A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
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.
Definition at line 50 of file CSimplePointsMap.h.
#include <mrpt/slam/CSimplePointsMap.h>
Public Member Functions | |
virtual | ~CSimplePointsMap () |
Destructor. | |
CSimplePointsMap () | |
Default constructor. | |
void | copyFrom (const CPointsMap &obj) |
Copy operator. | |
void | loadFromRangeScan (const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL) |
Transform the range scan into a set of cartesian coordinated points. | |
void | loadFromRangeScan (const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL) |
Enter the set of cartesian coordinated points from the 3D range scan into the map. | |
bool | load2D_from_text_file (std::string file) |
Load from a text file. | |
bool | load3D_from_text_file (std::string file) |
Load from a text file. | |
void | fuseWith (CPointsMap *otherMap, 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 | insertAnotherMap (CPointsMap *otherMap, const CPose2D &otherPose) |
Insert the contents of another map into this one, without fusing close points. | |
virtual void | setPoint (size_t index, CPoint2D &p) |
Changes a given point from map, as a 2D point. | |
virtual void | setPoint (size_t index, CPoint3D &p) |
Changes a given point from map, as a 3D point. | |
virtual void | setPoint (size_t index, float x, float y) |
Changes a given point from map. | |
virtual void | setPoint (size_t index, float x, float y, float z) |
Changes a given point from map. | |
void | insertPoint (float x, float y, float z=0) |
Provides a way to insert individual points into the map: | |
void | insertPoint (const mrpt::math::TPoint3D &new_pnt) |
Provides a way to insert individual points into the map: | |
void | applyDeletionMask (std::vector< bool > &mask) |
Remove from the map the points marked in a bool's array as "true". | |
void | auxParticleFilterCleanUp () |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". | |
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. | |
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). | |
virtual 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. | |
virtual 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). | |
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 () |
Protected Member Functions | |
virtual void | internal_clear () |
Clear the map, erasing all the points. | |
bool | internal_insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL) |
Insert the observation information into this map. | |
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 () |
A typedef for the associated smart pointer
Definition at line 53 of file CSimplePointsMap.h.
virtual mrpt::slam::CSimplePointsMap::~CSimplePointsMap | ( | ) | [virtual] |
Destructor.
mrpt::slam::CSimplePointsMap::CSimplePointsMap | ( | ) |
Default constructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimplePointsMap::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CPointsMap.
void mrpt::slam::CSimplePointsMap::applyDeletionMask | ( | std::vector< bool > & | mask | ) | [virtual] |
Remove from the map the points marked in a bool's array as "true".
std::exception | If mask size is not equal to points count. |
Implements mrpt::slam::CPointsMap.
void mrpt::slam::CSimplePointsMap::auxParticleFilterCleanUp | ( | ) | [virtual] |
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.
Implements mrpt::slam::CMetricMap.
void mrpt::slam::CSimplePointsMap::copyFrom | ( | const CPointsMap & | obj | ) | [virtual] |
Copy operator.
Implements mrpt::slam::CPointsMap.
static CSimplePointsMapPtr mrpt::slam::CSimplePointsMap::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CSimplePointsMap::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CSimplePointsMap::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::slam::CSimplePointsMap::fuseWith | ( | CPointsMap * | otherMap, |
float | minDistForFuse = 0.02f , |
||
std::vector< bool > * | notFusedPoints = NULL |
||
) | [virtual] |
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.
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. |
Implements mrpt::slam::CPointsMap.
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::CMetricMap.
Definition at line 207 of file CSimplePointsMap.h.
virtual CSimplePointsMap* mrpt::slam::CSimplePointsMap::getAsSimplePointsMap | ( | ) | [inline, virtual] |
Reimplemented from mrpt::slam::CMetricMap.
Definition at line 208 of file CSimplePointsMap.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.
void mrpt::slam::CSimplePointsMap::insertAnotherMap | ( | CPointsMap * | otherMap, |
const CPose2D & | otherPose | ||
) |
Insert the contents of another map into this one, without fusing close points.
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 |
void mrpt::slam::CSimplePointsMap::insertPoint | ( | float | x, |
float | y, | ||
float | z = 0 |
||
) | [virtual] |
Provides a way to insert individual points into the map:
Implements mrpt::slam::CPointsMap.
void mrpt::slam::CSimplePointsMap::insertPoint | ( | const mrpt::math::TPoint3D & | new_pnt | ) | [inline] |
Provides a way to insert individual points into the map:
Reimplemented from mrpt::slam::CPointsMap.
Definition at line 154 of file CSimplePointsMap.h.
virtual void mrpt::slam::CSimplePointsMap::internal_clear | ( | ) | [protected, virtual] |
Clear the map, erasing all the points.
