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/* +---------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| http://www.mrpt.org/ |
| |
| Copyright (c) 2005-2016, 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 §ionNamePrefix)
{
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)
{
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)
{
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)
{
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;
x.resize(n); y.resize(n); z.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;
x.resize(n);
y.resize(n);
z.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);
}
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