Complete use of rotscan obs

apps/RawLogViewer/main_show_selected_object.cpp

@@ -166,6 +166,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservation2DRangeScan>(sel_obj);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		// Additional text description: This is not within
 		// getDescriptionAsTextValue() because mrpt-maps is not available within
 		// mrpt-obs:
@@ -348,6 +352,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		obs->load();  // Make sure the 3D point cloud, etc... are all
 		// loaded in memory.
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		// Render options
 		// --------------------------------
 		const auto& p = pnViewOptions->m_params;
@@ -407,6 +415,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservationVelodyneScan>(sel_obj);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		obs->generatePointCloud();
 		const auto& p = pnViewOptions->m_params;
 
@@ -434,6 +446,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservationPointCloud>(sel_obj);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 		const auto& p = pnViewOptions->m_params;
 
 		auto glPts = mrpt::opengl::CSetOfObjects::Create();
@@ -459,6 +475,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		// ----------------------------------------------------------------------
 		Notebook1->ChangeSelection(8);
 
+		// Hide unused viewports:
+		bmp3Dobs_depth->setViewportVisibility(false);
+		bmp3Dobs_int->setViewportVisibility(false);
+
 // Update 3D view ==========
 #if RAWLOGVIEWER_HAS_3D
 		auto openGLSceneRef = m_gl3DRangeScan->getOpenGLSceneRef();
@@ -478,6 +498,10 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
 		Notebook1->ChangeSelection(8);
 		auto obs = std::dynamic_pointer_cast<CObservationRotatingScan>(sel_obj);
 
+		// Show viewports:
+		bmp3Dobs_depth->setViewportVisibility(true);
+		bmp3Dobs_int->setViewportVisibility(true);
+
 		// Get range image as bitmap:
 		// ---------------------------
 		int rangeHeight = 30;

doc/source/doxygen-docs/changelog.md

@@ -8,6 +8,10 @@
     - mrpt::math::KDTreeCapable: Add optional argument maximumSearchDistanceSqr in many API methods to exploit the new nanoflann RKNN search method.
   - \ref mrpt_opengl_grp
     - mrpt::opengl::PLY_Importer: Add support for importing point clouds with the `timestamp` property per point.
+  - \ref mrpt_obs_grp
+    - mrpt::obs::CObservationRotatingScan:
+      - Moved from the library mrpt-maps to mrpt-obs, since it no longer requires any mrpt::maps class.
+      - Complete its implementation: insertion into point cloud, observation likelihood, visualization in RawLogViewer, etc.
 - BUG FIXES:
   - Fix missing Threads::Threads downstream due to missing `find_dependency(Threads)` in MRPT cmake config files.
   - Fix broken import of PLY files in SceneViewer3D (empty scene even if correctly imported).

libs/apps/src/rawlog-edit_externalize.cpp

@@ -13,6 +13,7 @@
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CObservationImage.h>
 #include <mrpt/obs/CObservationPointCloud.h>
+#include <mrpt/obs/CObservationRotatingScan.h>
 #include <mrpt/obs/CObservationStereoImages.h>
 
 #include "rawlog-edit-declarations.h"
@@ -161,6 +162,29 @@ DECLARE_OP_FUNCTION(op_externalize)
 				else
 					entries_skipped++;
 			}
+			else if (IS_CLASS(*obs, CObservationRotatingScan))
+			{
+				auto o =
+					std::dynamic_pointer_cast<CObservationRotatingScan>(obs);
+
+				if (!o->organizedPoints.empty() && !o->isExternallyStored())
+				{
+					const string fileName = "scan_"s + label_time +
+						(m_external_txt ? ".txt"s : ".bin"s);
+					o->setAsExternalStorage(
+						fileName,
+						m_external_txt
+							? CObservationRotatingScan::ExternalStorageFormat::
+								  PlainTextFile
+							: CObservationRotatingScan::ExternalStorageFormat::
+								  MRPT_Serialization);
+
+					o->unload();  // this actually saves the data to disk
+					entries_converted++;
+				}
+				else
+					entries_skipped++;
+			}
 			else if (IS_CLASS(*obs, CObservation3DRangeScan))
 			{
 				CObservation3DRangeScan::Ptr obs3D =