Implements mrpt::slam::CMetricMap.
bool mrpt::slam::CSimplePointsMap::internal_insertObservation | ( | const CObservation * | obs, |
const CPose3D * | robotPose = NULL |
||
) | [protected, virtual] |
Insert the observation information into this map.
This method must be implemented in derived classes.
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 CPose2D(0,0,deg) |
Implements mrpt::slam::CMetricMap.
bool mrpt::slam::CSimplePointsMap::load2D_from_text_file | ( | std::string | file | ) | [virtual] |
Load from a text file.
In each line there are a point coordinates. Returns false if any error occured, true elsewere.
Implements mrpt::slam::CPointsMap.
bool mrpt::slam::CSimplePointsMap::load3D_from_text_file | ( | std::string | file | ) | [virtual] |
Load from a text file.
In each line there are a point coordinates. Returns false if any error occured, true elsewere.
Implements mrpt::slam::CPointsMap.
void mrpt::slam::CSimplePointsMap::loadFromRangeScan | ( | const CObservation3DRangeScan & | rangeScan, |
const CPose3D * | robotPose = NULL |
||
) |
Enter the set of cartesian coordinated points from the 3D range scan into the map.
The options in "insertionOptions" are considered in this method.
rangeScan | The 3D scan to be inserted into this map |
robotPose | The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class. |
NOTE: Only ranges marked as "valid=true" in the observation will be inserted
void mrpt::slam::CSimplePointsMap::loadFromRangeScan | ( | const CObservation2DRangeScan & | rangeScan, |
const CPose3D * | robotPose = NULL |
||
) | [virtual] |
Transform the range scan into a set of cartesian coordinated points.
The options in "insertionOptions" are considered in this method.
rangeScan | The scan to be inserted into this map |
robotPose | The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class. |
NOTE: Only ranges marked as "valid=true" in the observation will be inserted
Implements mrpt::slam::CPointsMap.
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::setAllPoints | ( | const std::vector< float > & | X, |
const std::vector< float > & | Y, | ||
const std::vector< float > & | Z | ||
) | [inline, virtual] |
Set all the points at once from vectors with X,Y and Z coordinates.
Implements mrpt::slam::CPointsMap.
Definition at line 193 of file CSimplePointsMap.h.
virtual void mrpt::slam::CSimplePointsMap::setAllPoints | ( | const std::vector< float > & | X, |
const std::vector< float > & | Y | ||
) | [inline, virtual] |
Set all the points at once from vectors with X and Y coordinates (Z=0).
Implements mrpt::slam::CPointsMap.
Definition at line 199 of file CSimplePointsMap.h.
void mrpt::slam::CSimplePointsMap::setAllPointsTemplate | ( | const VECTOR & | X, |
const VECTOR & | Y, | ||
const VECTOR & | Z = VECTOR() |
||
) | [inline] |
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).
VECTOR | can be mrpt::vector_float or std::vector<float> or any other column or row Eigen::Matrix. |
Definition at line 179 of file CSimplePointsMap.h.
References ASSERT_, ASSERT_EQUAL_, and internal::y.
virtual void mrpt::slam::CSimplePointsMap::setPoint | ( | size_t | index, |
CPoint2D & | p | ||
) | [virtual] |
Changes a given point from map, as a 2D point.
First index is 0.
Throws | std::exception on index out of bound. |
Implements mrpt::slam::CPointsMap.
virtual void mrpt::slam::CSimplePointsMap::setPoint | ( | size_t | index, |
float | x, | ||
float | y, | ||
float | z | ||
) | [virtual] |
Changes a given point from map.
First index is 0.
Throws | std::exception on index out of bound. |
Implements mrpt::slam::CPointsMap.
virtual void mrpt::slam::CSimplePointsMap::setPoint | ( | size_t | index, |
CPoint3D & | p | ||
) | [virtual] |
Changes a given point from map, as a 3D point.
First index is 0.
Throws | std::exception on index out of bound. |
Implements mrpt::slam::CPointsMap.
virtual void mrpt::slam::CSimplePointsMap::setPoint | ( | size_t | index, |
float | x, | ||
float | y | ||
) | [virtual] |
Changes a given point from map.
First index is 0.
Throws | std::exception on index out of bound. |
Implements mrpt::slam::CPointsMap.
mrpt::utils::CLASSINIT mrpt::slam::CSimplePointsMap::_init_CSimplePointsMap [static, protected] |
Definition at line 53 of file CSimplePointsMap.h.
Definition at line 53 of file CSimplePointsMap.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimplePointsMap::classinfo [static] |
Definition at line 53 of file CSimplePointsMap.h.
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