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mrpt::slam::CColouredPointsMap Class Reference


Detailed Description

A map of 2D/3D points with individual colours (RGB).

For different color schemes, see CColouredPointsMap::colorScheme Colors are defined in the range [0,1].

See also:
mrpt::slam::CPointsMap, mrpt::slam::CMetricMap, mrpt::utils::CSerializable

Definition at line 52 of file CColouredPointsMap.h.

#include <mrpt/slam/CColouredPointsMap.h>

Inheritance diagram for mrpt::slam::CColouredPointsMap:
Inheritance graph
[legend]

List of all members.

Classes

struct  TColourOptions
 The definition of parameters for generating colors from laser scans. More...

Public Types

enum  TColouringMethod { cmFromHeightRelativeToSensor = 0, cmFromHeightRelativeToSensorJet = 0, cmFromHeightRelativeToSensorGray = 1, cmFromIntensityImage = 2 }
 

The choices for coloring schemes:

  • cmFromHeightRelativeToSensor: The Z coordinate wrt the sensor will be used to obtain the color using the limits z_min,z_max.
More...

Public Member Functions

virtual ~CColouredPointsMap ()
 Destructor.
 CColouredPointsMap ()
 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 cartessian coordinated points.
void loadFromRangeScan (const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL)
 Transform the range scan into a set of cartessian coordinated points.
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.
bool save3D_and_colour_to_text_file (const std::string &file) const
 Save to 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.
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 setPoint (size_t index, float x, float y, float z, float R, float G, float B)
 Changes a given point from map.
void setPointColor (size_t index, float R, float G, float B)
 Changes just the color of a given point from the map.
void insertPoint (float x, float y, float z=0)
 Provides a way to insert individual points into the map:
void insertPoint (CPoint3D p)
 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 insertPoint (float x, float y, float z, float R, float G, float B)
 Adds a new point given its coordinates and color (colors range is [0,1]).
virtual void getPoint (size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const
 Retrieves a point and its color (colors range is [0,1]).
void getPointColor (size_t index, float &R, float &G, float &B) const
 Retrieves a point color (colors range is [0,1]).
virtual bool hasColorPoints () const
 Returns true if the point map has a color field for each point.
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 void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
 Override of the default 3D scene builder to account for the individual points' color.
bool colourFromObservation (const CObservationImage &obs, const CPose3D &robotPose)
 Colour a set of points from a CObservationImage and the global pose of the robot.
void resetPointsMinDist (float defValue=2000.0f)
 Reset the minimum-observed-distance buffer for all the points to a predefined value.

Public Attributes

TColourOptions colorScheme
 The options employed when inserting laser scans in the map.

Protected Member Functions

virtual void internal_clear ()
 Clear the map, erasing all the points.
virtual bool internal_insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL)
 Insert the observation information into this map.

Protected Attributes

std::vector< float > m_color_R
 The color data.
std::vector< float > m_color_G
std::vector< float > m_color_B
std::vector< float > m_min_dist
 Minimum distance from where the points have been seen.

RTTI stuff



typedef CColouredPointsMapPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CColouredPointsMap
static mrpt::utils::TRuntimeClassId classCColouredPointsMap
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CColouredPointsMapPtr Create ()

Filter-by-height stuff



double z_min
 The minimum and maximum height for a certain laser scan to be inserted into this map.
double z_max
bool bFilterByHeight
 Whether or not filter the input points by height.
void enableFilterByHeight (bool enable=true)
 Enable/disable the filter-by-height functionality.
bool isFilterByHeightEnabled () const
 Return whether filter-by-height is enabled.
void setHeightFilterLevels (const double _z_min, const double _z_max)
 Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before).
void getHeightFilterLevels (double &_z_min, double &_z_max) const
 Get the min/max Z levels for points to be actually inserted in the map.

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 55 of file CColouredPointsMap.h.


Member Enumeration Documentation

The choices for coloring schemes:

  • cmFromHeightRelativeToSensor: The Z coordinate wrt the sensor will be used to obtain the color using the limits z_min,z_max.

  • cmFromIntensityImage: When inserting 3D range scans, take the color from the intensity image channel, if available.
    See also:
    TColourOptions
Enumerator:
cmFromHeightRelativeToSensor 
cmFromHeightRelativeToSensorJet 
cmFromHeightRelativeToSensorGray 
cmFromIntensityImage 

Definition at line 262 of file CColouredPointsMap.h.


