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<div class="title">CColouredPointsMap.h</div> </div>
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<a href="_c_coloured_points_map_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CColouredPointsMap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CColouredPointsMap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_points_map_8h.html">mrpt/slam/CPointsMap.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation2_d_range_scan_8h.html">mrpt/slam/CObservation2DRangeScan.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation_image_8h.html">mrpt/slam/CObservationImage.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_matrix_8h.html">mrpt/math/CMatrix.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="stl__extensions_8h.html">mrpt/utils/stl_extensions.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html">mrpt/maps/link_pragmas.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">namespace </span>slam
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">class </span>CObservation3DRangeScan;
<a name="l00045"></a>00045
<a name="l00046"></a>00046
<a name="l00047"></a><a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_ptr.html#ad6688a5bc92cfdf7481629754b72ad0c">00047</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html" title="A map of 2D/3D points with individual colours (RGB).">CColouredPointsMap</a>, <a class="code" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">CPointsMap</a>,<a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> )
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="comment">/** A map of 2D/3D points with individual colours (RGB).</span>
<a name="l00050"></a>00050 <span class="comment"> * For different color schemes, see CColouredPointsMap::colorScheme</span>
<a name="l00051"></a>00051 <span class="comment"> * Colors are defined in the range [0,1].</span>
<a name="l00052"></a>00052 <span class="comment"> * \sa mrpt::slam::CPointsMap, mrpt::slam::CMetricMap, mrpt::utils::CSerializable</span>
<a name="l00053"></a>00053 <span class="comment"> * \ingroup mrpt_maps_grp</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a>00055 class <a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html" title="A map of 2D/3D points with individual colours (RGB).">CColouredPointsMap</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">CPointsMap</a>
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00058"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#ad8e62a15324b5f42dc8c99be5fea1d63">00058</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html" title="A map of 2D/3D points with individual colours (RGB).">CColouredPointsMap</a> )
<a name="l00059"></a>00059
<a name="l00060"></a>00060 public:<span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** Destructor</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 virtual ~<a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html" title="A map of 2D/3D points with individual colours (RGB).">CColouredPointsMap</a>();
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Default constructor</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 CColouredPointsMap();
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">// --------------------------------------------</span><span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** @name Pure virtual interfaces to be implemented by any class derived from CPointsMap</span>
<a name="l00071"></a>00071 <span class="comment"> @{ */</span>
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.</span>
<a name="l00074"></a>00074 <span class="comment"> * This is useful for situations where it is approximately known the final size of the map. This method is more</span>
<a name="l00075"></a>00075 <span class="comment"> * efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 virtual <span class="keywordtype">void</span> reserve(<span class="keywordtype">size_t</span> newLength);
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Resizes all point buffers so they can hold the given number of points: newly created points are set to default values,</span>
<a name="l00080"></a>00080 <span class="comment"> * and old contents are not changed.</span>
<a name="l00081"></a>00081 <span class="comment"> * \sa reserve, setPoint, setPointFast, setSize</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 virtual <span class="keywordtype">void</span> resize(<span class="keywordtype">size_t</span> newLength);
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Resizes all point buffers so they can hold the given number of points, *erasing* all previous contents</span>
<a name="l00086"></a>00086 <span class="comment"> * and leaving all points to default values.</span>
<a name="l00087"></a>00087 <span class="comment"> * \sa reserve, setPoint, setPointFast, setSize</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 virtual <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#a8133077108cd44f617e7784243eb5db9" title="Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...">setSize</a>(<span class="keywordtype">size_t</span> newLength);
