CDynamicGrid3D.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/round.h>
#include <cmath>
#include <cstddef>
#include <cstdint>
#include <stdexcept>
#include <vector>

namespace mrpt::containers
{
/** A 3D rectangular grid of dynamic size which stores any kind of data at each
 * voxel.
 * \tparam T The type of each voxel in the grid.
 * \ingroup mrpt_containers_grp
 */
template <class T, class coord_t = double>
class CDynamicGrid3D
{
   public:
    using grid_data_t = std::vector<T>;
    using iterator = typename grid_data_t::iterator;
    using const_iterator = typename grid_data_t::const_iterator;

    /** Constructor */
    CDynamicGrid3D(
        coord_t x_min = -1.0, coord_t x_max = 1.0, coord_t y_min = -1.0,
        coord_t y_max = +1.0, coord_t z_min = -1.0, coord_t z_max = 1.0,
        coord_t resolution_xy = 0.5, coord_t resolution_z = 0.5)
        : m_map()
    {
        setSize(
            x_min, x_max, y_min, y_max, z_min, z_max, resolution_xy,
            resolution_z);
    }

    /** Changes the size of the grid, maintaining previous contents.
     * \sa setSize
     */
    virtual void resize(
        coord_t new_x_min, coord_t new_x_max, coord_t new_y_min,
        coord_t new_y_max, coord_t new_z_min, coord_t new_z_max,
        const T& defaultValueNewCells, coord_t additionalMarginMeters = 2)
    {
        // Is resize really necesary?
        if (new_x_min >= m_x_min && new_y_min >= m_y_min &&
            new_z_min >= m_z_min && new_x_max <= m_x_max &&
            new_y_max <= m_y_max && new_z_max <= m_z_max)
            return;

        if (new_x_min > m_x_min) new_x_min = m_x_min;
        if (new_x_max < m_x_max) new_x_max = m_x_max;
        if (new_y_min > m_y_min) new_y_min = m_y_min;
        if (new_y_max < m_y_max) new_y_max = m_y_max;
        if (new_z_min > m_z_min) new_z_min = m_z_min;
        if (new_z_max < m_z_max) new_z_max = m_z_max;

        // Additional margin:
        if (additionalMarginMeters > 0)
        {
            if (new_x_min < m_x_min)
                new_x_min = floor(new_x_min - additionalMarginMeters);
            if (new_x_max > m_x_max)
                new_x_max = ceil(new_x_max + additionalMarginMeters);
            if (new_y_min < m_y_min)
                new_y_min = floor(new_y_min - additionalMarginMeters);
            if (new_y_max > m_y_max)
                new_y_max = ceil(new_y_max + additionalMarginMeters);
            if (new_z_min < m_z_min)
                new_z_min = floor(new_z_min - additionalMarginMeters);
            if (new_z_max > m_z_max)
                new_z_max = ceil(new_z_max + additionalMarginMeters);
        }

        // Adjust sizes to adapt them to full sized cells acording to the
        // resolution:
        if (fabs(
                new_x_min / m_resolution_xy -
                round(new_x_min / m_resolution_xy)) > 0.05)
            new_x_min = m_resolution_xy * round(new_x_min / m_resolution_xy);
        if (fabs(
                new_y_min / m_resolution_xy -
                round(new_y_min / m_resolution_xy)) > 0.05)
            new_y_min = m_resolution_xy * round(new_y_min / m_resolution_xy);
        if (fabs(
                new_z_min / m_resolution_z -
                round(new_z_min / m_resolution_z)) > 0.05)
            new_z_min = m_resolution_z * round(new_z_min / m_resolution_z);
        if (fabs(
                new_x_max / m_resolution_xy -
                round(new_x_max / m_resolution_xy)) > 0.05)
            new_x_max = m_resolution_xy * round(new_x_max / m_resolution_xy);
        if (fabs(
                new_y_max / m_resolution_xy -
                round(new_y_max / m_resolution_xy)) > 0.05)
            new_y_max = m_resolution_xy * round(new_y_max / m_resolution_xy);
        if (fabs(
                new_z_max / m_resolution_z -
                round(new_z_max / m_resolution_z)) > 0.05)
            new_z_max = m_resolution_z * round(new_z_max / m_resolution_z);

