mp2p_icp_map library

Core data structures and utilities for mp2p_icp. More...

Classes
struct	mp2p_icp::color_mode_t
class	mp2p_icp::metric_map_t
	Generic container of pointcloud(s), extracted features and other maps. More...
struct	mp2p_icp::pairings_render_params_t
class	mp2p_icp::Parameterizable
class	mp2p_icp::ParameterSource
struct	mp2p_icp::plane_patch_t
struct	mp2p_icp::pointcloud_bitfield_t
struct	mp2p_icp::PointCloudEigen
	Output of estimate_points_eigen() More...
struct	mp2p_icp::render_params_lines_t
struct	mp2p_icp::render_params_pairings_pt2ln_t
struct	mp2p_icp::render_params_pairings_pt2pl_t
struct	mp2p_icp::render_params_pairings_pt2pt_t
struct	mp2p_icp::render_params_planes_t
struct	mp2p_icp::render_params_point_layer_t
struct	mp2p_icp::render_params_points_t
struct	mp2p_icp::render_params_t

Typedefs
using	mp2p_icp::layer_name_t = std::string

Enumerations
enum	mp2p_icp::Coordinate : uint8_t { mp2p_icp::Coordinate::X = 0, mp2p_icp::Coordinate::Y, mp2p_icp::Coordinate::Z }

Functions
PointCloudEigen	mp2p_icp::estimate_points_eigen (const float *xs, const float *ys, const float *zs, mrpt::optional_ref< const std::vector< size_t >> indices, std::optional< size_t > totalCount=std::nullopt)
mrpt::maps::CSimplePointsMap::Ptr	mp2p_icp::load_xyz_file (const std::string &fil)
const mrpt::maps::NearestNeighborsCapable *	mp2p_icp::MapToNN (const mrpt::maps::CMetricMap &map, bool throwIfNotImplemented)
const mrpt::maps::CPointsMap *	mp2p_icp::MapToPointsMap (const mrpt::maps::CMetricMap &map)
mrpt::maps::CPointsMap *	mp2p_icp::MapToPointsMap (mrpt::maps::CMetricMap &map)
bool	mp2p_icp::pointcloud_sanity_check (const mrpt::maps::CPointsMap &pc, bool printWarnings=true)

Detailed Description

Core data structures and utilities for mp2p_icp.

Typedef Documentation

layer_name_t

using mp2p_icp::layer_name_t = typedef std::string

Definition at line 22 of file layer_name_t.h.

Enumeration Type Documentation

Coordinate

enum mp2p_icp::Coordinate : uint8_t

strong

Enumerator
X
Y
Z

Definition at line 73 of file render_params.h.

Function Documentation

estimate_points_eigen()

mp2p_icp::PointCloudEigen mp2p_icp::estimate_points_eigen	(	const float *	xs,
		const float *	ys,
		const float *	zs,
		mrpt::optional_ref< const std::vector< size_t >>	indices,
		std::optional< size_t >	totalCount = std::nullopt
	)

Calculate mean, covariance, eigenvectors, and eigenvalues from a set of points.

It is mandatory to provide one and only one of these two parameters:

• indices: only the points with these indices will be considered.
• totalCount: all points will be used, ignoring indices.

Parameters

xs[in]	Input x coordinate vector.
ys[in]	Input y coordinate vector.
zs[in]	Input z coordinate vector.
indices[in]	0-based indices of points to consider from the vectors.
totalCount[in]	Total number of points in the vectors.

Exceptions

std::exception

If less than 3 points are provided.

Definition at line 19 of file estimate_points_eigen.cpp.

load_xyz_file()

mrpt::maps::CSimplePointsMap::Ptr mp2p_icp::load_xyz_file

(

const std::string &

fil

)

Loads a pointcloud from an ASCII "XYZ file", storing an Nx3 matrix (each row is a point). If the filename extension ends in ".gz", it is uncompressed automatically.

Definition at line 21 of file load_xyz_file.cpp.

MapToNN()

const mrpt::maps::NearestNeighborsCapable * mp2p_icp::MapToNN	(	const mrpt::maps::CMetricMap &	map,
		bool	throwIfNotImplemented
	)

Returns the dynamic_cast<> of the metric map as a mrpt::maps::NearestNeighborsCapable. If the interface is not implemented it returns nullptr, or throws an exception if it throwIfNotImplemented is true.

Definition at line 690 of file metricmap.cpp.

MapToPointsMap() [1/2]

const mrpt::maps::CPointsMap * mp2p_icp::MapToPointsMap

(

const mrpt::maps::CMetricMap &

map

)

Function to extract the CPointsMap for any kind of CMetricMap, if there exists a conversion that makes sense for matching against it. Typically:

• Any derived type of mrpt::maps::CPointsMap: just does a dynamic_cast.
• An mrpt::maps::CVoxelMap: gets the equivalent points map with cached occupied voxels (requires MRPT >=2.11.0).

Returns an empty shared_ptr if conversion is not possible.

Note

The use of raw pointers here imply the lifetime of the input "map" must be longer than that of its use within the Matcher.

Definition at line 652 of file metricmap.cpp.

MapToPointsMap() [2/2]

mrpt::maps::CPointsMap * mp2p_icp::MapToPointsMap

(

mrpt::maps::CMetricMap &

map

)

Definition at line 672 of file metricmap.cpp.

pointcloud_sanity_check()

bool mp2p_icp::pointcloud_sanity_check	(	const mrpt::maps::CPointsMap &	pc,
		bool	printWarnings = true
	)

Returns false (and optionally prints a warning to std::cerr) if the point cloud fields are not correctly sized.

Definition at line 19 of file pointcloud_sanity_check.cpp.