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Changes the coordinates of the given point (0-based index), *without* checking for out-of-bounds and *without* calling mark_as_modified() \sa setPoint */</span>
<a name="l00092"></a>00092 virtual <span class="keywordtype">void</span> setPointFast(<span class="keywordtype">size_t</span> index,<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z);
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** The virtual method for \a insertPoint() *without* calling mark_as_modified() */</span>
<a name="l00095"></a>00095 virtual <span class="keywordtype">void</span> insertPointFast( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z = 0 );
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Virtual assignment operator, to be implemented in derived classes.</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 virtual <span class="keywordtype">void</span> copyFrom(const CPointsMap &obj);
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Get all the data fields for one point as a vector: [X Y Z R G B]</span>
<a name="l00102"></a>00102 <span class="comment"> * Unlike getPointAllFields(), this method does not check for index out of bounds</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a686464c642a349b8d3f213b8c0e4ccbf">00105</a> virtual <span class="keywordtype">void</span> getPointAllFieldsFast( const <span class="keywordtype">size_t</span> index, std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keywordtype">float</span>> & point_data )<span class="keyword"> const </span>{
<a name="l00106"></a>00106 point_data.resize(6);
<a name="l00107"></a>00107 point_data[0] = x[index];
<a name="l00108"></a>00108 point_data[1] = y[index];
<a name="l00109"></a>00109 point_data[2] = z[index];
<a name="l00110"></a>00110 point_data[3] = m_color_R[index];
<a name="l00111"></a>00111 point_data[4] = m_color_G[index];
<a name="l00112"></a>00112 point_data[5] = m_color_B[index];
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Set all the data fields for one point as a vector: [X Y Z R G B]</span>
<a name="l00116"></a>00116 <span class="comment"> * Unlike setPointAllFields(), this method does not check for index out of bounds</span>
<a name="l00117"></a>00117 <span class="comment"> * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#aa46442e28710531aef4b2ac589c2531f">00119</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#aa46442e28710531aef4b2ac589c2531f" title="Set all the data fields for one point as a vector: [X Y Z R G B] Unlike setPointAllFields(), this method does not check for index out of bounds.">setPointAllFieldsFast</a>( <span class="keyword">const</span> <span class="keywordtype">size_t</span> index, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> & point_data ) {
<a name="l00120"></a>00120 <a class="code" href="mrpt__macros_8h.html#a5ad4d8d68e2f6664f247407bf89aac55" title="Defines an assertion mechanism - only when compiled in debug.">ASSERTDEB_</a>(point_data.size()==6)
<a name="l00121"></a>00121 x[index] = point_data[0];
<a name="l00122"></a>00122 <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>[index] = point_data[1];
<a name="l00123"></a>00123 z[index] = point_data[2];
<a name="l00124"></a>00124 m_color_R[index] = point_data[3];
<a name="l00125"></a>00125 m_color_G[index] = point_data[4];
<a name="l00126"></a>00126 m_color_B[index] = point_data[5];
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** See CPointsMap::loadFromRangeScan() */</span>
<a name="l00130"></a>00130 <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadFromRangeScan(
<a name="l00131"></a>00131 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> &rangeScan,
<a name="l00132"></a>00132 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> *robotPose = NULL );
<a name="l00133"></a>00133 <span class="comment"></span>
<a name="l00134"></a>00134 <span class="comment"> /** See CPointsMap::loadFromRangeScan() */</span>
<a name="l00135"></a>00135 <span class="keyword">virtual</span> <span class="keywordtype">void</span> loadFromRangeScan(
<a name="l00136"></a>00136 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a> &rangeScan,
<a name="l00137"></a>00137 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> *robotPose = NULL );
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="keyword">protected</span>:
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Auxiliary method called from within \a addFrom() automatically, to finish the copying of class-specific data */</span>
<a name="l00142"></a>00142 <span class="keyword">virtual</span> <span class="keywordtype">void</span> addFrom_classSpecific(<span class="keyword">const</span> CPointsMap &anotherMap, <span class="keyword">const</span> <span class="keywordtype">size_t</span> nPreviousPoints);