libs/maps/src/maps/CPointsMap.cpp

@@ -20,6 +20,7 @@
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CObservationPointCloud.h>
 #include <mrpt/obs/CObservationRange.h>
+#include <mrpt/obs/CObservationRotatingScan.h>
 #include <mrpt/obs/CObservationVelodyneScan.h>
 #include <mrpt/opengl/CPointCloud.h>
 #include <mrpt/opengl/CPointCloudColoured.h>
@@ -1443,6 +1444,22 @@ double CPointsMap::internal_computeObservationLikelihood(
 		return internal_computeObservationLikelihoodPointCloud3D(
 			sensorAbsPose, xs, ys, zs, N);
 	}
+	else if (IS_CLASS(obs, CObservationRotatingScan))
+	{
+		const auto& o = dynamic_cast<const CObservationRotatingScan&>(obs);
+
+		if (!o.rowCount || !this->size()) return -100;
+
+		mrpt::maps::CSimplePointsMap auxPts;
+		auxPts.insertObservation(o, takenFrom);
+
+		const auto& xs = auxPts.getPointsBufferRef_x();
+		const auto& ys = auxPts.getPointsBufferRef_y();
+		const auto& zs = auxPts.getPointsBufferRef_z();
+
+		return internal_computeObservationLikelihoodPointCloud3D(
+			takenFrom, xs.data(), ys.data(), zs.data(), xs.size());
+	}
 	else if (IS_CLASS(obs, CObservationPointCloud))
 	{
 		const auto& o = dynamic_cast<const CObservationPointCloud&>(obs);
@@ -1901,6 +1918,61 @@ bool CPointsMap::internal_insertObservation(
 		}
 		return true;
 	}
+	else if (IS_CLASS(obs, CObservationRotatingScan))
+	{
+		mark_as_modified();
+
+		const auto& o = static_cast<const CObservationRotatingScan&>(obs);
+		ASSERT_(o.rowCount > 0);
+		ASSERT_(o.columnCount > 0);
+
+		if (insertionOptions.fuseWithExisting)
+		{
+			THROW_EXCEPTION(
+				"Fuse point cloud not implemented yet for "
+				"CObservationRotatingScan");
+		}
+		else
+		{
+			// Don't fuse: Simply add
+
+			const auto sensorGlobalPose = robotPose3D + o.sensorPose;
+
+			const size_t N_this = size();
+			const size_t N_otherMax = o.rowCount * o.columnCount;
+
+			// Set the new size:
+			this->reserve(N_this + N_otherMax);
+
+			// Optimization: detect the case of no transformation needed and
+			// avoid the matrix multiplications:
+			const bool identity_tf = (sensorGlobalPose == CPose3D::Identity());
+
+			for (size_t r = 0; r < o.rowCount; r++)
+			{
+				for (size_t c = 0; c < o.columnCount; c++)
+				{
+					if (!o.rangeImage(r, c)) continue;	// invalid range
+
+					// Translation:
+					const auto pt = o.organizedPoints(r, c);
+
+					mrpt::math::TPoint3Df g;
+					if (!identity_tf)
+						sensorGlobalPose.composePoint(
+							pt.x, pt.y, pt.z, g.x, g.y, g.z);
+					else
+						g = pt;
+
+					// Add to this map:
+					this->insertPointFast(g.x, g.y, g.z);
+				}
+			}
+
+			mark_as_modified();
+		}
+		return true;
+	}
 	else
 	{
 		/********************************************************************

libs/maps/src/obs/CObservationPointCloud.cpp

@@ -200,49 +200,49 @@ void CObservationPointCloud::load() const
 void CObservationPointCloud::unload() const
 {
 	MRPT_START
-	if (isExternallyStored() && pointcloud)
-	{
-		// Free memory, saving to the file if it doesn't exist:
-		const auto abs_filename =
-			mrpt::io::lazy_load_absolute_path(m_external_file);
+	if (!isExternallyStored() || !pointcloud) return;
 
