CWeightedPointsMap.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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    |
   +---------------------------------------------------------------------------+ */

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

#include <mrpt/maps/CWeightedPointsMap.h>
#include <mrpt/utils/CStream.h>

#include "CPointsMap_crtp_common.h"

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

//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER("CWeightedPointsMap,weightedPointsMap", mrpt::maps::CWeightedPointsMap)

CWeightedPointsMap::TMapDefinition::TMapDefinition()
{
}

void CWeightedPointsMap::TMapDefinition::loadFromConfigFile_map_specific(const mrpt::utils::CConfigFileBase  &source, const std::string &sectionNamePrefix)
{
        insertionOpts.loadFromConfigFile(source, sectionNamePrefix+string("_insertOpts") );
        likelihoodOpts.loadFromConfigFile(source, sectionNamePrefix+string("_likelihoodOpts") );
}

void CWeightedPointsMap::TMapDefinition::dumpToTextStream_map_specific(mrpt::utils::CStream &out) const
{
        this->insertionOpts.dumpToTextStream(out);
        this->likelihoodOpts.dumpToTextStream(out);
}

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


IMPLEMENTS_SERIALIZABLE(CWeightedPointsMap, CPointsMap,mrpt::maps)


/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
CWeightedPointsMap::CWeightedPointsMap()
{
        reserve( 400 );
}

/*---------------------------------------------------------------
                                                Destructor
  ---------------------------------------------------------------*/
CWeightedPointsMap::~CWeightedPointsMap()
{
}

/*---------------------------------------------------------------
                                reserve & resize methods
 ---------------------------------------------------------------*/
void CWeightedPointsMap::reserve(size_t newLength)
{
        newLength = mrpt::utils::length2length4N(newLength);
        x.reserve( newLength );
        y.reserve( newLength );
        z.reserve( newLength );
        pointWeight.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 CWeightedPointsMap::resize(size_t newLength)
{
        this->reserve(newLength); // to ensure 4N capacity
        x.resize( newLength, 0 );
        y.resize( newLength, 0 );
        z.resize( newLength, 0 );
        pointWeight.resize(newLength, 1);
}

// 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 CWeightedPointsMap::setSize(size_t newLength)
{
        this->reserve(newLength); // to ensure 4N capacity
        x.assign( newLength, 0);
        y.assign( newLength, 0);
        z.assign( newLength, 0);
        pointWeight.assign( newLength, 1 );
}

void  CWeightedPointsMap::setPointFast(size_t index,float x,float y,float z)
{
        this->x[index] = x;
        this->y[index] = y;
        this->z[index] = z;
        // this->pointWeight: Unmodified
        // mark_as_modified(); -> Fast
}

void  CWeightedPointsMap::insertPointFast( float x, float y, float z )
{
        this->x.push_back(x);
        this->y.push_back(y);
        this->z.push_back(z);
        this->pointWeight.push_back(1);
        // mark_as_modified(); -> Fast
}

/*---------------------------------------------------------------
                                                Copy constructor
  ---------------------------------------------------------------*/
void  CWeightedPointsMap::copyFrom(const CPointsMap &obj)
{
        CPointsMap::base_copyFrom(obj);  // This also does a ::resize(N) of all data fields.

        const CWeightedPointsMap *pW = dynamic_cast<const CWeightedPointsMap*>(&obj);
        if (pW)
        {
                pointWeight = pW->pointWeight;
        }
}

/*---------------------------------------------------------------
                                                addFrom_classSpecific
 ---------------------------------------------------------------*/
void  CWeightedPointsMap::addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints)
{
        const size_t nOther = anotherMap.size();

        // Specific data for this class:
        const CWeightedPointsMap * anotheMap_w = dynamic_cast<const CWeightedPointsMap *>(&anotherMap);

        if (anotheMap_w)
        {
                for (size_t i=0,j=nPreviousPoints;i<nOther;i++, j++)
                        pointWeight[j] = anotheMap_w->pointWeight[i];
        }
}

/*---------------------------------------------------------------
                                        writeToStream
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CWeightedPointsMap::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 2;
        else
        {
                uint32_t n = x.size();