<a name="l00143"></a>00143
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <span class="comment">// Friend methods:</span>
<a name="l00146"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a700526b4e30cabbc0586c55a7b6f6741">00146</a> <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <span class="keyword">friend</span> <span class="keyword">struct </span>detail::loadFromRangeImpl;
<a name="l00147"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#aafa381e2b3f5424967299d7ff37dc181">00147</a> <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <span class="keyword">friend</span> <span class="keyword">struct </span>detail::pointmap_traits;
<a name="l00148"></a>00148
<a name="l00149"></a>00149 <span class="keyword">public</span>:
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** @} */</span>
<a name="l00153"></a>00153 <span class="comment">// --------------------------------------------</span>
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Save to a text file. In each line contains X Y Z (meters) R G B (range [0,1]) for each point in the map.</span>
<a name="l00156"></a>00156 <span class="comment"> * Returns false if any error occured, true elsewere.</span>
<a name="l00157"></a>00157 <span class="comment"> */</span>
<a name="l00158"></a>00158 <span class="keywordtype">bool</span> save3D_and_colour_to_text_file(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &file) <span class="keyword">const</span>;
<a name="l00159"></a>00159 <span class="comment"></span>
<a name="l00160"></a>00160 <span class="comment"> /** Changes a given point from map. First index is 0.</span>
<a name="l00161"></a>00161 <span class="comment"> * \exception Throws std::exception on index out of bound.</span>
<a name="l00162"></a>00162 <span class="comment"> */</span>
<a name="l00163"></a>00163 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setPoint(<span class="keywordtype">size_t</span> index,<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> R, <span class="keywordtype">float</span> G, <span class="keywordtype">float</span> B);
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="comment">// The following overloads must be repeated here (from CPointsMap) due to the shadowing of the above "setPoint()"</span><span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment"> /// \overload</span>
<a name="l00167"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a0fd74c70c59aacc14275a070c4c64ad1">00167</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a0fd74c70c59aacc14275a070c4c64ad1">setPoint</a>(<span class="keywordtype">size_t</span> index,<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z) {
<a name="l00168"></a>00168 <a class="code" href="mrpt__macros_8h.html#a8b01938f6fbebe5c4163b7c83a137d1d">ASSERT_BELOW_</a>(index,this-><a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>())
<a name="l00169"></a>00169 setPointFast(index,x,y,z);
<a name="l00170"></a>00170 mark_as_modified();
<a name="l00171"></a>00171 }<span class="comment"></span>
<a name="l00172"></a>00172 <span class="comment"> /// \overload</span>
<a name="l00173"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a43f006567b7a11b12d08abb31a98c927">00173</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a43f006567b7a11b12d08abb31a98c927">setPoint</a>(<span class="keywordtype">size_t</span> index,<a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a> &p) { <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a43f006567b7a11b12d08abb31a98c927">setPoint</a>(index,p.x(),p.y(),0); }<span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /// \overload</span>
<a name="l00175"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a243de027379e1c2e6f8127fad67aab22">00175</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a243de027379e1c2e6f8127fad67aab22">setPoint</a>(<span class="keywordtype">size_t</span> index,<a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> &p) { <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a243de027379e1c2e6f8127fad67aab22">setPoint</a>(index,p.x(),p.y(),p.z()); }<span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment"> /// \overload</span>
<a name="l00177"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a19f852504249b3d889d386c977415946">00177</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a19f852504249b3d889d386c977415946">setPoint</a>(<span class="keywordtype">size_t</span> index,<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>) { <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a19f852504249b3d889d386c977415946">setPoint</a>(index,x,y,0); }
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment"> /** Adds a new point given its coordinates and color (colors range is [0,1]) */</span>
<a name="l00181"></a>00181 <span class="keyword">virtual</span> <span class="keywordtype">void</span> insertPoint( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> R, <span class="keywordtype">float</span> G, <span class="keywordtype">float</span> B );
