PointCloud.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_SIG_POINTCLOUD_H
#define YARP_SIG_POINTCLOUD_H
 
#include <yarp/sig/Vector.h>
#include <yarp/sig/PointCloudBase.h>
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/ConnectionWriter.h>
 
 
 
namespace yarp {
namespace sig {
 
template <class T>
class PointCloud : public PointCloudBase
{
    static_assert(std::is_same<T, DataXY>::value ||
                  std::is_same<T, DataXYZ>::value ||
                  std::is_same<T, DataNormal>::value ||
                  std::is_same<T, DataXYZRGBA>::value ||
                  std::is_same<T, DataXYZI>::value ||
                  std::is_same<T, DataInterestPointXYZ>::value ||
                  std::is_same<T, DataXYZNormal>::value ||
                  std::is_same<T, DataXYZNormalRGBA>::value, "yarp::sig::PointCloud<T>: T chosen is not supported");
public:
 
    PointCloud()
    {
        m_storage.clear();
        setPointType();
    }
 
    template <class T1>
    PointCloud(const PointCloud<T1>& alt)
    {
        setPointType();
        copy<T1>(alt);
    }
 
    virtual void resize(size_t width, size_t height)
    {
        header.width = width;
        header.height = height;
        m_storage.resize(width * height);
    }
 
    virtual void resize(size_t width)
    {
        header.width = width;
        header.height = 1;
        m_storage.resize(width);
    }
 
    const char* getRawData() const override
    {
        return m_storage.getMemoryBlock();
    }
 
    size_t wireSizeBytes() const override
    {
        return sizeof(header) + dataSizeBytes();
    }
 
    size_t dataSizeBytes() const override
    {
        return header.width * header.height * (sizeof(T));
    }
 
    size_t size() const override
    {
        return m_storage.size();
    }
 
    inline T& operator()(size_t u, size_t v)
    {
        return m_storage[u + v * width()];
    }
 
    inline const T& operator()(size_t u, size_t v) const
    {
        return m_storage[u + v * width()];
    }
 
    inline T& operator()(size_t i)
    {
        return m_storage[i];
    }
 
    inline const T& operator()(size_t i) const
    {
        return m_storage[i];
    }
 
    template <class T1>
    const PointCloud<T>& operator=(const PointCloud<T1>& alt)
    {
        copy(alt);
        return *this;
    }
 
 
    inline PointCloud<T>&
    operator+=(const PointCloud<T>& rhs)
    {
 
        yAssert(getPointType() == rhs.getPointType());
 
        size_t nr_points = m_storage.size();
        m_storage.resize(nr_points + rhs.size());
        for (size_t i = nr_points; i < m_storage.size(); ++i) {
            m_storage[i] = rhs.m_storage[i - nr_points];
        }
 
        header.width = m_storage.size();
        header.height = 1;
        if (rhs.isDense() && isDense()) {
            header.isDense = 1;
        } else {
            header.isDense = 0;
        }
        return (*this);
    }
 
    inline const PointCloud<T>
    operator+(const PointCloud<T>& rhs)
    {
        return (PointCloud<T>(*this) += rhs);
    }
 
    inline void push_back(const T& pt)
    {
        m_storage.push_back(pt);
        header.width = m_storage.size();
        header.height = 1;
    }
 
    virtual inline void clear()
    {
        m_storage.clear();
        header.width = 0;
        header.height = 0;
    }
 
    virtual void fromExternalPC(const char* source, int type, size_t width, size_t height, bool isDense = true)
    {
        yAssert(source);
        header.isDense = isDense;
        resize(width, height);
        if (this->getPointType() == type) {
            memcpy(const_cast<char*>(getRawData()), source, dataSizeBytes());
        } else {
            std::vector<int> recipe = getComposition(type);
            copyFromRawData(getRawData(), source, recipe);
        }
    }
 
 
    template <class T1>
    void copy(const PointCloud<T1>& alt)
    {
        resize(alt.width(), alt.height());
        if (std::is_same<T, T1>::value) {
            yAssert(dataSizeBytes() == alt.dataSizeBytes());
            memcpy(const_cast<char*>(getRawData()), alt.getRawData(), dataSizeBytes());
        } else {
            std::vector<int> recipe = getComposition(alt.getPointType());
            copyFromRawData(getRawData(), alt.getRawData(), recipe);
        }
    }
 
    bool read(yarp::os::ConnectionReader& connection) override
    {
        connection.convertTextMode();
        yarp::sig::PointCloudNetworkHeader _header;
        bool ok = connection.expectBlock((char*)&_header, sizeof(_header));
        if (!ok) {
            return false;
        }
 
        m_storage.resize(_header.height * _header.width);
        std::memset((void*)m_storage.data(), 0, m_storage.size() * sizeof(T));
 
        header.height = _header.height;
        header.width = _header.width;
        header.isDense = _header.isDense;
 
        if (header.pointType == _header.pointType) {
            return m_storage.read(connection);
        }
 
        T* tmp = m_storage.data();
 
        yAssert(tmp != nullptr);
 