        // Change the map size: Extensions at each side:
        size_t extra_x_izq = round((m_x_min - new_x_min) / m_resolution_xy);
        size_t extra_y_arr = round((m_y_min - new_y_min) / m_resolution_xy);
        size_t extra_z_top = round((m_z_min - new_z_min) / m_resolution_z);

        size_t new_size_x = round((new_x_max - new_x_min) / m_resolution_xy);
        size_t new_size_y = round((new_y_max - new_y_min) / m_resolution_xy);
        size_t new_size_z = round((new_z_max - new_z_min) / m_resolution_z);
        size_t new_size_x_times_y = new_size_x * new_size_y;

        // Reserve new memory:
        grid_data_t new_map;
        new_map.resize(
            new_size_x * new_size_y * new_size_z, defaultValueNewCells);

        // Copy previous rows:
        size_t x, y, z;
        iterator itSrc, itDst;
        for (z = 0; z < m_size_z; z++)
        {
            for (y = 0; y < m_size_y; y++)
            {
                for (x = 0,
                    itSrc =
                         (m_map.begin() + y * m_size_x + z * m_size_x_times_y),
                    itDst =
                         (new_map.begin() + extra_x_izq +
                          (y + extra_y_arr) * new_size_x +
                          (z + extra_z_top) * new_size_x_times_y);
                     x < m_size_x; ++x, ++itSrc, ++itDst)
                {
                    *itDst = *itSrc;
                }
            }
        }

        // Update the new map limits:
        m_x_min = new_x_min;
        m_x_max = new_x_max;
        m_y_min = new_y_min;
        m_y_max = new_y_max;
        m_z_min = new_z_min;
        m_z_max = new_z_max;

        m_size_x = new_size_x;
        m_size_y = new_size_y;
        m_size_z = new_size_z;
        m_size_x_times_y = new_size_x_times_y;

        // Keep the new map only:
        m_map.swap(new_map);
    }

    /** Changes the size of the grid, ERASING all previous contents.
     * If \a fill_value is left as nullptr, the contents of cells may be
     * undefined (some will remain with
     *  their old values, the new ones will have the default voxel value, but
     * the location of old values
     *  may change wrt their old places).
     * If \a fill_value is not nullptr, it is assured that all cells will have
     * a copy of that value after resizing.
     * If `resolution_z`<0, the same resolution will be used for all dimensions
     * x,y,z as given in `resolution_xy`
     * \sa resize, fill
     */
    virtual void setSize(
        const coord_t x_min, const coord_t x_max, const coord_t y_min,
        const coord_t y_max, const coord_t z_min, const coord_t z_max,
        const coord_t resolution_xy, const coord_t resolution_z_ = -1.0,
        const T* fill_value = nullptr)
    {
        const coord_t resolution_z =
            resolution_z_ > 0 ? resolution_z_ : resolution_xy;

        // Adjust sizes to adapt them to full sized cells acording to the
        // resolution:
        m_x_min = x_min;
        m_y_min = y_min;
        m_z_min = z_min;

        m_x_max =
            x_min + resolution_xy * round((x_max - x_min) / resolution_xy);
        m_y_max =
            y_min + resolution_xy * round((y_max - y_min) / resolution_xy);
        m_z_max = z_min + resolution_z * round((z_max - z_min) / resolution_z);

        // Res:
        m_resolution_xy = resolution_xy;
        m_resolution_z = resolution_z;

