CSimplePointsMap.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "maps-precomp.h"  // Precomp header

#include <mrpt/core/bits_mem.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/serialization/CArchive.h>

#include "CPointsMap_crtp_common.h"

using namespace std;
using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::math;

//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER(
    "CSimplePointsMap,pointsMap", mrpt::maps::CSimplePointsMap)

CSimplePointsMap::TMapDefinition::TMapDefinition() = default;
void CSimplePointsMap::TMapDefinition::loadFromConfigFile_map_specific(
    const mrpt::config::CConfigFileBase& c, const std::string& s)
{
    insertionOpts.loadFromConfigFile(c, s + string("_insertOpts"));
    likelihoodOpts.loadFromConfigFile(c, s + string("_likelihoodOpts"));
    renderOpts.loadFromConfigFile(c, s + string("_renderOpts"));
}

void CSimplePointsMap::TMapDefinition::dumpToTextStream_map_specific(
    std::ostream& out) const
{
    this->insertionOpts.dumpToTextStream(out);
    this->likelihoodOpts.dumpToTextStream(out);
    this->renderOpts.dumpToTextStream(out);
}

mrpt::maps::CMetricMap* CSimplePointsMap::internal_CreateFromMapDefinition(
    const mrpt::maps::TMetricMapInitializer& _def)
{
    const CSimplePointsMap::TMapDefinition& def =
        *dynamic_cast<const CSimplePointsMap::TMapDefinition*>(&_def);
    auto* obj = new CSimplePointsMap();
    obj->insertionOptions = def.insertionOpts;
    obj->likelihoodOptions = def.likelihoodOpts;
    obj->renderOptions = def.renderOpts;
    return obj;
}
//  =========== End of Map definition Block =========
IMPLEMENTS_SERIALIZABLE(CSimplePointsMap, CPointsMap, mrpt::maps)

CSimplePointsMap::CSimplePointsMap() = default;
void CSimplePointsMap::reserve(size_t newLength)
{
    m_x.reserve(newLength);
    m_y.reserve(newLength);
    m_z.reserve(newLength);
}

// Resizes all point buffers so they can hold the given number of points: newly
// created points are set to default values,
//  and old contents are not changed.
void CSimplePointsMap::resize(size_t newLength)
{
    this->reserve(newLength);  // to ensure 4N capacity
    m_x.resize(newLength, 0);
    m_y.resize(newLength, 0);
    m_z.resize(newLength, 0);
    mark_as_modified();
}

// Resizes all point buffers so they can hold the given number of points,
// *erasing* all previous contents
//  and leaving all points to default values.
void CSimplePointsMap::setSize(size_t newLength)
{
    this->reserve(newLength);  // to ensure 4N capacity
    m_x.assign(newLength, 0);
    m_y.assign(newLength, 0);
    m_z.assign(newLength, 0);
    mark_as_modified();
}

void CSimplePointsMap::impl_copyFrom(const CPointsMap& obj)
{
    // This also does a ::resize(N) of all data fields.
    CPointsMap::base_copyFrom(obj);
}

uint8_t CSimplePointsMap::serializeGetVersion() const { return 10; }
void CSimplePointsMap::serializeTo(mrpt::serialization::CArchive& out) const
{
    uint32_t n = m_x.size();

    // First, write the number of points:
    out << n;

    if (n > 0)
    {
        out.WriteBufferFixEndianness(&m_x[0], n);
        out.WriteBufferFixEndianness(&m_y[0], n);
        out.WriteBufferFixEndianness(&m_z[0], n);
    }
    out << genericMapParams;  // v9
    insertionOptions.writeToStream(out);  // v9
    likelihoodOptions.writeToStream(out);  // v5
    renderOptions.writeToStream(out);  // v10
}

/*---------------------------------------------------------------
                    readFromStream
   Implements the reading from a CStream capability of
      CSerializable objects
  ---------------------------------------------------------------*/
void CSimplePointsMap::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 8:
        case 9:
        case 10:
        {
            mark_as_modified();

            // Read the number of points:
            uint32_t n;
            in >> n;

            this->resize(n);

            if (n > 0)
            {
                in.ReadBufferFixEndianness(&m_x[0], n);
                in.ReadBufferFixEndianness(&m_y[0], n);
                in.ReadBufferFixEndianness(&m_z[0], n);
            }
            if (version >= 9)
                in >> genericMapParams;
            else
            {
                bool disableSaveAs3DObject;
                in >> disableSaveAs3DObject;
                genericMapParams.enableSaveAs3DObject = !disableSaveAs3DObject;
            }
            insertionOptions.readFromStream(in);
            likelihoodOptions.readFromStream(in);
            if (version >= 10) renderOptions.readFromStream(in);
        }
        break;

        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
        case 6:
        case 7:
        {
            mark_as_modified();

            // Read the number of points:
            uint32_t n;
            in >> n;

            this->resize(n);

            if (n > 0)
            {
                in.ReadBufferFixEndianness(&m_x[0], n);
                in.ReadBufferFixEndianness(&m_y[0], n);
                in.ReadBufferFixEndianness(&m_z[0], n);

