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17 #include <mrpt/maps/CPointsMap.h>
18 #include <mrpt/maps/NearestNeighborsCapable.h>
19 #include <mrpt/math/TLine3D.h>
20 #include <mrpt/math/TPoint3D.h>
21 #include <mrpt/math/geometry.h>
22 #include <mrpt/poses/CPose3DPDFGaussian.h>
23 #include <mrpt/serialization/CSerializable.h>
24 #include <mrpt/topography/data_types.h>
49 public std::enable_shared_from_this<metric_map_t>
75 std::map<layer_name_t, mrpt::maps::CMetricMap::Ptr>
layers;
78 std::vector<mrpt::math::TLine3D>
lines;
88 std::optional<uint64_t>
id;
96 std::optional<std::string>
label;
124 virtual bool empty()
const;
127 virtual size_t size()
const;
137 virtual void clear();
171 const ->
std::shared_ptr<
mrpt::opengl::CSetOfObjects>;
183 const
std::optional<
mrpt::math::TPose3D>& otherRelativePose =
201 const
mrpt::maps::CMetricMap::Ptr& map);
222 [[maybe_unused]]
mrpt::serialization::CArchive&
out)
const
228 [[maybe_unused]] mrpt::serialization::CArchive& in)
246 const mrpt::maps::CPointsMap*
MapToPointsMap(
const mrpt::maps::CMetricMap& map);
249 mrpt::maps::CPointsMap*
MapToPointsMap(mrpt::maps::CMetricMap& map);
256 const mrpt::maps::NearestNeighborsCapable*
MapToNN(
257 const mrpt::maps::CMetricMap& map,
bool throwIfNotImplemented);
virtual bool empty() const
mrpt::topography::TGeodeticCoords geo_coord
static void get_visualization_map_layer(mrpt::opengl::CSetOfObjects &o, const render_params_point_layer_t &p, const mrpt::maps::CMetricMap::Ptr &map)
Render parameters for the different geometric entities.
constexpr static const char * PT_LAYER_PLANE_CENTROIDS
bool save_to_file(const std::string &fileName) const
void get_visualization_points(mrpt::opengl::CSetOfObjects &o, const render_params_points_t &p) const
virtual void derivedSerializeTo([[maybe_unused]] mrpt::serialization::CArchive &out) const
constexpr static const char * PT_LAYER_RAW
std::optional< std::string > label
virtual void derivedSerializeFrom([[maybe_unused]] mrpt::serialization::CArchive &in)
std::vector< plane_patch_t > planes
const mrpt::maps::CPointsMap * MapToPointsMap(const mrpt::maps::CMetricMap &map)
std::vector< mrpt::math::TLine3D > lines
mrpt::maps::CPointsMap::Ptr point_layer(const layer_name_t &name) const
virtual void merge_with(const metric_map_t &otherPc, const std::optional< mrpt::math::TPose3D > &otherRelativePose=std::nullopt)
virtual std::string contents_summary() const
virtual size_t size() const
virtual auto get_visualization(const render_params_t &p=render_params_t()) const -> std::shared_ptr< mrpt::opengl::CSetOfObjects >
void get_visualization_lines(mrpt::opengl::CSetOfObjects &o, const render_params_lines_t &p) const
bool load_from_file(const std::string &fileName)
mrpt::poses::CPose3DPDFGaussian T_enu_to_map
Generic container of pointcloud(s), extracted features and other maps.
void get_visualization_planes(mrpt::opengl::CSetOfObjects &o, const render_params_planes_t &p) const
std::optional< uint64_t > id
std::optional< Georeferencing > georeferencing
Ptr get_shared_from_this()
virtual size_t size_points_only() const
Ptr get_shared_from_this_or_clone()
const mrpt::maps::NearestNeighborsCapable * MapToNN(const mrpt::maps::CMetricMap &map, bool throwIfNotImplemented)
std::map< layer_name_t, mrpt::maps::CMetricMap::Ptr > layers
mp2p_icp
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Wed Jun 26 2024 02:47:09