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57 void reserve(
size_t newLength)
override;
58 void resize(
size_t newLength)
override;
59 void setSize(
size_t newLength)
override;
69 const size_t index, std::vector<float>& point_data)
const override
72 point_data[0] =
m_x[index];
73 point_data[1] =
m_y[index];
74 point_data[2] =
m_z[index];
82 const size_t index,
const std::vector<float>& point_data)
override
85 m_x[index] = point_data[0];
86 m_y[index] = point_data[1];
87 m_z[index] = point_data[2];
102 [[maybe_unused]]
const CPointsMap& anotherMap,
103 [[maybe_unused]]
const size_t nPreviousPoints)
override
109 template <
class Derived>
111 template <
class Derived>
160 static constexpr
bool HAS_RGB =
false;
162 static constexpr
bool HAS_RGBf =
false;
164 static constexpr
bool HAS_RGBu8 =
false;
172 inline size_t size()
const {
return m_obj.
size(); }
178 template <
typename T>
void setDimensions(size_t height, size_t width)
Does nothing as of now.
size_t size() const
Get number of points.
An adapter to different kinds of point cloud object.
CPointsMap & operator=(const CPointsMap &o)
size_t size() const
Save the point cloud as a PCL PCD file, in either ASCII or binary format.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
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.
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,...
CSimplePointsMap & operator=(const CPointsMap &o)
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void insertPointFast(float x, float y, float z=0) override
The virtual method for insertPoint() without calling mark_as_modified()
const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const override
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points ...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
void internal_clear() override
Clear the map, erasing all the points.
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.
mrpt::maps::CSimplePointsMap & m_obj
void setSize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CSimplePointsMap(const CPointsMap &o)
Rendering options, used in getAs3DObject()
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
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...
void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) override
Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(),...
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=nullptr) override
See CPointsMap::loadFromRangeScan()
void reserve(size_t newLength) override
Reserves memory for a given number of points: the size of the map does not change,...
CSimplePointsMap & operator=(const CSimplePointsMap &o)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::aligned_std_vector< float > m_z
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
mrpt::aligned_std_vector< float > m_y
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
void addFrom_classSpecific([[maybe_unused]] const CPointsMap &anotherMap, [[maybe_unused]] const size_t nPreviousPoints) override
void resize(const size_t N)
Set number of points (to uninitialized values)
#define MAP_DEFINITION_END(_CLASS_NAME_)
CSimplePointsMap()=default
Default constructor.
float coords_t
The type of each point XYZ coordinates.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
mrpt::aligned_std_vector< float > m_x
The point coordinates.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
void PLY_import_set_vertex_count(const size_t N) override
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
void resize(size_t newLength) override
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
void getPointAllFieldsFast(const size_t index, std::vector< float > &point_data) const override
Get all the data fields for one point as a vector: [X Y Z] Unlike getPointAllFields(),...
CSimplePointsMap(const CSimplePointsMap &o)
void setInvalidPoint(const size_t idx)
Set XYZ coordinates of i'th point.
void impl_copyFrom(const CPointsMap &obj) override
Virtual assignment operator, copies as much common data (XYZ, color,...) as possible from the source ...
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