<a name="l00182"></a>00182 <span class="comment">// The following overloads must be repeated here (from CPointsMap) due to the shadowing of the above "insertPoint()"</span><span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment"> /// \overload of \a insertPoint()</span>
<a name="l00184"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#adb9744467316409f9b474a3cb6e30757">00184</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#adb9744467316409f9b474a3cb6e30757">insertPoint</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> &p ) { <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#adb9744467316409f9b474a3cb6e30757">insertPoint</a>(p.x(),p.y(),p.z()); }<span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /// \overload</span>
<a name="l00186"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a1b97f8ecb351260d70578efc6adbe37b">00186</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a1b97f8ecb351260d70578efc6adbe37b">insertPoint</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &p ) { <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a1b97f8ecb351260d70578efc6adbe37b">insertPoint</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>); }<span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment"> /// \overload</span>
<a name="l00188"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a0549ebd200f3285e7943343043ae9cbc">00188</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a0549ebd200f3285e7943343043ae9cbc">insertPoint</a>( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z) { insertPointFast(x,y,z); mark_as_modified(); }
<a name="l00189"></a>00189 <span class="comment"></span>
<a name="l00190"></a>00190 <span class="comment"> /** Changes just the color of a given point from the map. First index is 0.</span>
<a name="l00191"></a>00191 <span class="comment"> * \exception Throws std::exception on index out of bound.</span>
<a name="l00192"></a>00192 <span class="comment"> */</span>
<a name="l00193"></a>00193 <span class="keywordtype">void</span> setPointColor(<span class="keywordtype">size_t</span> index,<span class="keywordtype">float</span> R, <span class="keywordtype">float</span> G, <span class="keywordtype">float</span> B);
<a name="l00194"></a>00194 <span class="comment"></span>
<a name="l00195"></a>00195 <span class="comment"> /** Retrieves a point and its color (colors range is [0,1])</span>
<a name="l00196"></a>00196 <span class="comment"> */</span>
<a name="l00197"></a>00197 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getPoint( <span class="keywordtype">size_t</span> index, <span class="keywordtype">float</span> &x, <span class="keywordtype">float</span> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> &z, <span class="keywordtype">float</span> &R, <span class="keywordtype">float</span> &G, <span class="keywordtype">float</span> &B ) <span class="keyword">const</span>;
<a name="l00198"></a>00198 <span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment"> /** Retrieves a point */</span>
<a name="l00200"></a>00200 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getPoint( <span class="keywordtype">size_t</span> index, <span class="keywordtype">float</span> &x, <span class="keywordtype">float</span> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> &z) <span class="keyword">const</span>;
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a>00202 <span class="comment"> /** Retrieves a point color (colors range is [0,1]) */</span>
<a name="l00203"></a>00203 <span class="keywordtype">void</span> getPointColor( <span class="keywordtype">size_t</span> index, <span class="keywordtype">float</span> &R, <span class="keywordtype">float</span> &G, <span class="keywordtype">float</span> &B ) <span class="keyword">const</span>;
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /** Returns true if the point map has a color field for each point */</span>
<a name="l00206"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a56c1019cbdc5608bc42a31357867e326">00206</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a56c1019cbdc5608bc42a31357867e326" title="Returns true if the point map has a color field for each point.">hasColorPoints</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">true</span>; }
<a name="l00207"></a>00207 <span class="comment"></span>
<a name="l00208"></a>00208 <span class="comment"> /** Override of the default 3D scene builder to account for the individual points' color.</span>
<a name="l00209"></a>00209 <span class="comment"> * \sa mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE</span>
<a name="l00210"></a>00210 <span class="comment"> */</span>
<a name="l00211"></a>00211 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAs3DObject ( <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &outObj ) <span class="keyword">const</span>;
<a name="l00212"></a>00212 <span class="comment"></span>
