CWeightedPointsMap.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/maps/CPointsMap.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt
{
namespace maps
{
/** A cloud of points in 2D or 3D, which can be built from a sequence of laser
 * scans.
 *    This class stores the coordinates (x,y,z) and a "weight", or counter of
 * how many times that point has been seen, used only if points fusion is
 * enabled in the options structure.
 * \sa CMetricMap, CPoint, mrpt::serialization::CSerializable, CSimplePointsMap
 * \ingroup mrpt_maps_grp
 */
class CWeightedPointsMap : public CPointsMap
{
    DEFINE_SERIALIZABLE(CWeightedPointsMap, mrpt::maps)

   public:
    /** Default constructor */
    CWeightedPointsMap() = default;
    CWeightedPointsMap(const CPointsMap& o) { impl_copyFrom(o); }
    CWeightedPointsMap(const CWeightedPointsMap& o) : CPointsMap()
    {
        impl_copyFrom(o);
    }
    CWeightedPointsMap& operator=(const CPointsMap& o)
    {
        impl_copyFrom(o);
        return *this;
    }
    CWeightedPointsMap& operator=(const CWeightedPointsMap& o)
    {
        impl_copyFrom(o);
        return *this;
    }

    // --------------------------------------------
    /** @name Pure virtual interfaces to be implemented by any class derived
       from CPointsMap
        @{ */
    void reserve(size_t newLength) override;  // See base class docs
    void resize(size_t newLength) override;  // See base class docs
    void setSize(size_t newLength) override;  // See base class docs

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

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

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

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

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

   protected:
    void impl_copyFrom(const CPointsMap& obj) override;
    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:
    /** @} */
    // --------------------------------------------

    /// Sets the point weight, which is ignored in all classes but those which
    /// actually store that field (Note: No checks are done for out-of-bounds
    /// index). \sa getPointWeight
    void setPointWeight(size_t index, unsigned long w) override
    {
        pointWeight[index] = w;
    }
    /// Gets the point weight, which is ignored in all classes (defaults to 1)
    /// but in those which actually store that field (Note: No checks are done
    /// for out-of-bounds index).  \sa setPointWeight
    unsigned int getPointWeight(size_t index) const override
    {
        return pointWeight[index];
    }

   protected:
    /** The points weights */
    mrpt::aligned_std_vector<uint32_t> pointWeight;

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

   protected:
    /** @name PLY Import virtual methods to implement in base classes
        @{ */
    /** In a base class, reserve memory to prepare subsequent calls to
     * PLY_import_set_vertex */
    void PLY_import_set_vertex_count(const size_t N) override;
    /** @} */

    MAP_DEFINITION_START(CWeightedPointsMap)
    /** Observations insertion options */
    mrpt::maps::CPointsMap::TInsertionOptions insertionOpts;
    /** Probabilistic observation likelihood options */
    mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts;
    MAP_DEFINITION_END(CWeightedPointsMap)
};  // End of class def.
}  // namespace maps

namespace opengl
{
/** Specialization
 * mrpt::opengl::PointCloudAdapter<mrpt::maps::CWeightedPointsMap>  \ingroup
 * mrpt_adapters_grp*/
template <>
class PointCloudAdapter<mrpt::maps::CWeightedPointsMap>
{
   private:
    mrpt::maps::CWeightedPointsMap& m_obj;

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

    /** Constructor (accept a const ref for convenience) */
    inline PointCloudAdapter(const mrpt::maps::CWeightedPointsMap& obj)
        : m_obj(*const_cast<mrpt::maps::CWeightedPointsMap*>(&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(size_t height, 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);
    }
};  // end of PointCloudAdapter<mrpt::maps::CPointsMap>
}  // namespace opengl
}  // namespace mrpt