Progress import from develop

Author: jlblancoc

modules/mrpt_maps/include/mrpt/maps/CGenericPointsMap.h

@@ -1,11 +1,17 @@
-/* +------------------------------------------------------------------------+
-   |                     Mobile Robot Programming Toolkit (MRPT)            |
-   |                          https://www.mrpt.org/                         |
-   |                                                                        |
-   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
-   | See: https://www.mrpt.org/Authors - All rights reserved.               |
-   | Released under BSD License. See: https://www.mrpt.org/License          |
-   +------------------------------------------------------------------------+ */
+/*                    _
+                     | |    Mobile Robot Programming Toolkit (MRPT)
+ _ __ ___  _ __ _ __ | |_
+| '_ ` _ \| '__| '_ \| __|          https://www.mrpt.org/
+| | | | | | |  | |_) | |_
+|_| |_| |_|_|  | .__/ \__|     https://github.com/MRPT/mrpt/
+               | |
+               |_|
+
+ Copyright (c) 2005-2025, Individual contributors, see AUTHORS file
+ See: https://www.mrpt.org/Authors - All rights reserved.
+ SPDX-License-Identifier: BSD-3-Clause
+*/
+
 #pragma once
 
 #include <mrpt/core/aligned_std_vector.h>
@@ -14,7 +20,8 @@
 #include <mrpt/opengl/pointcloud_adapters.h>
 #include <mrpt/serialization/CSerializable.h>
 
-#include <map>
+#include <string_view>
+#include <unordered_map>
 
 namespace mrpt::maps
 {
@@ -61,12 +68,13 @@ class CGenericPointsMap : public CPointsMap
   bool unregisterField(const std::string_view& fieldName);
 
   /** Returns the map of float fields: map<field_name, vector_of_data> */
-  const std::map<std::string_view, mrpt::aligned_std_vector<float>>& float_fields() const
+  const std::unordered_map<std::string_view, mrpt::aligned_std_vector<float>>& float_fields() const
   {
     return m_float_fields;
   }
   /** Returns the map of uint16_t fields: map<field_name, vector_of_data> */
-  const std::map<std::string_view, mrpt::aligned_std_vector<uint16_t>>& uint16_fields() const
+  const std::unordered_map<std::string_view, mrpt::aligned_std_vector<uint16_t>>& uint16_fields()
+      const
   {
     return m_uint16_fields;
   }
@@ -80,12 +88,6 @@ class CGenericPointsMap : public CPointsMap
   void resize(size_t newLength) override;
   void setSize(size_t newLength) override;
 
-  /** Inserts a new point (X,Y,Z).
-   * You **must** call `insertPointField_float()` or `insertPointField_uint16()`
-   * *after* this for each registered field to keep data vectors synchronized.
-   */
-  void insertPointFast(float x, float y, float z = 0) override;
-
   void getPointAllFieldsFast(size_t index, std::vector<float>& point_data) const override;
   void setPointAllFieldsFast(size_t index, const std::vector<float>& point_data) override;
 
@@ -190,9 +192,9 @@ class CGenericPointsMap : public CPointsMap
 
  protected:
   /** Map from field name to data vector */
-  std::map<std::string_view, mrpt::aligned_std_vector<float>> m_float_fields;
+  std::unordered_map<std::string_view, mrpt::aligned_std_vector<float>> m_float_fields;
   /** Map from field name to data vector */
-  std::map<std::string_view, mrpt::aligned_std_vector<uint16_t>> m_uint16_fields;
+  std::unordered_map<std::string_view, mrpt::aligned_std_vector<uint16_t>> m_uint16_fields;
 
   /** Clear the map, erasing all the points and all fields */
   void internal_clear() override;

modules/mrpt_maps/src/maps/CColouredOctoMap.cpp

@@ -95,7 +95,7 @@ void CColouredOctoMap::serializeTo(mrpt::serialization::CArchive& out) const
   out << genericMapParams;                    // v2
 
   // v2->v3: remove CMemoryChunk
-  std::stringstream ss;
+  std::stringstream ss(std::ios::in | std::ios::out | std::ios::binary);
   m_impl->m_octomap.writeBinaryConst(ss);
   const std::string& buf = ss.str();
   out << buf;
@@ -127,7 +127,7 @@ void CColouredOctoMap::serializeFrom(mrpt::serialization::CArchive& in, uint8_t
 
       if (!buf.empty())
       {
-        std::stringstream ss;
+        std::stringstream ss(std::ios::in | std::ios::out | std::ios::binary);
         ss.str(buf);
         ss.seekg(0);
         m_impl->m_octomap.readBinary(ss);

modules/mrpt_maps/src/maps/CColouredPointsMap.cpp

@@ -1,16 +1,17 @@
-/* +------------------------------------------------------------------------+
-|                     Mobile Robot Programming Toolkit (MRPT)            |
-|                          https://www.mrpt.org/                         |
-|                                                                        |
-| Copyright (c) 2005-2025, Individual contributors, see AUTHORS file     |
-| See: https://www.mrpt.org/Authors - All rights reserved.               |
-| Released under BSD License. See: https://www.mrpt.org/License          |
-+------------------------------------------------------------------------+ */
-
-#include "maps-precomp.h"  // Precomp header
-//
-#include <mrpt/core/bits_mem.h>
-#include <mrpt/img/color_maps.h>
+/*                    _
+                     | |    Mobile Robot Programming Toolkit (MRPT)
+ _ __ ___  _ __ _ __ | |_
+| '_ ` _ \| '__| '_ \| __|          https://www.mrpt.org/
+| | | | | | |  | |_) | |_
+|_| |_| |_|_|  | .__/ \__|     https://github.com/MRPT/mrpt/
+               | |
+               |_|
+
+ Copyright (c) 2005-2025, Individual contributors, see AUTHORS file
+ See: https://www.mrpt.org/Authors - All rights reserved.
+ SPDX-License-Identifier: BSD-3-Clause
+*/
+
 #include <mrpt/maps/CColouredPointsMap.h>
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
@@ -567,33 +568,6 @@ void CColouredPointsMap::PLY_export_get_vertex(
   pt_color.B = m_color_B[idx];
 }
 
-/*---------------------------------------------------------------
-addFrom_classSpecific
----------------------------------------------------------------*/
-void CColouredPointsMap::addFrom_classSpecific(
-    const CPointsMap& anotherMap, size_t nPreviousPoints, const bool filterOutPointsAtZero)
-{
-  const size_t nOther = anotherMap.size();
-
-  // Specific data for this class:
-  const auto* anotheMap_col = dynamic_cast<const CColouredPointsMap*>(&anotherMap);
-
-  if (anotheMap_col)
-  {
-    for (size_t i = 0, j = nPreviousPoints; i < nOther; i++)
-    {
-      if (filterOutPointsAtZero && anotheMap_col->m_x[i] == 0 && anotheMap_col->m_y[i] == 0 &&
-          anotheMap_col->m_z[i] == 0)
-        continue;  // skip
-
-      m_color_R[j] = anotheMap_col->m_color_R[i];
-      m_color_G[j] = anotheMap_col->m_color_G[i];
-      m_color_B[j] = anotheMap_col->m_color_B[i];
-      j++;
-    }
-  }
-}
-
 namespace mrpt::maps::detail
 {
 using mrpt::maps::CColouredPointsMap;