<a name="l00213"></a>00213 <span class="comment"> /** Colour a set of points from a CObservationImage and the global pose of the robot</span>
<a name="l00214"></a>00214 <span class="comment"> */</span>
<a name="l00215"></a>00215 <span class="keywordtype">bool</span> colourFromObservation( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">CObservationImage</a> &obs, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &robotPose );
<a name="l00216"></a>00216 <span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment"> /** The choices for coloring schemes:</span>
<a name="l00218"></a>00218 <span class="comment"> * - cmFromHeightRelativeToSensor: The Z coordinate wrt the sensor will be used to obtain the color using the limits z_min,z_max.</span>
<a name="l00219"></a>00219 <span class="comment"> * - cmFromIntensityImage: When inserting 3D range scans, take the color from the intensity image channel, if available.</span>
<a name="l00220"></a>00220 <span class="comment"> * \sa TColourOptions</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444">00222</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444" title="The choices for coloring schemes:">TColouringMethod</a>
<a name="l00223"></a>00223 {
<a name="l00224"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444aa6028358e8abdcdb053b244f0701a79c">00224</a> cmFromHeightRelativeToSensor = 0,
<a name="l00225"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444a44479eb27fd80b63619ed4ef997450e3">00225</a> cmFromHeightRelativeToSensorJet = 0,
<a name="l00226"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444a098beec63945cd1a47132b39ae1d6337">00226</a> cmFromHeightRelativeToSensorGray = 1,
<a name="l00227"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444a72482c077ab8ea1e1c05e3103f23308c">00227</a> cmFromIntensityImage = 2
<a name="l00228"></a>00228 };
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /** The definition of parameters for generating colors from laser scans */</span>
<a name="l00231"></a>00231 <span class="keyword">struct </span><a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> TColourOptions : <span class="keyword">public</span> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">CLoadableOptions</a>
<a name="l00232"></a>00232 {<span class="comment"></span>
<a name="l00233"></a>00233 <span class="comment"> /** Initilization of default parameters */</span>
<a name="l00234"></a>00234 TColourOptions( );
<a name="l00235"></a><a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#a3780457860dccfee5d365fcdb47c900e">00235</a> <span class="keyword">virtual</span> <a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#a3780457860dccfee5d365fcdb47c900e">~TColourOptions</a>() {}<span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00237"></a>00237 <span class="comment"> */</span>
<a name="l00238"></a>00238 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00239"></a>00239 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00240"></a>00240 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00241"></a>00241 <span class="comment"></span>
<a name="l00242"></a>00242 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00243"></a>00243 <span class="comment"> */</span>
<a name="l00244"></a>00244 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>;
<a name="l00245"></a>00245
<a name="l00246"></a><a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#aed9a2bc3d66736067e56cedcd7845935">00246</a> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a6c348e64f1b7bd51ecce8e743b401444" title="The choices for coloring schemes:">TColouringMethod</a> <a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#aed9a2bc3d66736067e56cedcd7845935">scheme</a>;
<a name="l00247"></a><a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#aa0d5550dfa6bb79493c76a615da0fa84">00247</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#aa0d5550dfa6bb79493c76a615da0fa84">z_min</a>,z_max;
<a name="l00248"></a><a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#a7a266a8eebfc77b78950d8646586d44f">00248</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html#a7a266a8eebfc77b78950d8646586d44f">d_max</a>;
<a name="l00249"></a>00249 };
<a name="l00250"></a>00250
<a name="l00251"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a42619e1609b2e7ffe0a23ef415f0ab23">00251</a> <a class="code" href="structmrpt_1_1slam_1_1_c_coloured_points_map_1_1_t_colour_options.html" title="The definition of parameters for generating colors from laser scans.">TColourOptions</a> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a42619e1609b2e7ffe0a23ef415f0ab23" title="The options employed when inserting laser scans in the map.">colorScheme</a>; <span class="comment">//!< The options employed when inserting laser scans in the map.</span>
<a name="l00252"></a>00252 <span class="comment"></span>
<a name="l00253"></a>00253 <span class="keywordtype">void</span> resetPointsMinDist( <span class="keywordtype">float</span> defValue = 2000.0f ); <span class="comment">//!< Reset the minimum-observed-distance buffer for all the points to a predefined value</span>
