CColouredPointsMap.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/maps/CPointsMap.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/obs/CObservationImage.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/typemeta/TEnumType.h>

namespace mrpt
{
namespace maps
{
/** A map of 2D/3D points with individual colours (RGB).
 *  For different color schemes, see CColouredPointsMap::colorScheme
 *  Colors are defined in the range [0,1].
 * \sa mrpt::maps::CPointsMap, mrpt::maps::CMetricMap,
 * mrpt::serialization::CSerializable
 * \ingroup mrpt_maps_grp
 */
class CColouredPointsMap : public CPointsMap
{
    DEFINE_SERIALIZABLE(CColouredPointsMap)

   public:
    // --------------------------------------------
    /** @name Pure virtual interfaces to be implemented by any class derived
       from CPointsMap
        @{ */

    virtual void reserve(size_t newLength) override;  // See base class docs
    virtual void resize(size_t newLength) override;  // See base class docs
    virtual void setSize(size_t newLength) override;  // See base class docs

    /** Changes the coordinates of the given point (0-based index), *without*
     * checking for out-of-bounds and *without* calling mark_as_modified()  \sa
     * setPoint */
    virtual void setPointFast(size_t index, float x, float y, float z) override
    {
        m_x[index] = x;
        m_y[index] = y;
        m_z[index] = z;
    }

    /** The virtual method for \a insertPoint() *without* calling
     * mark_as_modified()   */
    virtual void insertPointFast(float x, float y, float z = 0) override;

    /** Virtual assignment operator, to be implemented in derived classes  */
    virtual void copyFrom(const CPointsMap& obj) override;

    /** Get all the data fields for one point as a vector: [X Y Z R G B]
     *  Unlike getPointAllFields(), this method does not check for index out of
     * bounds
     * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast
     */
    virtual void getPointAllFieldsFast(
        const size_t index, std::vector<float>& point_data) const override
    {
        point_data.resize(6);
        point_data[0] = m_x[index];
        point_data[1] = m_y[index];
        point_data[2] = m_z[index];
        point_data[3] = m_color_R[index];
        point_data[4] = m_color_G[index];
        point_data[5] = m_color_B[index];
    }

    /** Set all the data fields for one point as a vector: [X Y Z R G B]
     *  Unlike setPointAllFields(), this method does not check for index out of
     * bounds
     * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
     */
    virtual void setPointAllFieldsFast(
        const size_t index, const std::vector<float>& point_data) override
    {
        ASSERTDEB_(point_data.size() == 6);
        m_x[index] = point_data[0];
        m_y[index] = point_data[1];
        m_z[index] = point_data[2];
        m_color_R[index] = point_data[3];
        m_color_G[index] = point_data[4];
        m_color_B[index] = point_data[5];
    }

    /** See CPointsMap::loadFromRangeScan() */
    virtual void loadFromRangeScan(
        const mrpt::obs::CObservation2DRangeScan& rangeScan,
        const mrpt::poses::CPose3D* robotPose = nullptr) override;
    /** See CPointsMap::loadFromRangeScan() */
    virtual void loadFromRangeScan(
        const mrpt::obs::CObservation3DRangeScan& rangeScan,
        const mrpt::poses::CPose3D* robotPose = nullptr) override;

   protected:
    /** Auxiliary method called from within \a addFrom() automatically, to
     * finish the copying of class-specific data  */
    virtual void addFrom_classSpecific(
        const CPointsMap& anotherMap, const size_t nPreviousPoints) override;

    // Friend methods:
    template <class Derived>
    friend struct detail::loadFromRangeImpl;
    template <class Derived>
    friend struct detail::pointmap_traits;

   public:
    /** @} */
    // --------------------------------------------

    /** Save to a text file. In each line contains X Y Z (meters) R G B (range
     * [0,1]) for each point in the map.
     *     Returns false if any error occured, true elsewere.
     */
    bool save3D_and_colour_to_text_file(const std::string& file) const;

