CSimplePointsMap.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/CSimplePointsMap.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("CSimplePointsMap,pointsMap", mrpt::maps::CSimplePointsMap)

CSimplePointsMap::TMapDefinition::TMapDefinition()
{
}

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

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


IMPLEMENTS_SERIALIZABLE(CSimplePointsMap, CPointsMap,mrpt::maps)

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

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

/*---------------------------------------------------------------
                                reserve & resize methods
 ---------------------------------------------------------------*/
void CSimplePointsMap::reserve(size_t newLength)
{
        newLength = mrpt::utils::length2length4N(newLength);

        x.reserve( newLength );
        y.reserve( newLength );
        z.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 CSimplePointsMap::resize(size_t newLength)
{
        this->reserve(newLength); // to ensure 4N capacity
        x.resize( newLength, 0 );
        y.resize( newLength, 0 );
        z.resize( newLength, 0 );
        mark_as_modified();
}

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


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


/*---------------------------------------------------------------
                                        writeToStream
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CSimplePointsMap::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 9;
        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 << genericMapParams;  // v9

                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  CSimplePointsMap::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 8:
        case 9:
                {
                        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);
                        }
                        if (version>=9)
                                in >> genericMapParams;
                        else 
                        {
                                bool disableSaveAs3DObject;
                                in >> disableSaveAs3DObject;
                                genericMapParams.enableSaveAs3DObject = !disableSaveAs3DObject;
                        }

                        insertionOptions.readFromStream(in);
                        likelihoodOptions.readFromStream(in);
                } break;

        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
        case 6:
        case 7:
                {
                        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);

                                // Version 1: weights are also stored:
                                // Version 4: Type becomes long int -> uint32_t for portability!!
                                if (version>=1)
                                {
                                        if (version>=4)
                                        {
                                                if (version>=7)
                                                {
                                                        // Weights were removed from this class in v7 (MRPT 0.9.5),
                                                        //  so nothing else to do.
                                                }
                                                else
                                                {
                                                        // Go on with old serialization format, but discard weights:
                                                        std::vector<uint32_t>  dummy_pointWeight(n);
                                                        in.ReadBufferFixEndianness(&dummy_pointWeight[0],n);
                                                }
                                        }
                                        else
                                        {
                                                std::vector<uint32_t>  dummy_pointWeight(n);
                                                in.ReadBufferFixEndianness(&dummy_pointWeight[0],n);
                                        }
                                }
                        }

                        if (version>=2)
                        {
                                // version 2: options saved too
                                in      >> insertionOptions.minDistBetweenLaserPoints
                                        >> insertionOptions.addToExistingPointsMap
                                        >> insertionOptions.also_interpolate
                                        >> insertionOptions.disableDeletion
                                        >> insertionOptions.fuseWithExisting
                                        >> insertionOptions.isPlanarMap;

                                if (version<6)
                                {
                                        bool old_matchStaticPointsOnly;
                                        in >> old_matchStaticPointsOnly;
                                }

                                in >> insertionOptions.maxDistForInterpolatePoints;

                                {
                                        bool disableSaveAs3DObject;
                                        in >> disableSaveAs3DObject;
                                        genericMapParams.enableSaveAs3DObject = !disableSaveAs3DObject;
                                }
                        }

                        if (version>=3)
                        {
                                in >> insertionOptions.horizontalTolerance;
                        }

                        if (version>=5) // version 5: added likelihoodOptions
                                likelihoodOptions.readFromStream(in);

                        if (version>=8) // version 8: added insertInvalidPoints
                                in >> insertionOptions.insertInvalidPoints;

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

/*---------------------------------------------------------------
                                        Clear
  ---------------------------------------------------------------*/
void  CSimplePointsMap::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);

        mark_as_modified();
}

void  CSimplePointsMap::setPointFast(size_t index,float x,float y,float z)
{
        this->x[index] = x;
        this->y[index] = y;
        this->z[index] = z;
}

void  CSimplePointsMap::insertPointFast( float x, float y, float z )
{
        this->x.push_back(x);
        this->y.push_back(y);
        this->z.push_back(z);
}


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

                        template <> struct pointmap_traits<CSimplePointsMap>
                        {

                                /** 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(CSimplePointsMap &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(CSimplePointsMap &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(CSimplePointsMap &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 only once before inserting points - this is the place to reserve memory in lric for extra working variables. */
                                inline static void  internal_loadFromRangeScan3D_init(CSimplePointsMap &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(CSimplePointsMap &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(CSimplePointsMap &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, at the end */
                                inline static void  internal_loadFromRangeScan3D_postOneRange(CSimplePointsMap &me, mrpt::maps::CPointsMap::TLaserRange3DInsertContext & lric )  {
                                        MRPT_UNUSED_PARAM(me);
                                        MRPT_UNUSED_PARAM(lric);
                                }
                        };
                }
        }
}

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

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