9 #ifndef CSimplePointsMap_H 10 #define CSimplePointsMap_H 40 virtual ~CSimplePointsMap();
50 virtual
void reserve(
size_t newLength);
56 virtual
void resize(
size_t newLength);
62 virtual
void setSize(
size_t newLength);
65 virtual
void setPointFast(
size_t index,
float x,
float y,
float z);
68 virtual
void insertPointFast(
float x,
float y,
float z = 0 );
72 virtual
void copyFrom(const CPointsMap &obj);
78 virtual
void getPointAllFieldsFast( const
size_t index,
std::vector<
float> & point_data )
const {
80 point_data[0] = x[index];
81 point_data[1] = y[index];
82 point_data[2] = z[index];
91 x[index] = point_data[0];
92 y[index] = point_data[1];
93 z[index] = point_data[2];
97 virtual void loadFromRangeScan(
102 virtual void loadFromRangeScan(
135 virtual void internal_clear();
140 virtual void PLY_import_set_vertex_count(
const size_t N);
162 static const int HAS_RGB = 0;
163 static const int HAS_RGBf = 0;
164 static const int HAS_RGBu8 = 0;
169 inline size_t size()
const {
return m_obj.
size(); }
174 template <
typename T>
175 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
179 inline void setPointXYZ(
const size_t idx,
const coords_t x,
const coords_t y,
const coords_t z) {
float coords_t
The type of each point XYZ coordinates.
virtual void resize(size_t newLength)
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
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...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
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 ...
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
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 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. ...
With this struct options are provided to the observation insertion process.
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap()
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
#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...
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.
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
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...
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points ...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
size_t size() const
Get number of points.
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Options used when evaluating "computeObservationLikelihood" in the derived classes.
mrpt::maps::CSimplePointsMap & m_obj
An adapter to different kinds of point cloud object.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
size_t size() const
Returns the number of stored points in the map.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
void resize(const size_t N)
Set number of points (to uninitialized 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 wi...