    /** Changes a given point from map. First index is 0.
     * \exception Throws std::exception on index out of bound.
     */
    virtual void setPoint(
        size_t index, float x, float y, float z, float R, float G,
        float B) override;

    // The following overloads must be repeated here (from CPointsMap) due to
    // the shadowing of the above "setPoint()"
    /// \overload
    inline void setPoint(size_t index, float x, float y, float z)
    {
        ASSERT_BELOW_(index, this->size());
        setPointFast(index, x, y, z);
        mark_as_modified();
    }
    /// \overload
    inline void setPoint(size_t index, mrpt::math::TPoint3Df& p)
    {
        setPoint(index, p.x, p.y, p.z);
    }
    /// \overload
    inline void setPoint(size_t index, float x, float y)
    {
        setPoint(index, x, y, 0);
    }

    /** Adds a new point given its coordinates and color (colors range is [0,1])
     */
    virtual void insertPoint(
        float x, float y, float z, float R, float G, float B) override;
    // The following overloads must be repeated here (from CPointsMap) due to
    // the shadowing of the above "insertPoint()"
    /// \overload
    template <typename POINT_T>
    inline void insertPoint(const POINT_T& p)
    {
        insertPoint(p[0], p[1], p[2]);
    }
    /// \overload
    inline void insertPoint(float x, float y, float z)
    {
        insertPointFast(x, y, z);
        mark_as_modified();
    }

    /** Changes just the color of a given point from the map. First index is 0.
     * \exception Throws std::exception on index out of bound.
     */
    void setPointColor(size_t index, float R, float G, float B);

    /** Like \c setPointColor but without checking for out-of-index erors */
    inline void setPointColor_fast(size_t index, float R, float G, float B)
    {
        m_color_R[index] = R;
        m_color_G[index] = G;
        m_color_B[index] = B;
    }

    /** Retrieves a point and its color (colors range is [0,1])
     */
    virtual void getPoint(
        size_t index, float& x, float& y, float& z, float& R, float& G,
        float& B) const override;

    /** Retrieves a point  */
    unsigned long getPoint(size_t index, float& x, float& y, float& z) const;

    /** Retrieves a point color (colors range is [0,1]) */
    void getPointColor(size_t index, float& R, float& G, float& B) const;

    /** Like \c getPointColor but without checking for out-of-index erors */
    inline void getPointColor_fast(
        size_t index, float& R, float& G, float& B) const
    {
        R = m_color_R[index];
        G = m_color_G[index];
        B = m_color_B[index];
    }

    /** Returns true if the point map has a color field for each point */
    virtual bool hasColorPoints() const override { return true; }
    /** Override of the default 3D scene builder to account for the individual
     * points' color.
     */
    virtual void getAs3DObject(
        mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

    /** Colour a set of points from a CObservationImage and the global pose of
     * the robot */
    bool colourFromObservation(
        const mrpt::obs::CObservationImage& obs,
        const mrpt::poses::CPose3D& robotPose);

    /** The choices for coloring schemes:
     *      - cmFromHeightRelativeToSensor: The Z coordinate wrt the sensor will
     *be
     *used to obtain the color using the limits z_min,z_max.
     *  - cmFromIntensityImage: When inserting 3D range scans, take the
     *color
     *from the intensity image channel, if available.
     * \sa TColourOptions
     */
    enum TColouringMethod
    {
        cmFromHeightRelativeToSensor = 0,
        cmFromHeightRelativeToSensorJet = 0,
        cmFromHeightRelativeToSensorGray = 1,
        cmFromIntensityImage = 2
        // Remember: if new values are added, also update TEnumType below!
    };

    /** The definition of parameters for generating colors from laser scans */
    struct TColourOptions : public mrpt::config::CLoadableOptions
    {
        /** Initilization of default parameters */
        TColourOptions();
        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs

        TColouringMethod scheme;
        float z_min, z_max;
        float d_max;
    };