                // Version 1: weights are also stored:
                // Version 4: Type becomes long int -> uint32_t for
                // portability!!
                if (version >= 1)
                {
                    if (version >= 4)
                    {
                        if (version >= 7)
                        {
                            // Weights were removed from this class in v7 (MRPT
                            // 0.9.5),
                            //  so nothing else to do.
                        }
                        else
                        {
                            // Go on with old serialization format, but discard
                            // weights:
                            std::vector<uint32_t> dummy_pointWeight(n);
                            in.ReadBufferFixEndianness(
                                &dummy_pointWeight[0], n);
                        }
                    }
                    else
                    {
                        std::vector<uint32_t> dummy_pointWeight(n);
                        in.ReadBufferFixEndianness(&dummy_pointWeight[0], n);
                    }
                }
            }

            if (version >= 2)
            {
                // version 2: options saved too
                in >> insertionOptions.minDistBetweenLaserPoints >>
                    insertionOptions.addToExistingPointsMap >>
                    insertionOptions.also_interpolate >>
                    insertionOptions.disableDeletion >>
                    insertionOptions.fuseWithExisting >>
                    insertionOptions.isPlanarMap;

                if (version < 6)
                {
                    bool old_matchStaticPointsOnly;
                    in >> old_matchStaticPointsOnly;
                }

                in >> insertionOptions.maxDistForInterpolatePoints;

                {
                    bool disableSaveAs3DObject;
                    in >> disableSaveAs3DObject;
                    genericMapParams.enableSaveAs3DObject =
                        !disableSaveAs3DObject;
                }
            }

            if (version >= 3)
            {
                in >> insertionOptions.horizontalTolerance;
            }

            if (version >= 5)  // version 5: added likelihoodOptions
                likelihoodOptions.readFromStream(in);

            if (version >= 8)  // version 8: added insertInvalidPoints
                in >> insertionOptions.insertInvalidPoints;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/*---------------------------------------------------------------
                    Clear
  ---------------------------------------------------------------*/
void CSimplePointsMap::internal_clear()
{
    // This swap() thing is the only way to really deallocate the memory.
    vector_strong_clear(m_x);
    vector_strong_clear(m_y);
    vector_strong_clear(m_z);

    mark_as_modified();
}

void CSimplePointsMap::insertPointFast(float x, float y, float z)
{
    m_x.push_back(x);
    m_y.push_back(y);
    m_z.push_back(z);
}

namespace mrpt::maps::detail
{
using mrpt::maps::CSimplePointsMap;

template <>
struct pointmap_traits<CSimplePointsMap>
{
    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called only once before inserting
     * points - this is the place to reserve memory in lric for extra working
     * variables. */
    inline static void internal_loadFromRangeScan2D_init(
        CSimplePointsMap& me,
        mrpt::maps::CPointsMap::TLaserRange2DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(lric);
    }
    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called once per range data */
    inline static void internal_loadFromRangeScan2D_prepareOneRange(
        CSimplePointsMap& me, const float gx, const float gy, const float gz,
        mrpt::maps::CPointsMap::TLaserRange2DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(gx);
        MRPT_UNUSED_PARAM(gy);
        MRPT_UNUSED_PARAM(gz);
        MRPT_UNUSED_PARAM(lric);
    }
    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called after each
     * "{x,y,z}.push_back(...);" */
    inline static void internal_loadFromRangeScan2D_postPushBack(
        CSimplePointsMap& me,
        mrpt::maps::CPointsMap::TLaserRange2DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(lric);
    }

    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called only once before inserting
     * points - this is the place to reserve memory in lric for extra working
     * variables. */
    inline static void internal_loadFromRangeScan3D_init(
        CSimplePointsMap& me,
        mrpt::maps::CPointsMap::TLaserRange3DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(lric);
    }
    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called once per range data */
    inline static void internal_loadFromRangeScan3D_prepareOneRange(
        CSimplePointsMap& me, const float gx, const float gy, const float gz,
        mrpt::maps::CPointsMap::TLaserRange3DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(gx);
        MRPT_UNUSED_PARAM(gy);
        MRPT_UNUSED_PARAM(gz);
        MRPT_UNUSED_PARAM(lric);
    }
    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called after each
     * "{x,y,z}.push_back(...);" */
    inline static void internal_loadFromRangeScan3D_postPushBack(
        CSimplePointsMap& me,
        mrpt::maps::CPointsMap::TLaserRange3DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(lric);
    }
    /** Helper method fot the generic implementation of
     * CPointsMap::loadFromRangeScan(), to be called once per range data, at the
     * end */
    inline static void internal_loadFromRangeScan3D_postOneRange(
        CSimplePointsMap& me,
        mrpt::maps::CPointsMap::TLaserRange3DInsertContext& lric)
    {
        MRPT_UNUSED_PARAM(me);
        MRPT_UNUSED_PARAM(lric);
    }
};
}  // namespace mrpt::maps::detail
/** See CPointsMap::loadFromRangeScan() */
void CSimplePointsMap::loadFromRangeScan(
    const CObservation2DRangeScan& rangeScan, const CPose3D* robotPose)
{
    mrpt::maps::detail::loadFromRangeImpl<
        CSimplePointsMap>::templ_loadFromRangeScan(*this, rangeScan, robotPose);
}

/** See CPointsMap::loadFromRangeScan() */
void CSimplePointsMap::loadFromRangeScan(
    const CObservation3DRangeScan& rangeScan, const CPose3D* robotPose)
{
    mrpt::maps::detail::loadFromRangeImpl<
        CSimplePointsMap>::templ_loadFromRangeScan(*this, rangeScan, robotPose);
}

// ================================ PLY files import & export virtual methods
// ================================

/** In a base class, reserve memory to prepare subsequent calls to
 * PLY_import_set_vertex */
void CSimplePointsMap::PLY_import_set_vertex_count(const size_t N)
{
    this->setSize(N);
}