        // Skip the vector header....
        connection.expectInt32();
        connection.expectInt32();
 
        std::vector<int> recipe = getComposition(_header.pointType);
 
        yarp::os::ManagedBytes dummy;
        for (size_t i = 0; i < m_storage.size(); i++) {
            for (size_t j = 0; j < recipe.size(); j++) {
                size_t sizeToRead = pointType2Size(recipe[j]);
                if ((header.pointType & recipe[j])) {
                    size_t offset = getOffset(header.pointType, recipe[j]);
                    connection.expectBlock((char*)&tmp[i] + offset, sizeToRead);
                } else {
                    dummy.allocateOnNeed(sizeToRead, sizeToRead);
                    connection.expectBlock(dummy.bytes().get(), sizeToRead);
                }
            }
        }
 
        connection.convertTextMode();
        return true;
    }
 
    bool write(yarp::os::ConnectionWriter& writer) const override
    {
        writer.appendBlock((char*)&header, sizeof(PointCloudNetworkHeader));
        return m_storage.write(writer);
    }
 
    virtual std::string toString(int precision = -1, int width = -1) const
    {
        std::string ret;
        if (isOrganized()) {
            for (size_t r = 0; r < this->width(); r++) {
                for (size_t c = 0; c < this->height(); c++) {
                    ret += (*this)(r, c).toString(precision, width);
                }
                if (r < this->width() - 1) // if it is not the last row
                {
                    ret += "\n";
                }
            }
 
        } else {
            for (size_t i = 0; i < this->size(); i++) {
                ret += (*this)(i).toString(precision, width);
            }
        }
        return ret;
    }
 
    yarp::os::Bottle toBottle() const
    {
        yarp::os::Bottle ret;
        ret.addInt32(width());
        ret.addInt32(height());
        ret.addInt32(getPointType());
        ret.addInt32(isDense());
 
        for (size_t i = 0; i < this->size(); i++) {
            ret.addList().append((*this)(i).toBottle());
        }
        return ret;
    }
 
    bool fromBottle(const yarp::os::Bottle& bt)
    {
        if (bt.isNull()) {
            return false;
        }
 
        if (this->getPointType() != bt.get(2).asInt32()) {
            return false;
        }
 
        this->resize(bt.get(0).asInt32(), bt.get(1).asInt32());
        this->header.isDense = bt.get(3).asInt32();
 
        if ((size_t)bt.size() != 4 + width() * height()) {
            return false;
        }
 
        for (size_t i = 0; i < this->size(); i++) {
            (*this)(i).fromBottle(bt, i + 4);
        }
 
        return true;
    }
 
    int getBottleTag() const override
    {
        return BottleTagMap<T>();
    }
 
private:
    yarp::sig::VectorOf<T> m_storage;
 
    void setPointType()
    {
        if (std::is_same<T, DataXY>::value) {
            header.pointType = PCL_POINT2D_XY;
            return;
        }
 
        if (std::is_same<T, DataXYZ>::value) {
            header.pointType = PCL_POINT_XYZ;
            return;
        }
 
        if (std::is_same<T, DataNormal>::value) {
            header.pointType = PCL_NORMAL;
            return;
        }
 
        if (std::is_same<T, DataXYZRGBA>::value) {
            header.pointType = PCL_POINT_XYZ_RGBA;
            return;
        }
 
        if (std::is_same<T, DataXYZI>::value) {
            header.pointType = PCL_POINT_XYZ_I;
            return;
        }
 
        if (std::is_same<T, DataInterestPointXYZ>::value) {
            header.pointType = PCL_INTEREST_POINT_XYZ;
            return;
        }
 
        if (std::is_same<T, DataXYZNormal>::value) {
            header.pointType = PCL_POINT_XYZ_NORMAL;
            return;
        }
 
        if (std::is_same<T, DataXYZNormalRGBA>::value) {
            header.pointType = PCL_POINT_XYZ_NORMAL_RGBA;
            return;
        }
 
//        DataRGBA       has sense to implement them?
//        intensity       has sense to implement them?
//        DataViewpoint  has sense to implement them?
 
        header.pointType = 0;
    }
};
 
using PointCloudXY               = PointCloud<DataXY>;
using PointCloudXYZ              = PointCloud<DataXYZ>;
using PointCloudNormal           = PointCloud<DataNormal>;
using PointCloudXYZRGBA          = PointCloud<DataXYZRGBA>;
using PointCloudXYZI             = PointCloud<DataXYZI>;
using PointCloudInterestPointXYZ = PointCloud<DataInterestPointXYZ>;
using PointCloudXYZNormal        = PointCloud<DataXYZNormal>;
using PointCloudXYZNormalRGBA    = PointCloud<DataXYZNormalRGBA>;
 
} // namespace sig
} // namespace yarp
 
template <>
inline int BottleTagMap<yarp::sig::DataXY>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataXYZ>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataNormal>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataXYZRGBA>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataXYZI>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataInterestPointXYZ>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataXYZNormal>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
template <>
inline int BottleTagMap<yarp::sig::DataXYZNormalRGBA>()
{
    return BOTTLE_TAG_FLOAT64;
}
 
 
#endif // YARP_SIG_POINTCLOUD_H