    /** The options employed when inserting laser scans in the map. */
    TColourOptions colorScheme;

    /** Reset the minimum-observed-distance buffer for all the points to a
     * predefined value */
    void resetPointsMinDist(float defValue = 2000.0f);

    /** @name PCL library support
        @{ */

    /** Save the point cloud as a PCL PCD file, in either ASCII or binary format
     * \return false on any error */
    virtual bool savePCDFile(
        const std::string& filename, bool save_as_binary) const override;

    /** Loads a PCL point cloud (WITH RGB information) into this MRPT class (for
     * clouds without RGB data, see CPointsMap::setFromPCLPointCloud() ).
     *  Usage example:
     *  \code
     *    pcl::PointCloud<pcl::PointXYZRGB> cloud;
     *    mrpt::maps::CColouredPointsMap       pc;
     *
     *    pc.setFromPCLPointCloudRGB(cloud);
     *  \endcode
     * \sa CPointsMap::setFromPCLPointCloud()
     */
    template <class POINTCLOUD>
    void setFromPCLPointCloudRGB(const POINTCLOUD& cloud)
    {
        const size_t N = cloud.points.size();
        clear();
        reserve(N);
        const float f = 1.0f / 255.0f;
        for (size_t i = 0; i < N; ++i)
            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);
    }

    /** Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZRGB> */
    template <class POINTCLOUD>
    void getPCLPointCloudXYZRGB(POINTCLOUD& cloud) const
    {
        const size_t nThis = this->size();
        this->getPCLPointCloud(cloud);  // 1st: xyz data
        // 2nd: RGB data
        for (size_t i = 0; i < nThis; ++i)
        {
            float R, G, B;
            this->getPointColor_fast(i, R, G, B);
            cloud.points[i].r = static_cast<uint8_t>(R * 255);
            cloud.points[i].g = static_cast<uint8_t>(G * 255);
            cloud.points[i].b = static_cast<uint8_t>(B * 255);
        }
    }
    /** @} */

   protected:
    /** The color data */
    mrpt::aligned_std_vector<float> m_color_R, m_color_G, m_color_B;

    /** Minimum distance from where the points have been seen */
    // std::vector<float>   m_min_dist;

    /** Clear the map, erasing all the points */
    virtual void internal_clear() override;

    /** @name Redefinition of PLY Import virtual methods from CPointsMap
        @{ */
    /** In a base class, will be called after PLY_import_set_vertex_count() once
     * for each loaded point.
     *  \param pt_color Will be nullptr if the loaded file does not provide
     * color info.
     */
    virtual void PLY_import_set_vertex(
        const size_t idx, const mrpt::math::TPoint3Df& pt,
        const mrpt::img::TColorf* pt_color = nullptr) override;

    /** In a base class, reserve memory to prepare subsequent calls to
     * PLY_import_set_vertex */
    virtual void PLY_import_set_vertex_count(const size_t N) override;
    /** @} */

    /** @name Redefinition of PLY Export virtual methods from CPointsMap
        @{ */
    void PLY_export_get_vertex(
        const size_t idx, mrpt::math::TPoint3Df& pt, bool& pt_has_color,
        mrpt::img::TColorf& pt_color) const override;
    /** @} */

    MAP_DEFINITION_START(CColouredPointsMap)
    mrpt::maps::CPointsMap::TInsertionOptions insertionOpts;
    mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts;
    mrpt::maps::CColouredPointsMap::TColourOptions colourOpts;
    MAP_DEFINITION_END(CColouredPointsMap)

};  // End of class def.