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

                if (n>0)
                {
                        out.WriteBufferFixEndianness(&x[0],n);
                        out.WriteBufferFixEndianness(&y[0],n);
                        out.WriteBufferFixEndianness(&z[0],n);
                        out.WriteBufferFixEndianness(&pointWeight[0],n);
                }

                out << genericMapParams; // v2
                insertionOptions.writeToStream(out); // version 9: insert options are saved with its own method
                likelihoodOptions.writeToStream(out); // Added in version 5
        }
}

/*---------------------------------------------------------------
                                        readFromStream
   Implements the reading from a CStream capability of
      CSerializable objects
  ---------------------------------------------------------------*/
void  CWeightedPointsMap::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
        case 2:
                {
                        mark_as_modified();

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

                        this->resize(n);

                        if (n>0)
                        {
                                in.ReadBufferFixEndianness(&x[0],n);
                                in.ReadBufferFixEndianness(&y[0],n);
                                in.ReadBufferFixEndianness(&z[0],n);
                                in.ReadBufferFixEndianness(&pointWeight[0],n);
                        }

                        if (version>=1)
                        {
                                if (version>=2)
                                        in >> genericMapParams;
                                else 
                                {
                                        bool disableSaveAs3DObject;
                                        in >> disableSaveAs3DObject;
                                        genericMapParams.enableSaveAs3DObject = !disableSaveAs3DObject;
                                }

                                insertionOptions.readFromStream(in); // version 9: insert options are saved with its own method
                        }
                        else
                        {
                                insertionOptions = TInsertionOptions();
                                in      >> insertionOptions.minDistBetweenLaserPoints
                                        >> insertionOptions.addToExistingPointsMap
                                        >> insertionOptions.also_interpolate
                                        >> insertionOptions.disableDeletion
                                        >> insertionOptions.fuseWithExisting
                                        >> insertionOptions.isPlanarMap
                                        >> insertionOptions.maxDistForInterpolatePoints;
                                {
                                        bool disableSaveAs3DObject;
                                        in >> disableSaveAs3DObject;
                                        genericMapParams.enableSaveAs3DObject = !disableSaveAs3DObject;
                                }
                                in >> insertionOptions.horizontalTolerance;
                        }

                        likelihoodOptions.readFromStream(in); // Added in version 5

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

/*---------------------------------------------------------------
                                        Clear
  ---------------------------------------------------------------*/
void  CWeightedPointsMap::internal_clear()
{
        // This swap() thing is the only way to really deallocate the memory.
        vector_strong_clear(x);
        vector_strong_clear(y);
        vector_strong_clear(z);
        vector_strong_clear(pointWeight);

        mark_as_modified();
}

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

                        template <> struct pointmap_traits<CWeightedPointsMap>
                        {
                                /** 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(CWeightedPointsMap &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(CWeightedPointsMap &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(CWeightedPointsMap &me, mrpt::maps::CPointsMap::TLaserRange2DInsertContext & lric)  {
                                        MRPT_UNUSED_PARAM(lric);
                                        me.pointWeight.push_back(1);
                                }

                                /** 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(CWeightedPointsMap &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(CWeightedPointsMap &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(CWeightedPointsMap &me, mrpt::maps::CPointsMap::TLaserRange3DInsertContext & lric)  {
                                        MRPT_UNUSED_PARAM(lric);
                                        me.pointWeight.push_back(1);
                                }
                                /** 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(CWeightedPointsMap &me, mrpt::maps::CPointsMap::TLaserRange3DInsertContext & lric )  {
                                        MRPT_UNUSED_PARAM(me);
                                        MRPT_UNUSED_PARAM(lric);
                                }
                        };
                }
        }
}


/** See CPointsMap::loadFromRangeScan() */
void  CWeightedPointsMap::loadFromRangeScan(
                const CObservation2DRangeScan &rangeScan,
                const CPose3D                             *robotPose)
{
        mrpt::maps::detail::loadFromRangeImpl<CWeightedPointsMap>::templ_loadFromRangeScan(*this,rangeScan,robotPose);
}

/** See CPointsMap::loadFromRangeScan() */
void  CWeightedPointsMap::loadFromRangeScan(
                const CObservation3DRangeScan &rangeScan,
                const CPose3D                             *robotPose)
{
        mrpt::maps::detail::loadFromRangeImpl<CWeightedPointsMap>::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 CWeightedPointsMap::PLY_import_set_vertex_count(const size_t N)
{
        this->setSize(N);
}