Constructor & Destructor Documentation

virtual mrpt::slam::CColouredPointsMap::~CColouredPointsMap (  )  [virtual]

Destructor.

mrpt::slam::CColouredPointsMap::CColouredPointsMap (  ) 

Default constructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CColouredPointsMap::_GetBaseClass (  )  [static, protected]

Reimplemented from mrpt::slam::CPointsMap.

void mrpt::slam::CColouredPointsMap::applyDeletionMask ( std::vector< bool > &  mask  )  [virtual]

Remove from the map the points marked in a bool's array as "true".

Exceptions:
std::exception If mask size is not equal to points count.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CColouredPointsMap::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.

bool mrpt::slam::CColouredPointsMap::colourFromObservation ( const CObservationImage obs,
const CPose3D robotPose 
)

Colour a set of points from a CObservationImage and the global pose of the robot.

void mrpt::slam::CColouredPointsMap::copyFrom ( const CPointsMap obj  )  [virtual]

Copy operator.

Implements mrpt::slam::CPointsMap.

static CColouredPointsMapPtr mrpt::slam::CColouredPointsMap::Create (  )  [static]
static mrpt::utils::CObject* mrpt::slam::CColouredPointsMap::CreateObject (  )  [static]
virtual mrpt::utils::CObject* mrpt::slam::CColouredPointsMap::duplicate (  )  const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

void mrpt::slam::CColouredPointsMap::enableFilterByHeight ( bool  enable = true  )  [inline]

Enable/disable the filter-by-height functionality.

See also:
setHeightFilterLevels
Note:
Default upon construction is disabled.

Definition at line 299 of file CColouredPointsMap.h.

void mrpt::slam::CColouredPointsMap::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.

Parameters:
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.
See also:
insertAnotherMap

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CColouredPointsMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr outObj  )  const [virtual]

Override of the default 3D scene builder to account for the individual points' color.

See also:
mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE

Reimplemented from mrpt::slam::CPointsMap.

void mrpt::slam::CColouredPointsMap::getHeightFilterLevels ( double &  _z_min,
double &  _z_max 
) const [inline]

Get the min/max Z levels for points to be actually inserted in the map.

See also:
enableFilterByHeight, setHeightFilterLevels

Definition at line 306 of file CColouredPointsMap.h.

virtual void mrpt::slam::CColouredPointsMap::getPoint ( size_t  index,
float &  x,
float &  y,
float &  z,
float &  R,
float &  G,
float &  B 
) const [virtual]

Retrieves a point and its color (colors range is [0,1]).

Reimplemented from mrpt::slam::CPointsMap.

void mrpt::slam::CColouredPointsMap::getPointColor ( size_t  index,
float &  R,
float &  G,
float &  B 
) const

Retrieves a point color (colors range is [0,1]).

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CColouredPointsMap::GetRuntimeClass (  )  const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CPointsMap.

virtual bool mrpt::slam::CColouredPointsMap::hasColorPoints (  )  const [inline, virtual]

Returns true if the point map has a color field for each point.

Reimplemented from mrpt::slam::CPointsMap.

Definition at line 200 of file CColouredPointsMap.h.

void mrpt::slam::CColouredPointsMap::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::CColouredPointsMap::insertPoint ( CPoint3D  p  ) 

Provides a way to insert individual points into the map:

void mrpt::slam::CColouredPointsMap::insertPoint ( float  x,
float  y,
float  z,
float  R,
float  G,
float  B 
)

Adds a new point given its coordinates and color (colors range is [0,1]).

virtual void mrpt::slam::CColouredPointsMap::internal_clear (  )  [protected, virtual]

Clear the map, erasing all the points.

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::CColouredPointsMap::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.

Parameters:
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)
See also:
CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CColouredPointsMap::isFilterByHeightEnabled (  )  const [inline]

Return whether filter-by-height is enabled.

See also:
enableFilterByHeight

Definition at line 301 of file CColouredPointsMap.h.

bool mrpt::slam::CColouredPointsMap::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::CColouredPointsMap::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::CColouredPointsMap::loadFromRangeScan ( const CObservation3DRangeScan rangeScan,
const CPose3D robotPose = NULL 
)

Transform the range scan into a set of cartessian coordinated points.

