9 #ifndef CColouredPointsMap_H
10 #define CColouredPointsMap_H
72 virtual
void getPointAllFieldsFast( const
size_t index, std::vector<
float> & point_data ) const
MRPT_OVERRIDE {
74 point_data[0] = x[index];
75 point_data[1] = y[index];
76 point_data[2] = z[index];
77 point_data[3] = m_color_R[index];
78 point_data[4] = m_color_G[index];
79 point_data[5] = m_color_B[index];
88 x[index] = point_data[0];
89 y[index] = point_data[1];
90 z[index] = point_data[2];
91 m_color_R[index] = point_data[3];
92 m_color_G[index] = point_data[4];
93 m_color_B[index] = point_data[5];
125 inline void setPoint(
size_t index,
float x,
float y,
float z) {
127 setPointFast(index,x,y,z);
146 inline void insertPoint(
float x,
float y,
float z) { insertPointFast(x,y,z); mark_as_modified(); }
156 this->m_color_R[index]=R;
157 this->m_color_G[index]=G;
158 this->m_color_B[index]=B;
163 virtual void getPoint(
size_t index,
float &x,
float &y,
float &z,
float &R,
float &G,
float &B )
const MRPT_OVERRIDE;
166 unsigned long getPoint(
size_t index,
float &x,
float &y,
float &z)
const;
174 R = m_color_R[index];
175 G = m_color_G[index];
176 B = m_color_B[index];
197 cmFromHeightRelativeToSensor = 0,
198 cmFromHeightRelativeToSensorJet = 0,
199 cmFromHeightRelativeToSensorGray = 1,
200 cmFromIntensityImage = 2
238 template <
class POINTCLOUD>
241 const size_t N = cloud.points.size();
244 const float f = 1.0f/255.0f;
245 for (
size_t i=0;i<N;++i)
246 this->insertPoint(cloud.points[i].x,cloud.points[i].y,cloud.points[i].z,cloud.points[i].r*f,cloud.points[i].g*f,cloud.points[i].b*f);
250 template <
class POINTCLOUD>
253 const size_t nThis = this->
size();
254 this->getPCLPointCloud(cloud);
256 for (
size_t i = 0; i < nThis; ++i) {
258 this->getPointColor_fast(i,R,G,B);
259 cloud.points[i].r =
static_cast<uint8_t
>(R*255);
260 cloud.points[i].g =
static_cast<uint8_t
>(G*255);
261 cloud.points[i].b =
static_cast<uint8_t
>(B*255);
281 virtual
void PLY_import_set_vertex(const
size_t idx, const
mrpt::math::TPoint3Df &pt, const
mrpt::utils::TColorf *pt_color = NULL)
MRPT_OVERRIDE;
289 void PLY_export_get_vertex(const
size_t idx,
mrpt::math::TPoint3Df &pt,
bool &pt_has_color,
mrpt::utils::TColorf &pt_color) const
MRPT_OVERRIDE;
303 #include <mrpt/utils/adapters.h>
314 static const int HAS_RGB = 1;
315 static const int HAS_RGBf = 1;
316 static const int HAS_RGBu8 = 0;
321 inline size_t size()
const {
return m_obj.
size(); }
326 template <
typename T>
327 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
336 template <
typename T>
337 inline void getPointXYZ_RGBf(
const size_t idx, T &x,T &y, T &z,
float &r,
float &g,
float &b)
const {
346 template <
typename T>
347 inline void getPointXYZ_RGBu8(
const size_t idx, T &x,T &y, T &z, uint8_t &r,uint8_t &g,uint8_t &b)
const {
350 r=Rf*255; g=Gf*255; b=Bf*255;
354 m_obj.
setPoint(idx,x,y,z,r/255.f,g/255.f,b/255.f);
363 inline void getPointRGBu8(
const size_t idx, uint8_t &r,uint8_t &g,uint8_t &b)
const {
366 r=R*255; g=G*255; b=B*255;
369 inline void setPointRGBu8(
const size_t idx,
const uint8_t r,
const uint8_t g,
const uint8_t b) {
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
A map of 2D/3D points with individual colours (RGB).
void insertPoint(float x, float y, float z)
This is an overloaded member function, provided for convenience. It differs from the above function o...
void insertPoint(const mrpt::math::TPoint3D &p)
This is an overloaded member function, provided for convenience. It differs from the above function o...
virtual void loadFromRangeScan(const mrpt::obs::CObservation3DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
See CPointsMap::loadFromRangeScan()
void getPointColor(size_t index, float &R, float &G, float &B) const
Retrieves a point color (colors range is [0,1])
virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
bool save3D_and_colour_to_text_file(const std::string &file) const
Save to a text file.
