9 #ifndef CWeightedPointsMap_H 10 #define CWeightedPointsMap_H 39 virtual ~CWeightedPointsMap();
49 virtual
void reserve(
size_t newLength);
55 virtual
void resize(
size_t newLength);
61 virtual
void setSize(
size_t newLength);
64 virtual
void setPointFast(
size_t index,
float x,
float y,
float z);
67 virtual
void insertPointFast(
float x,
float y,
float z = 0 );
71 virtual
void copyFrom(const CPointsMap &obj);
77 virtual
void getPointAllFieldsFast( const
size_t index,
std::vector<
float> & point_data )
const {
79 point_data[0] = x[index];
80 point_data[1] = y[index];
81 point_data[2] = z[index];
82 point_data[3] = pointWeight[index];
91 x[index] = point_data[0];
92 y[index] = point_data[1];
93 z[index] = point_data[2];
94 pointWeight[index] = point_data[3];
98 virtual void loadFromRangeScan(
103 virtual void loadFromRangeScan(
110 virtual void addFrom_classSpecific(
const CPointsMap &anotherMap,
const size_t nPreviousPoints);
122 virtual void setPointWeight(
size_t index,
unsigned long w) { pointWeight[index]=w; }
124 virtual unsigned int getPointWeight(
size_t index)
const {
return pointWeight[index]; }
131 virtual void internal_clear();
137 virtual void PLY_import_set_vertex_count(
const size_t N);
158 static const int HAS_RGB = 0;
159 static const int HAS_RGBf = 0;
160 static const int HAS_RGBu8 = 0;
165 inline size_t size()
const {
return m_obj.
size(); }
170 template <
typename T>
171 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
175 inline void setPointXYZ(
const size_t idx,
const coords_t x,
const coords_t y,
const coords_t z) {
mrpt::maps::CWeightedPointsMap & m_obj
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 unsigned int getPointWeight(size_t index) const
Gets the point weight, which is ignored in all classes (defaults to 1) but in those which actually st...
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.
std::vector< uint32_t > pointWeight
The points weights.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
With this struct options are provided to the observation insertion process.
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...
size_t size() const
Get number of points.
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...
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 WEIGHT] Unlike setPointAllFields(), this method does not check for index out of bounds.
virtual void setPointWeight(size_t index, unsigned long w)
Sets the point weight, which is ignored in all classes but those which actually store that field (Not...
PointCloudAdapter(const mrpt::maps::CWeightedPointsMap &obj)
Constructor (accept a const ref for convenience)
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...
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...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Options used when evaluating "computeObservationLikelihood" in the derived classes.
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...
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.
void resize(const size_t N)
Set number of points (to uninitialized values)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
float coords_t
The type of each point XYZ coordinates.