CSensoryFrame.cpp

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/* +------------------------------------------------------------------------+
   |                     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          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/metaprogramming_serialization.h>
#include <mrpt/system/os.h>
#include <iterator>

using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CSensoryFrame, CSerializable, mrpt::obs)

CSensoryFrame::CSensoryFrame(const CSensoryFrame& o) : m_observations()
{
    *this = o;
}

CSensoryFrame& CSensoryFrame::operator=(const CSensoryFrame& o)
{
    MRPT_START
    clear();
    if (this == &o) return *this;  // It may be used sometimes
    m_observations = o.m_observations;
    m_cachedMap.reset();
    return *this;
    MRPT_END
}

void CSensoryFrame::clear()
{
    m_observations.clear();
    m_cachedMap.reset();
}

uint8_t CSensoryFrame::serializeGetVersion() const { return 2; }
void CSensoryFrame::serializeTo(mrpt::serialization::CArchive& out) const
{
    out.WriteAs<uint32_t>(m_observations.size());
    for (const auto& o : m_observations)
    {
        ASSERT_(o);
        out << *o;
    }
}

void CSensoryFrame::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    MRPT_START
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            uint32_t i, n;
            mrpt::system::TTimeStamp tempTimeStamp = INVALID_TIMESTAMP;

            clear();
            if (version < 2)  // ID was removed in version 2
            {
                uint32_t ID;
                in >> ID;
            }

            if (version == 0) in.ReadBufferFixEndianness(&tempTimeStamp, 1);

            in >> n;
            m_observations.resize(n);
            for_each(
                m_observations.begin(), m_observations.end(),
                mrpt::serialization::metaprogramming::ObjectReadFromStream(
                    &in));

            if (version == 0)
                for (i = 0; i < n; i++)
                    m_observations[i]->timestamp = tempTimeStamp;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };

    m_cachedMap.reset();

    MRPT_END
}

/*---------------------------------------------------------------
                        operator +=
  ---------------------------------------------------------------*/
void CSensoryFrame::operator+=(const CSensoryFrame& sf)
{
    MRPT_UNUSED_PARAM(sf);
    m_cachedMap.reset();
    for (auto it = begin(); it != end(); ++it)
    {
        CObservation::Ptr newObs = *it;
        newObs.reset(dynamic_cast<CObservation*>(newObs->clone()));
        m_observations.push_back(
            newObs);  // static_cast<CObservation*>( (*it)->clone()) );
    }
}

/*---------------------------------------------------------------
                        operator +=
  ---------------------------------------------------------------*/
void CSensoryFrame::operator+=(const CObservation::Ptr& obs)
{
    m_cachedMap.reset();
    m_observations.push_back(obs);
}

/*---------------------------------------------------------------
                    push_back
  ---------------------------------------------------------------*/
void CSensoryFrame::push_back(const CObservation::Ptr& obs)
{
    m_cachedMap.reset();
    m_observations.push_back(obs);
}

/*---------------------------------------------------------------
                insert
  ---------------------------------------------------------------*/
void CSensoryFrame::insert(const CObservation::Ptr& obs)
{
    m_cachedMap.reset();
    m_observations.push_back(obs);
}

/*---------------------------------------------------------------
                eraseByIndex
  ---------------------------------------------------------------*/
void CSensoryFrame::eraseByIndex(size_t idx)
{
    MRPT_START
    if (idx >= size())
        THROW_EXCEPTION_FMT(
            "Index %u out of range.", static_cast<unsigned>(idx));

    m_cachedMap.reset();
    auto it = begin() + idx;
    ASSERT_(!*it);
    m_observations.erase(it);
    MRPT_END
}

/*---------------------------------------------------------------
                    getObservationByIndex
  ---------------------------------------------------------------*/
const CObservation::Ptr& CSensoryFrame::getObservationByIndex(size_t idx) const
{
    MRPT_START
    ASSERT_BELOW_(idx, size());
    auto it = begin() + idx;
    return *it;
    MRPT_END
}
CObservation::Ptr& CSensoryFrame::getObservationByIndex(size_t idx)
{
    MRPT_START
    ASSERT_BELOW_(idx, size());
    auto it = begin() + idx;
    return *it;
    MRPT_END
}

/*---------------------------------------------------------------
                    erase
  ---------------------------------------------------------------*/
CSensoryFrame::iterator CSensoryFrame::erase(const iterator& it)
{
    MRPT_START
    ASSERT_(it != end());
    m_cachedMap.reset();

    return m_observations.erase(it);
    MRPT_END
}

/*---------------------------------------------------------------
                    getObservationBySensorLabel
  ---------------------------------------------------------------*/
CObservation::Ptr CSensoryFrame::getObservationBySensorLabel(
    const std::string& label, size_t idx) const
{
    MRPT_START

    size_t foundCount = 0;
    for (const auto& it : *this)
        if (!os::_strcmpi(it->sensorLabel.c_str(), label.c_str()))
            if (foundCount++ == idx) return it;

    return CObservation::Ptr();

    MRPT_END
}

/*---------------------------------------------------------------
                        swap
  ---------------------------------------------------------------*/
void CSensoryFrame::swap(CSensoryFrame& sf)
{
    m_observations.swap(sf.m_observations);
    std::swap(m_cachedMap, sf.m_cachedMap);
}

/*---------------------------------------------------------------
                        eraseByLabel
  ---------------------------------------------------------------*/
void CSensoryFrame::eraseByLabel(const std::string& label)
{
    for (auto it = begin(); it != end();)
    {
        if (!os::_strcmpi((*it)->sensorLabel.c_str(), label.c_str()))
        {
            it = erase(it);
        }
        else
            it++;
    }
    m_cachedMap.reset();
}

namespace mrpt::obs
{
// Tricky way to call to a library that depends on us, a sort of "run-time"
// linking: ptr_internal_build_points_map_from_scan2D is a functor in
// "mrpt-obs", set by "mrpt-maps" at its startup.
using scan2pts_functor = void (*)(
    const mrpt::obs::CObservation2DRangeScan& obs,
    mrpt::maps::CMetricMap::Ptr& out_map, const void* insertOps);
extern scan2pts_functor ptr_internal_build_points_map_from_scan2D;  // impl in
// CObservation2DRangeScan.cpp
}  // namespace mrpt::obs
/*---------------------------------------------------------------
                        internal_buildAuxPointsMap
  ---------------------------------------------------------------*/
void CSensoryFrame::internal_buildAuxPointsMap(const void* options) const
{
    if (!ptr_internal_build_points_map_from_scan2D)
        throw std::runtime_error(
            "[CSensoryFrame::buildAuxPointsMap] ERROR: This function needs "
            "linking against mrpt-maps.\n");

    for (const auto& it : *this)
        if (IS_CLASS(*it, CObservation2DRangeScan))
            (*ptr_internal_build_points_map_from_scan2D)(
                dynamic_cast<CObservation2DRangeScan&>(*it.get()), m_cachedMap,
                options);
}

bool CSensoryFrame::insertObservationsInto(
    mrpt::maps::CMetricMap* theMap, const CPose3D* robotPose) const
{
    bool anyone = false;
    for (const auto& it : *this)
        anyone |= it->insertObservationInto(theMap, robotPose);
    return anyone;
}