CColouredPointsMap()
Default constructor.
void setFromPCLPointCloudRGB(const POINTCLOUD &cloud)
Loads a PCL point cloud (WITH RGB information) into this MRPT class (for clouds without RGB data,...
virtual void insertPointFast(float x, float y, float z=0) MRPT_OVERRIDE
The virtual method for insertPoint() without calling mark_as_modified()
std::vector< float > m_color_B
virtual void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
Override of the default 3D scene builder to account for the individual points' color.
bool colourFromObservation(const mrpt::obs::CObservationImage &obs, const mrpt::poses::CPose3D &robotPose)
Colour a set of points from a CObservationImage and the global pose of the robot.
virtual ~CColouredPointsMap()
Destructor.
virtual bool hasColorPoints() const MRPT_OVERRIDE
Returns true if the point map has a color field for each point.
void setPoint(size_t index, mrpt::math::TPoint3Df &p)
This is an overloaded member function, provided for convenience. It differs from the above function o...
virtual void setPoint(size_t index, float x, float y, float z, float R, float G, float B) MRPT_OVERRIDE
Changes a given point from map.
TColouringMethod
The choices for coloring schemes:
void setPoint(size_t index, float x, float y)
This is an overloaded member function, provided for convenience. It differs from the above function o...
virtual void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
See CPointsMap::loadFromRangeScan()
virtual void setPointFast(size_t index, float x, float y, float z) MRPT_OVERRIDE
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
unsigned long getPoint(size_t index, float &x, float &y, float &z) const
Retrieves a point
void getPointColor_fast(size_t index, float &R, float &G, float &B) const
Like getPointColor but without checking for out-of-index erors.
virtual void reserve(size_t newLength) MRPT_OVERRIDE
Reserves memory for a given number of points: the size of the map does not change,...
void insertPoint(const mrpt::poses::CPoint3D &p)
virtual void resize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
virtual void insertPoint(float x, float y, float z, float R, float G, float B) MRPT_OVERRIDE
Adds a new point given its coordinates and color (colors range is [0,1])
virtual void setSize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points, erasing all previous contents ...
void setPoint(size_t index, float x, float y, float z)
This is an overloaded member function, provided for convenience. It differs from the above function o...
void getPCLPointCloudXYZRGB(POINTCLOUD &cloud) const
Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZRGB>
void setPointColor(size_t index, float R, float G, float B)
Changes just the color of a given point from the map.
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE
Set all the data fields for one point as a vector: [X Y Z R G B] Unlike setPointAllFields(),...
void insertPoint(const mrpt::math::TPoint3Df &p)
This is an overloaded member function, provided for convenience. It differs from the above function o...
TColourOptions colorScheme
The options employed when inserting laser scans in the map.
virtual bool savePCDFile(const std::string &filename, bool save_as_binary) const MRPT_OVERRIDE
Save the point cloud as a PCL PCD file, in either ASCII or binary format.
virtual void getPoint(size_t index, float &x, float &y, float &z, float &R, float &G, float &B) const MRPT_OVERRIDE
Retrieves a point and its color (colors range is [0,1])
void setPointColor_fast(size_t index, float R, float G, float B)
Like setPointColor but without checking for out-of-index erors.
void resetPointsMinDist(float defValue=2000.0f)
Reset the minimum-observed-distance buffer for all the points to a predefined value.
virtual void internal_clear() MRPT_OVERRIDE
Minimum distance from where the points have been seen.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
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,...
size_t size() const
Returns the number of stored points in the map.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
Declares a class derived from "CObservation" that encapsules an image from a camera,...
A class used to store a 3D point.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
double x() const
Common members of all points & poses classes.
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
float coords_t
The type of each point XYZ coordinates.
void getPointXYZ_RGBu8(const size_t idx, T &x, T &y, T &z, uint8_t &r, uint8_t &g, uint8_t &b) const
Get XYZ_RGBu8 coordinates of i'th point.
mrpt::maps::CColouredPointsMap & m_obj
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 setPointRGBu8(const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
Set RGBu8 coordinates of i'th point.
void setPointXYZ_RGBf(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
void getPointRGBf(const size_t idx, float &r, float &g, float &b) const
Get RGBf color of i'th point.
PointCloudAdapter(const mrpt::maps::CColouredPointsMap &obj)
Constructor (accept a const ref for convenience)
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
void resize(const size_t N)
Set number of points (to uninitialized values)
void setPointRGBf(const size_t idx, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
size_t size() const
Get number of points.
void setPointXYZ_RGBu8(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const uint8_t r, const uint8_t g, const uint8_t b)
Set XYZ_RGBu8 coordinates of i'th point.
void getPointXYZ_RGBf(const size_t idx, T &x, T &y, T &z, float &r, float &g, float &b) const
Get XYZ_RGBf coordinates of i'th point.
void getPointRGBu8(const size_t idx, uint8_t &r, uint8_t &g, uint8_t &b) const
Get RGBu8 color of i'th point.
An adapter to different kinds of point cloud object.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#define ASSERT_BELOW_(__A, __B)
size_t size(const MATRIXLIKE &m, int dim)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The definition of parameters for generating colors from laser scans.
virtual ~TColourOptions()
TColourOptions()
Initilization of default parameters.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
With this struct options are provided to the observation insertion process.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
double z
X,Y,Z coordinates.
Lightweight 3D point (float version).