}  // namespace maps

#include <mrpt/opengl/pointcloud_adapters.h>
namespace opengl
{
/** Specialization
 * mrpt::opengl::PointCloudAdapter<mrpt::maps::CColouredPointsMap> \ingroup
 * mrpt_adapters_grp */
template <>
class PointCloudAdapter<mrpt::maps::CColouredPointsMap>
{
   private:
    mrpt::maps::CColouredPointsMap& m_obj;

   public:
    /** The type of each point XYZ coordinates */
    using coords_t = float;
    /** Has any color RGB info? */
    static const int HAS_RGB = 1;
    /** Has native RGB info (as floats)? */
    static const int HAS_RGBf = 1;
    /** Has native RGB info (as uint8_t)? */
    static const int HAS_RGBu8 = 0;

    /** Constructor (accept a const ref for convenience) */
    inline PointCloudAdapter(const mrpt::maps::CColouredPointsMap& obj)
        : m_obj(*const_cast<mrpt::maps::CColouredPointsMap*>(&obj))
    {
    }
    /** Get number of points */
    inline size_t size() const { return m_obj.size(); }
    /** Set number of points (to uninitialized values) */
    inline void resize(const size_t N) { m_obj.resize(N); }
    /** Does nothing as of now */
    inline void setDimensions(const size_t &height, const size_t &width)
    {
    }
    /** Get XYZ coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ(const size_t idx, T& x, T& y, T& z) const
    {
        m_obj.getPointFast(idx, x, y, z);
    }
    /** Set XYZ coordinates of i'th point */
    inline void setPointXYZ(
        const size_t idx, const coords_t x, const coords_t y, const coords_t z)
    {
        m_obj.setPointFast(idx, x, y, z);
    }

    /** Get XYZ_RGBf coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBf(
        const size_t idx, T& x, T& y, T& z, float& r, float& g, float& b) const
    {
        m_obj.getPoint(idx, x, y, z, r, g, b);
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline 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)
    {
        m_obj.setPoint(idx, x, y, z, r, g, b);
    }

    /** Get XYZ_RGBu8 coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBu8(
        const size_t idx, T& x, T& y, T& z, uint8_t& r, uint8_t& g,
        uint8_t& b) const
    {
        float Rf, Gf, Bf;
        m_obj.getPoint(idx, x, y, z, Rf, Gf, Bf);
        r = Rf * 255;
        g = Gf * 255;
        b = Bf * 255;
    }
    /** Set XYZ_RGBu8 coordinates of i'th point */
    inline 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)
    {
        m_obj.setPoint(idx, x, y, z, r / 255.f, g / 255.f, b / 255.f);
    }

    /** Get RGBf color of i'th point */
    inline void getPointRGBf(
        const size_t idx, float& r, float& g, float& b) const
    {
        m_obj.getPointColor_fast(idx, r, g, b);
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline void setPointRGBf(
        const size_t idx, const float r, const float g, const float b)
    {
        m_obj.setPointColor_fast(idx, r, g, b);
    }

    /** Get RGBu8 color of i'th point */
    inline void getPointRGBu8(
        const size_t idx, uint8_t& r, uint8_t& g, uint8_t& b) const
    {
        float R, G, B;
        m_obj.getPointColor_fast(idx, R, G, B);
        r = R * 255;
        g = G * 255;
        b = B * 255;
    }
    /** Set RGBu8 coordinates of i'th point */
    inline void setPointRGBu8(
        const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
    {
        m_obj.setPointColor_fast(idx, r / 255.f, g / 255.f, b / 255.f);
    }

};  // end of PointCloudAdapter<mrpt::maps::CColouredPointsMap>
}  // namespace opengl
}  // namespace mrpt

MRPT_ENUM_TYPE_BEGIN(mrpt::maps::CColouredPointsMap::TColouringMethod)
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CColouredPointsMap::TColouringMethod,
    cmFromHeightRelativeToSensor);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CColouredPointsMap::TColouringMethod,
    cmFromHeightRelativeToSensorJet);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CColouredPointsMap::TColouringMethod,
    cmFromHeightRelativeToSensorGray);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CColouredPointsMap::TColouringMethod, cmFromIntensityImage);
MRPT_ENUM_TYPE_END()