The options in "insertionOptions" are considered in this method.

Parameters:
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.
See also:
CObservation3DRangeScan
void mrpt::slam::CColouredPointsMap::loadFromRangeScan ( const CObservation2DRangeScan rangeScan,
const CPose3D robotPose = NULL 
) [virtual]

Transform the range scan into a set of cartessian coordinated points.

The options in "insertionOptions" are considered in this method.

Parameters:
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
See also:
CObservation2DRangeScan

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CColouredPointsMap::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.

void mrpt::slam::CColouredPointsMap::resetPointsMinDist ( float  defValue = 2000.0f  ) 

Reset the minimum-observed-distance buffer for all the points to a predefined value.

bool mrpt::slam::CColouredPointsMap::save3D_and_colour_to_text_file ( const std::string &  file  )  const

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. Returns false if any error occured, true elsewere.

virtual void mrpt::slam::CColouredPointsMap::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).

See also:
getAllPoints

Implements mrpt::slam::CPointsMap.

Definition at line 241 of file CColouredPointsMap.h.

virtual void mrpt::slam::CColouredPointsMap::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.

See also:
getAllPoints

Implements mrpt::slam::CPointsMap.

Definition at line 235 of file CColouredPointsMap.h.

template<typename VECTOR >
void mrpt::slam::CColouredPointsMap::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).

RGB field of all points will be set to white color.

Template Parameters:
VECTOR can be mrpt::vector_float or std::vector<float> or any other column or row Eigen::Matrix.

Definition at line 218 of file CColouredPointsMap.h.

References ASSERT_, ASSERT_EQUAL_, and internal::y.

void mrpt::slam::CColouredPointsMap::setHeightFilterLevels ( const double  _z_min,
const double  _z_max 
) [inline]

Set the min/max Z levels for points to be actually inserted in the map (only if enableFilterByHeight() was called before).

Definition at line 304 of file CColouredPointsMap.h.

void mrpt::slam::CColouredPointsMap::setPoint ( size_t  index,
float  x,
float  y,
float  z,
float  R,
float  G,
float  B 
)

Changes a given point from map.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.
virtual void mrpt::slam::CColouredPointsMap::setPoint ( size_t  index,
float  x,
float  y 
) [virtual]

Changes a given point from map.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CColouredPointsMap::setPoint ( size_t  index,
CPoint3D p 
) [virtual]

Changes a given point from map, as a 3D point.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CColouredPointsMap::setPoint ( size_t  index,
CPoint2D p 
) [virtual]

Changes a given point from map, as a 2D point.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

virtual void mrpt::slam::CColouredPointsMap::setPoint ( size_t  index,
float  x,
float  y,
float  z 
) [virtual]

Changes a given point from map.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CColouredPointsMap::setPointColor ( size_t  index,
float  R,
float  G,
float  B 
)

Changes just the color of a given point from the map.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Member Data Documentation

Definition at line 55 of file CColouredPointsMap.h.

Whether or not filter the input points by height.

See also:
z_min, z_max

Definition at line 317 of file CColouredPointsMap.h.

Definition at line 55 of file CColouredPointsMap.h.

Definition at line 55 of file CColouredPointsMap.h.

The options employed when inserting laser scans in the map.

Definition at line 291 of file CColouredPointsMap.h.

std::vector<float> mrpt::slam::CColouredPointsMap::m_color_B [protected]

Definition at line 59 of file CColouredPointsMap.h.

std::vector<float> mrpt::slam::CColouredPointsMap::m_color_G [protected]

Definition at line 59 of file CColouredPointsMap.h.

std::vector<float> mrpt::slam::CColouredPointsMap::m_color_R [protected]

The color data.

Definition at line 59 of file CColouredPointsMap.h.

std::vector<float> mrpt::slam::CColouredPointsMap::m_min_dist [protected]

Minimum distance from where the points have been seen.

Definition at line 62 of file CColouredPointsMap.h.

Definition at line 312 of file CColouredPointsMap.h.

The minimum and maximum height for a certain laser scan to be inserted into this map.

See also:
bFilterByHeight

Definition at line 312 of file CColouredPointsMap.h.




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