-		if (!mrpt::system::fileExists(abs_filename))
+	// Free memory, saving to the file if it doesn't exist:
+	const auto abs_filename =
+		mrpt::io::lazy_load_absolute_path(m_external_file);
+
+	if (!mrpt::system::fileExists(abs_filename))
+	{
+		switch (m_externally_stored)
 		{
-			switch (m_externally_stored)
+			case ExternalStorageFormat::None: break;
+			case ExternalStorageFormat::KittiBinFile:
 			{
-				case ExternalStorageFormat::None: break;
-				case ExternalStorageFormat::KittiBinFile:
-				{
-					THROW_EXCEPTION("Saving to kitti format not supported.");
-				}
-				case ExternalStorageFormat::PlainTextFile:
-				{
-					std::ofstream f(abs_filename);
-					ASSERT_(f.is_open());
-					std::vector<float> row;
-					for (size_t i = 0; i < pointcloud->size(); i++)
-					{
-						pointcloud->getPointAllFieldsFast(i, row);
-						for (const float v : row)
-							f << v << " ";
-						f << "\n";
-					}
-				}
-				break;
-				case ExternalStorageFormat::MRPT_Serialization:
+				THROW_EXCEPTION("Saving to kitti format not supported.");
+			}
+			case ExternalStorageFormat::PlainTextFile:
+			{
+				std::ofstream f(abs_filename);
+				ASSERT_(f.is_open());
+				std::vector<float> row;
+				for (size_t i = 0; i < pointcloud->size(); i++)
 				{
-					mrpt::io::CFileGZOutputStream f(abs_filename);
-					auto ar = mrpt::serialization::archiveFrom(f);
-					ar << *pointcloud;
+					pointcloud->getPointAllFieldsFast(i, row);
+					for (const float v : row)
+						f << v << " ";
+					f << "\n";
 				}
-				break;
-			};
-		}
-
-		// Now we can safely free the mem:
-		auto& me = const_cast<CObservationPointCloud&>(*this);
-		me.pointcloud.reset();
+			}
+			break;
+			case ExternalStorageFormat::MRPT_Serialization:
+			{
+				mrpt::io::CFileGZOutputStream f(abs_filename);
+				auto ar = mrpt::serialization::archiveFrom(f);
+				ar << *pointcloud;
+			}
+			break;
+		};
 	}
+
+	// Now we can safely free the mem:
+	auto& me = const_cast<CObservationPointCloud&>(*this);
+	me.pointcloud.reset();
+
 	MRPT_END
 }
 

libs/maps/src/registerAllClasses.cpp

@@ -14,7 +14,6 @@
 #include <mrpt/maps.h>
 #include <mrpt/maps/registerAllClasses.h>
 #include <mrpt/obs/CObservationPointCloud.h>
-#include <mrpt/obs/CObservationRotatingScan.h>
 // deps:
 #include <mrpt/graphs/registerAllClasses.h>
 #include <mrpt/obs/registerAllClasses.h>
@@ -53,7 +52,6 @@ MRPT_INITIALIZER(registerAllClasses_mrpt_maps)
 	registerClass(CLASS_ID(CPlanarLaserScan));
 
 	registerClass(CLASS_ID(CObservationPointCloud));
-	registerClass(CLASS_ID(CObservationRotatingScan));
 
 	registerClass(CLASS_ID(CMultiMetricMap));
 

libs/obs/include/mrpt/obs.h

@@ -39,6 +39,7 @@ MRPT_WARNING(
 #include <mrpt/obs/CObservationRawDAQ.h>
 #include <mrpt/obs/CObservationReflectivity.h>
 #include <mrpt/obs/CObservationRobotPose.h>
+#include <mrpt/obs/CObservationRotatingScan.h>
 #include <mrpt/obs/CObservationSkeleton.h>
 #include <mrpt/obs/CObservationStereoImages.h>
 #include <mrpt/obs/CObservationStereoImagesFeatures.h>