<a name="l00254"></a>00254 <span class="comment"></span><span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment"> /** @name PCL library support</span>
<a name="l00256"></a>00256 <span class="comment"> @{ */</span>
<a name="l00257"></a>00257 <span class="comment"></span>
<a name="l00258"></a>00258 <span class="comment"> /** Save the point cloud as a PCL PCD file, in either ASCII or binary format \return false on any error */</span>
<a name="l00259"></a>00259 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> savePCDFile(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filename, <span class="keywordtype">bool</span> save_as_binary) <span class="keyword">const</span>;
<a name="l00260"></a>00260 <span class="comment"></span>
<a name="l00261"></a>00261 <span class="comment"> /** @} */</span>
<a name="l00262"></a>00262
<a name="l00263"></a>00263
<a name="l00264"></a>00264 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00265"></a>00265 <span class="comment"> /** The color data */</span>
<a name="l00266"></a><a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a1b0972e7d2f003f02b7132e081beb1ff">00266</a> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> <a class="code" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a1b0972e7d2f003f02b7132e081beb1ff" title="The color data.">m_color_R</a>,m_color_G,m_color_B;
<a name="l00267"></a>00267 <span class="comment"></span>
<a name="l00268"></a>00268 <span class="comment"> /** Minimum distance from where the points have been seen */</span>
<a name="l00269"></a>00269 <span class="comment">//std::vector<float> m_min_dist;</span>
<a name="l00270"></a>00270 <span class="comment"></span>
<a name="l00271"></a>00271 <span class="comment"> /** Clear the map, erasing all the points.</span>
<a name="l00272"></a>00272 <span class="comment"> */</span>
<a name="l00273"></a>00273 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internal_clear();
<a name="l00274"></a>00274 <span class="comment"></span>
<a name="l00275"></a>00275 <span class="comment"> /** @name Redefinition of PLY Import virtual methods from CPointsMap</span>
<a name="l00276"></a>00276 <span class="comment"> @{ */</span><span class="comment"></span>
<a name="l00277"></a>00277 <span class="comment"> /** In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.</span>
<a name="l00278"></a>00278 <span class="comment"> * \param pt_color Will be NULL if the loaded file does not provide color info.</span>
<a name="l00279"></a>00279 <span class="comment"> */</span>
<a name="l00280"></a>00280 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_vertex(<span class="keyword">const</span> <span class="keywordtype">size_t</span> idx, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &pt, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> *pt_color = NULL);
<a name="l00281"></a>00281 <span class="comment"></span>
<a name="l00282"></a>00282 <span class="comment"> /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */</span>
<a name="l00283"></a>00283 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_vertex_count(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N);<span class="comment"></span>
<a name="l00284"></a>00284 <span class="comment"> /** @} */</span>
<a name="l00285"></a>00285 <span class="comment"></span>
<a name="l00286"></a>00286 <span class="comment"> /** @name Redefinition of PLY Export virtual methods from CPointsMap</span>
<a name="l00287"></a>00287 <span class="comment"> @{ */</span><span class="comment"></span>
<a name="l00288"></a>00288 <span class="comment"> /** In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.</span>
<a name="l00289"></a>00289 <span class="comment"> * \param pt_color Will be NULL if the loaded file does not provide color info.</span>
<a name="l00290"></a>00290 <span class="comment"> */</span>
<a name="l00291"></a>00291 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_export_get_vertex(
<a name="l00292"></a>00292 <span class="keyword">const</span> <span class="keywordtype">size_t</span> idx,
<a name="l00293"></a>00293 <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &pt,
<a name="l00294"></a>00294 <span class="keywordtype">bool</span> &pt_has_color,
<a name="l00295"></a>00295 <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> &pt_color) <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00296"></a>00296 <span class="comment"> /** @} */</span>
<a name="l00297"></a>00297
<a name="l00298"></a>00298 }; <span class="comment">// End of class def.</span>
<a name="l00299"></a>00299
<a name="l00300"></a>00300 } <span class="comment">// End of namespace</span>
<a name="l00301"></a>00301 } <span class="comment">// End of namespace</span>
<a name="l00302"></a>00302
<a name="l00303"></a>00303 <span class="preprocessor">#endif</span>
</pre></div></div>
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