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Added a new insertionOptions: 'noInvalidPoints' #8

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merged 5 commits into from
Jan 17, 2014
Merged

Added a new insertionOptions: 'noInvalidPoints' #8

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4c9fd5c
New insertion option noInvalidPoints.
mlopezantequera Jan 16, 2014
0a01bfc
Fixed one of the new lines from the last commit.
mlopezantequera Jan 17, 2014
7a81f47
Fixed some lines from the last commit.
mlopezantequera Jan 17, 2014
912f03e
Merge branch 'master' of github.com:mlopezantequera/mrpt
mlopezantequera Jan 17, 2014
bc36db7
Renamed 'noInvalidPoints' to 'insertInvalidPoints'
mlopezantequera Jan 17, 2014
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1 change: 1 addition & 0 deletions libs/maps/include/mrpt/slam/CPointsMap.h
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Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,7 @@ namespace slam
bool isPlanarMap; //!< If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). \sa horizontalTolerance
float horizontalTolerance; //!< The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).
float maxDistForInterpolatePoints; //!< The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)
bool insertInvalidPoints; //!< Points with x,y,z coordinates set to zero will also be inserted

};

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8 changes: 7 additions & 1 deletion libs/maps/src/maps/CColouredPointsMap.cpp
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Expand Up @@ -119,7 +119,7 @@ void CColouredPointsMap::copyFrom(const CPointsMap &obj)
void CColouredPointsMap::writeToStream(CStream &out, int *version) const
{
if (version)
*version = 7;
*version = 8;
else
{
uint32_t n = x.size();
Expand Down Expand Up @@ -156,6 +156,9 @@ void CColouredPointsMap::writeToStream(CStream &out, int *version) const

// V5:
likelihoodOptions.writeToStream(out);

// Added in version 8:
out << insertionOptions.insertInvalidPoints;
}
}

Expand Down Expand Up @@ -270,6 +273,9 @@ void CColouredPointsMap::readFromStream(CStream &in, int version)
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)
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7 changes: 6 additions & 1 deletion libs/maps/src/maps/CPointsMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -612,7 +612,8 @@ CPointsMap::TInsertionOptions::TInsertionOptions() :
fuseWithExisting ( false),
isPlanarMap ( false),
horizontalTolerance ( DEG2RAD(0.05) ),
maxDistForInterpolatePoints ( 2.0f )
maxDistForInterpolatePoints ( 2.0f ),
insertInvalidPoints ( false)
{
}

Expand Down Expand Up @@ -664,6 +665,8 @@ void CPointsMap::TInsertionOptions::dumpToTextStream(CStream &out) const
LOADABLEOPTS_DUMP_VAR(fuseWithExisting,bool);
LOADABLEOPTS_DUMP_VAR(isPlanarMap,bool);

LOADABLEOPTS_DUMP_VAR(insertInvalidPoints,bool);

out.printf("\n");
}

Expand Down Expand Up @@ -693,6 +696,8 @@ void CPointsMap::TInsertionOptions::loadFromConfigFile(
MRPT_LOAD_CONFIG_VAR(isPlanarMap, bool, iniFile,section);

MRPT_LOAD_CONFIG_VAR(maxDistForInterpolatePoints, float, iniFile,section);

MRPT_LOAD_CONFIG_VAR(insertInvalidPoints,bool, iniFile,section);
}

void CPointsMap::TLikelihoodOptions::loadFromConfigFile(
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2 changes: 1 addition & 1 deletion libs/maps/src/maps/CPointsMap_crtp_common.h
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Expand Up @@ -352,7 +352,7 @@ namespace detail
for (size_t i=0;i<sizeRangeScan;i++)
{
// Valid point?
if ( rangeScan.points3D_x[i]!=0 || rangeScan.points3D_y[i]!=0 || rangeScan.points3D_z[i]!=0 )
if ( rangeScan.points3D_x[i]!=0 || rangeScan.points3D_y[i]!=0 || rangeScan.points3D_z[i]!=0 || obj.insertionOptions.insertInvalidPoints)
{
lric.scan_x = rangeScan.points3D_x[i];
lric.scan_y = rangeScan.points3D_y[i];
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8 changes: 7 additions & 1 deletion libs/maps/src/maps/CSimplePointsMap.cpp
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Expand Up @@ -85,7 +85,7 @@ void CSimplePointsMap::copyFrom(const CPointsMap &obj)
void CSimplePointsMap::writeToStream(CStream &out, int *version) const
{
if (version)
*version = 7;
*version = 8;
else
{
uint32_t n = x.size();
Expand Down Expand Up @@ -119,6 +119,9 @@ void CSimplePointsMap::writeToStream(CStream &out, int *version) const

// Added in version 5:
likelihoodOptions.writeToStream(out);

// Added in version 8:
out << insertionOptions.insertInvalidPoints;
}
}

Expand Down Expand Up @@ -211,6 +214,9 @@ void CSimplePointsMap::readFromStream(CStream &in, int version)
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)
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