 coordinates of i'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,...
TColourOptions colorScheme
The options employed when inserting laser scans in the map.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
With this struct options are provided to the observation insertion process.
void setPointColor_fast(size_t index, float R, float G, float B)
Like setPointColor but without checking for out-of-index erors.
double z
X,Y,Z coordinates.
void getPointRGBu8(const size_t idx, uint8_t &r, uint8_t &g, uint8_t &b) const
Get RGBu8 color of i'th point.
size_t size(const MATRIXLIKE &m, int dim)
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.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE
Set all the data fields for one point as a vector: [X Y Z R G B] Unlike setPointAllFields(),...
void setFromPCLPointCloudRGB(const POINTCLOUD &cloud)
Loads a PCL point cloud (WITH RGB information) into this MRPT class (for clouds without RGB data,...
float coords_t
The type of each point XYZ coordinates.
#define ASSERT_BELOW_(__A, __B)
void getPCLPointCloudXYZRGB(POINTCLOUD &cloud) const
Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZRGB>
void insertPoint(const mrpt::math::TPoint3D &p)
This is an overloaded member function, provided for convenience. It differs from the above function o...
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
void setPointRGBf(const size_t idx, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
void setPointXYZ_RGBu8(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const uint8_t r, const uint8_t g, const uint8_t b)
Set XYZ_RGBu8 coordinates of i'th point.
void setPointXYZ_RGBf(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
void setPoint(size_t index, mrpt::math::TPoint3Df &p)
This is an overloaded member function, provided for convenience. It differs from the above function o...
void insertPoint(float x, float y, float z)
This is an overloaded member function, provided for convenience. It differs from the above function o...
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
double x() const
Common members of all points & poses classes.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual void setPoint(size_t index, float x, float y, float z, float R, float G, float B) MRPT_OVERRIDE
Changes a given point from map.
virtual bool hasColorPoints() const MRPT_OVERRIDE
Returns true if the point map has a color field for each point.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
virtual ~TColourOptions()
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...
void getPointRGBf(const size_t idx, float &r, float &g, float &b) const
Get RGBf color of i'th point.
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...
The definition of parameters for generating colors from laser scans.
TColouringMethod
The choices for coloring schemes:
#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...
void setPoint(size_t index, float x, float y)
This is an overloaded member function, provided for convenience. It differs from the above function o...
void insertPoint(const mrpt::poses::CPoint3D &p)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
PointCloudAdapter(const mrpt::maps::CColouredPointsMap &obj)
Constructor (accept a const ref for convenience)
virtual void getPoint(size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const MRPT_OVERRIDE
Retrieves a point and its color (colors range is [0,1])
void getPointColor_fast(size_t index, float &R, float &G, float &B) const
Like getPointColor but without checking for out-of-index erors.
void insertPoint(const mrpt::math::TPoint3Df &p)
This is an overloaded member function, provided for convenience. It differs from the above function o...
void resize(const size_t N)
Set number of points (to uninitialized values)
A class used to store a 3D point.
void setPoint(size_t index, float x, float y, float z)
This is an overloaded member function, provided for convenience. It differs from the above function o...
size_t size() const
Get number of points.
Declares a class derived from "CObservation" that encapsules an image from a camera,...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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