        // Now the number of cells should be integers:
        m_size_x = round((m_x_max - m_x_min) / m_resolution_xy);
        m_size_y = round((m_y_max - m_y_min) / m_resolution_xy);
        m_size_x_times_y = m_size_x * m_size_y;
        m_size_z = round((m_z_max - m_z_min) / m_resolution_z);

        // Cells memory:
        if (fill_value)
            m_map.assign(m_size_x * m_size_y * m_size_z, *fill_value);
        else
            m_map.resize(m_size_x * m_size_y * m_size_z);
    }

    /** Erase the contents of all the cells, setting them to their default
     * values (default ctor). */
    virtual void clear()
    {
        m_map.clear();
        m_map.resize(m_size_x * m_size_y * m_size_z);
    }

    /** Fills all the cells with the same value
     */
    inline void fill(const T& value)
    {
        for (auto it = m_map.begin(); it != m_map.end(); ++it) *it = value;
    }

    static const size_t INVALID_VOXEL_IDX = size_t(-1);

    inline bool isOutOfBounds(const int cx, const int cy, const int cz) const
    {
        return (cx < 0 || cx >= static_cast<int>(m_size_x)) ||
               (cy < 0 || cy >= static_cast<int>(m_size_y)) ||
               (cz < 0 || cz >= static_cast<int>(m_size_z));
    }

    /** Gets the absolute index of a voxel in the linear container m_map[] from
     * its cx,cy,cz indices, or -1 if out of map bounds (in any dimension). \sa
     * x2idx(), y2idx(), z2idx() */
    inline size_t cellAbsIndexFromCXCYCZ(
        const int cx, const int cy, const int cz) const
    {
        if (isOutOfBounds(cx, cy, cz)) return INVALID_VOXEL_IDX;
        return cx + cy * m_size_x + cz * m_size_x_times_y;
    }

    /** Returns a pointer to the contents of a voxel given by its coordinates,
     * or nullptr if it is out of the map extensions.
     */
    inline T* cellByPos(coord_t x, coord_t y, coord_t z)
    {
        const size_t cidx =
            cellAbsIndexFromCXCYCZ(x2idx(x), y2idx(y), z2idx(z));
        if (cidx == INVALID_VOXEL_IDX) return nullptr;
        return &m_map[cidx];
    }
    /** \overload */
    inline const T* cellByPos(coord_t x, coord_t y, coord_t z) const
    {
        const size_t cidx =
            cellAbsIndexFromCXCYCZ(x2idx(x), y2idx(y), z2idx(z));
        if (cidx == INVALID_VOXEL_IDX) return nullptr;
        return &m_map[cidx];
    }

    /** Like cellByPos() but returns a reference
     * \exception std::out_of_range if out of grid limits. */
    inline T& cellRefByPos(coord_t x, coord_t y, coord_t z)
    {
        T* c = cellByPos(x, y, z);
        if (!c) throw std::out_of_range("cellRefByPos: Out of grid limits");
        return *c;
    }
    /** \overload */
    inline const T& cellRefByPos(coord_t x, coord_t y, coord_t z) const
    {
        const T* c = cellByPos(x, y, z);
        if (!c) throw std::out_of_range("cellRefByPos: Out of grid limits");
        return *c;
    }

    /** Returns a pointer to the contents of a voxel given by its voxel indexes,
     * or nullptr if it is out of the map extensions.
     */
    inline T* cellByIndex(unsigned int cx, unsigned int cy, unsigned int cz)
    {
        const size_t cidx = cellAbsIndexFromCXCYCZ(cx, cy, cz);
        if (cidx == INVALID_VOXEL_IDX) return nullptr;
        return &m_map[cidx];
    }
    inline const T* cellByIndex(
        unsigned int cx, unsigned int cy, unsigned int cz) const
    {
        const size_t cidx = cellAbsIndexFromCXCYCZ(cx, cy, cz);
        if (cidx == INVALID_VOXEL_IDX) return nullptr;
        return &m_map[cidx];
    }

