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

namespace mrpt
{
namespace maps
{
/** A map of 3D points with reflectance/intensity (float).
 * \sa mrpt::maps::CPointsMap, mrpt::maps::CMetricMap
 * \ingroup mrpt_maps_grp
 */
class CPointsMapXYZI : public CPointsMap
{
    DEFINE_SERIALIZABLE(CPointsMapXYZI, mrpt::maps)

   public:
    CPointsMapXYZI() = default;

    CPointsMapXYZI(const CPointsMap& o) { CPointsMap::operator=(o); }
    CPointsMapXYZI(const CPointsMapXYZI& o) : CPointsMap() { impl_copyFrom(o); }
    CPointsMapXYZI& operator=(const CPointsMap& o)
    {
        impl_copyFrom(o);
        return *this;
    }
    CPointsMapXYZI& operator=(const CPointsMapXYZI& 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 I]
     *  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] = m_intensity[index];
    }

    /** Set all the data fields for one point as a vector: [X Y Z I]
     *  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
    {
        ASSERT_(point_data.size() == 4);
        m_x[index] = point_data[0];
        m_y[index] = point_data[1];
        m_z[index] = point_data[2];
        m_intensity[index] = point_data[3];
    }

    /** Loads from a Kitti dataset Velodyne scan binary file.
     * The file can be gz compressed (only enabled if the filename ends in ".gz"
     * to prevent spurious false autodetection of gzip files).
     * \return true on success */
    bool loadFromKittiVelodyneFile(const std::string& filename);

    bool saveToKittiVelodyneFile(const std::string& filename) const;

    /** 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:
    // See base class
    void impl_copyFrom(const CPointsMap& obj) override;
    // See base class
    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) I (intensity)
     * Returns false if any error occured, true elsewere.
     */
    bool saveXYZI_to_text_file(const std::string& file) const;

    /** Loads from a text file, each line having "X Y Z I", I in [0,1].
     * Returns false if any error occured, true elsewere. */
    bool loadXYZI_from_text_file(const std::string& file);

    /** Changes a given point from map. First index is 0.
     * \exception Throws std::exception on index out of bound.
     */
    void setPointRGB(
        size_t index, float x, float y, float z, float R_intensity,
        float G_ignored, float B_ignored) override;

    /** Adds a new point given its coordinates and color (colors range is [0,1])
     */
    void insertPointRGB(
        float x, float y, float z, float R_intensity, float G_ignored,
        float B_ignored) override;

    /** Changes the intensity of a given point from the map. First index is 0.
     * \exception Throws std::exception on index out of bound.
     */
    void setPointIntensity(size_t index, float intensity);

    /** 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_intensity[index] = R;
    }

    /** Retrieves a point and its color (colors range is [0,1])
     */
    void getPointRGB(
        size_t index, float& x, float& y, float& z, float& R_intensity,
        float& G_intensity, float& B_intensity) const override;

    /** Retrieves a point intensity (range [0,1]) */
    float getPointIntensity(size_t index) const;

    /** Like \c getPointColor but without checking for out-of-index erors */
    inline float getPointIntensity_fast(size_t index) const
    {
        return m_intensity[index];
    }

    /** Returns true if the point map has a color field for each point */
    bool hasColorPoints() const override { return true; }

    /** Override of the default 3D scene builder to account for the individual
     * points' color.
     */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

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

    /** Save the point cloud as a PCL PCD file, in either ASCII or binary format
     * \note This method requires user code to include PCL before MRPT headers.
     * \return false on any error */
#if defined(PCL_LINEAR_VERSION)
    inline bool savePCDFile(
        const std::string& filename, bool save_as_binary) const
    {
        pcl::PointCloud<pcl::PointXYZI> cloud;

        const size_t nThis = this->size();

        // Fill in the cloud data
        cloud.width = nThis;
        cloud.height = 1;
        cloud.is_dense = false;
        cloud.points.resize(cloud.width * cloud.height);

        for (size_t i = 0; i < nThis; ++i)
        {
            cloud.points[i].x = m_x[i];
            cloud.points[i].y = m_y[i];
            cloud.points[i].z = m_z[i];
            cloud.points[i].intensity = this->m_intensity[i];
        }

        return 0 == pcl::io::savePCDFile(filename, cloud, save_as_binary);
    }
#endif

    /** Loads a PCL point cloud (WITH XYZI information) into this MRPT class.
     *  Usage example:
     *  \code
     *    pcl::PointCloud<pcl::PointXYZI> cloud;
     *    mrpt::maps::CPointsMapXYZI       pc;
     *
     *    pc.setFromPCLPointCloudXYZI(cloud);
     *  \endcode
     * \sa CPointsMap::setFromPCLPointCloud()
     */
    template <class POINTCLOUD>
    void setFromPCLPointCloudXYZI(const POINTCLOUD& cloud)
    {
        const size_t N = cloud.points.size();
        clear();
        reserve(N);
        for (size_t i = 0; i < N; ++i)
        {
            const auto& pt = cloud.points[i];
            m_x.push_back(pt.x);
            m_y.push_back(pt.y);
            m_z.push_back(pt.z);
            m_intensity.push_back(pt.intensity);
        }
        mark_as_modified();
    }

    /** Like CPointsMap::getPCLPointCloud() but for PointCloud<PointXYZI> */
    template <class POINTCLOUD>
    void getPCLPointCloudXYZI(POINTCLOUD& cloud) const
    {
        const size_t nThis = this->size();
        this->getPCLPointCloud(cloud);  // 1st: xyz data
        // 2nd: I data
        for (size_t i = 0; i < nThis; ++i)
            cloud.points[i].intensity = m_intensity[i];
    }
    /** @} */

   protected:
    /** The intensity/reflectance data */
    mrpt::aligned_std_vector<float> m_intensity;

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

    /** @name Redefinition of PLY Import virtual methods from CPointsMap
        @{ */
    void PLY_import_set_vertex(
        const size_t idx, const mrpt::math::TPoint3Df& pt,
        const mrpt::img::TColorf* pt_color = nullptr) override;

    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(CPointsMapXYZI)
    mrpt::maps::CPointsMap::TInsertionOptions insertionOpts;
    mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts;
    MAP_DEFINITION_END(CPointsMapXYZI)

};  // End of class def.

}  // namespace maps

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

   public:
    /** The type of each point XYZ coordinates */
    using coords_t = float;
    /** Has any color RGB info? */
    static constexpr bool HAS_RGB = true;
    /** Has native RGB info (as floats)? */
    static constexpr bool HAS_RGBf = true;
    /** 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::CPointsMapXYZI& obj)
        : m_obj(*const_cast<mrpt::maps::CPointsMapXYZI*>(&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);
    }

    /** Get XYZ_RGBf coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBAf(
        const size_t idx, T& x, T& y, T& z, float& r, float& g, float& b,
        float& a) const
    {
        m_obj.getPointRGB(idx, x, y, z, r, g, b);
        a = 1.0f;
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline void setPointXYZ_RGBAf(
        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,
        [[maybe_unused]] const float a)
    {
        m_obj.setPointRGB(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 I, Gignrd, Bignrd;
        m_obj.getPoint(idx, x, y, z, I, Gignrd, Bignrd);
        r = g = b = I * 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.setPointRGB(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
    {
        r = g = b = m_obj.getPointIntensity_fast(idx);
    }
    /** 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 i = m_obj.getPointIntensity_fast(idx);
        r = g = b = i * 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::CPointsMapXYZI>
}  // namespace opengl
}  // namespace mrpt