CSimplePointsMap.h

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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 |
   +------------------------------------------------------------------------+ */
#ifndef CSimplePointsMap_H
#define CSimplePointsMap_H

#include <mrpt/maps/CPointsMap.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/obs/obs_frwds.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 only stores the coordinates (x,y,z) of each point.
 *
 *  See mrpt::maps::CPointsMap and derived classes for other point cloud
 * classes.
 *
 * \sa CMetricMap, CWeightedPointsMap, CPoint, mrpt::utils::CSerializable
 * \ingroup mrpt_maps_grp
 */
class CSimplePointsMap : public CPointsMap
{
        DEFINE_SERIALIZABLE(CSimplePointsMap)

   public:
        /** Default constructor */
        CSimplePointsMap();
        /** Destructor */
        virtual ~CSimplePointsMap();

        // --------------------------------------------
        /** @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;
        /** 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]
          *  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(3);
                point_data[0] = x[index];
                point_data[1] = y[index];
                point_data[2] = z[index];
        }
        /** Set all the data fields for one point as a vector: [X Y Z]
          *  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() == 3)
                x[index] = point_data[0];
                y[index] = point_data[1];
                z[index] = point_data[2];
        }

        // 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
        {
                MRPT_UNUSED_PARAM(anotherMap);
                MRPT_UNUSED_PARAM(nPreviousPoints);
                // No extra data.
        }

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

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

        /** If the map is a simple points map or it's a multi-metric map that
         * contains EXACTLY one simple points map, return it.
                * Otherwise, return NULL
                */
        virtual const mrpt::maps::CSimplePointsMap* getAsSimplePointsMap()
                const override
        {
                return this;
        }
        virtual mrpt::maps::CSimplePointsMap* getAsSimplePointsMap() override
        {
                return this;
        }

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

        /** @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 */
        virtual void PLY_import_set_vertex_count(const size_t N) override;
        /** @} */

        MAP_DEFINITION_START(CSimplePointsMap)
        /** Observations insertion options */
        mrpt::maps::CPointsMap::TInsertionOptions insertionOpts;
        /** Probabilistic observation likelihood options */
        mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts;
        MAP_DEFINITION_END(CSimplePointsMap, )

};  // End of class def.
}  // End of namespace

namespace utils
{
/** Specialization mrpt::utils::PointCloudAdapter<mrpt::maps::CSimplePointsMap>
 * \ingroup mrpt_adapters_grp*/
template <>
class PointCloudAdapter<mrpt::maps::CSimplePointsMap>
        : public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CSimplePointsMap,
                                                                                                  float>
{
   private:
        mrpt::maps::CSimplePointsMap& m_obj;

   public:
        /** The type of each point XYZ coordinates */
        typedef float coords_t;
        /** Has any color RGB info? */
        static const int HAS_RGB = 0;
        /** Has native RGB info (as floats)? */
        static const int HAS_RGBf = 0;
        /** 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::CSimplePointsMap& obj)
                : m_obj(*const_cast<mrpt::maps::CSimplePointsMap*>(&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); }
        /** 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);
        }

        /** Set XYZ coordinates of i'th point */
        inline void setInvalidPoint(const size_t idx)
        {
                THROW_EXCEPTION("mrpt::maps::CSimplePointsMap needs to be dense");
        }
};  // end of PointCloudAdapter<mrpt::maps::CPointsMap>
}

}  // End of namespace

#endif