    /** Returns a pointer to the contents of a voxel given by its absolute voxel
     *  index, or nullptr if it is out of range.
     */
    inline const T* cellByIndex(size_t cidx) const
    {
        if (cidx > m_map.size()) return nullptr;
        return &m_map[cidx];
    }
    /// \overload
    inline T* cellByIndex(size_t cidx)
    {
        if (cidx > m_map.size()) return nullptr;
        return &m_map[cidx];
    }

    inline size_t getSizeX() const { return m_size_x; }
    inline size_t getSizeY() const { return m_size_y; }
    inline size_t getSizeZ() const { return m_size_z; }
    inline size_t getVoxelCount() const { return m_size_x_times_y * m_size_z; }
    inline coord_t getXMin() const { return m_x_min; }
    inline coord_t getXMax() const { return m_x_max; }
    inline coord_t getYMin() const { return m_y_min; }
    inline coord_t getYMax() const { return m_y_max; }
    inline coord_t getZMin() const { return m_z_min; }
    inline coord_t getZMax() const { return m_z_max; }
    inline coord_t getResolutionXY() const { return m_resolution_xy; }
    inline coord_t getResolutionZ() const { return m_resolution_z; }
    /** Transform a coordinate values into voxel indexes */
    inline int x2idx(coord_t x) const
    {
        return static_cast<int>((x - m_x_min) / m_resolution_xy);
    }
    inline int y2idx(coord_t y) const
    {
        return static_cast<int>((y - m_y_min) / m_resolution_xy);
    }
    inline int z2idx(coord_t z) const
    {
        return static_cast<int>((z - m_z_min) / m_resolution_z);
    }

    /** Transform a voxel index into a coordinate value of the voxel central
     * point */
    inline coord_t idx2x(int cx) const
    {
        return m_x_min + (cx)*m_resolution_xy;
    }
    inline coord_t idx2y(int cy) const
    {
        return m_y_min + (cy)*m_resolution_xy;
    }
    inline coord_t idx2z(int cz) const { return m_z_min + (cz)*m_resolution_z; }

    inline iterator begin() { return m_map.begin(); }
    inline iterator end() { return m_map.end(); }
    inline const_iterator begin() const { return m_map.begin(); }
    inline const_iterator end() const { return m_map.end(); }

   protected:
    /** The cells */
    mutable grid_data_t m_map;
    /** Used only from logically const method that really need to modify the
     * object */
    inline std::vector<T>& m_map_castaway_const() const { return m_map; }
    coord_t m_x_min, m_x_max, m_y_min, m_y_max, m_z_min, m_z_max,
        m_resolution_xy, m_resolution_z;
    size_t m_size_x, m_size_y, m_size_z, m_size_x_times_y;

   public:
    /** Serialization of all parameters, except the contents of each voxel
     * (responsability of the derived class) */
    template <class ARCHIVE>
    void dyngridcommon_writeToStream(ARCHIVE& out) const
    {
        out << m_x_min << m_x_max << m_y_min << m_y_max << m_z_min << m_z_max;
        out << m_resolution_xy << m_resolution_z;
        out.template WriteAs<uint32_t>(m_size_x)
            .template WriteAs<uint32_t>(m_size_y)
            .template WriteAs<uint32_t>(m_size_z);
    }
    /** Serialization of all parameters, except the contents of each voxel
     * (responsability of the derived class) */
    template <class ARCHIVE>
    void dyngridcommon_readFromStream(ARCHIVE& in)
    {
        in >> m_x_min >> m_x_max >> m_y_min >> m_y_max >> m_z_min >> m_z_max;
        in >> m_resolution_xy >> m_resolution_z;

        m_size_x = in.template ReadAs<uint32_t>();
        m_size_y = in.template ReadAs<uint32_t>();
        m_size_z = in.template ReadAs<uint32_t>();
        m_map.resize(m_size_x * m_size_y * m_size_z);
    }

};  // end of CDynamicGrid3D<>

}  // namespace mrpt::containers