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Use CObservation& instead of CObservation*
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@jolting @jlblancoc
jolting authored and jlblancoc committed Jun 24, 2019
1 parent b7c43bc commit d40abce
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Showing 148 changed files with 652 additions and 696 deletions.
2 changes: 1 addition & 1 deletion apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp
View file
Expand Up @@ -355,7 +355,7 @@ void CDifodoDatasets::loadFrame()
{
CObservation::Ptr alfa = dataset.getAsObservation(rawlog_count);

while (!IS_CLASS(alfa, CObservation3DRangeScan))
while (!IS_CLASS(*alfa, CObservation3DRangeScan))
{
rawlog_count++;
if (dataset.size() <= rawlog_count)
Expand Down
6 changes: 3 additions & 3 deletions apps/RawLogViewer/CFormEdit.cpp
View file
Expand Up @@ -782,7 +782,7 @@ void filter_swapColors(
{
for (auto obs : *SF)
{
if (IS_CLASS(obs, CObservationImage))
if (IS_CLASS(*obs, CObservationImage))
{
auto* o = (CObservationImage*)obs.get();
if (o->image.isColor())
Expand All @@ -791,7 +791,7 @@ void filter_swapColors(
changesCount++;
}
}
else if (IS_CLASS(obs, CObservationStereoImages))
else if (IS_CLASS(*obs, CObservationStereoImages))
{
auto* o = (CObservationStereoImages*)obs.get();
if (o->imageLeft.isColor())
Expand Down Expand Up @@ -1225,7 +1225,7 @@ void leave_horizontalScans(
{
CObservation::Ptr obs = *it;

if (IS_CLASS(obs, CObservation2DRangeScan))
if (IS_CLASS(*obs, CObservation2DRangeScan))
{
auto* o = static_cast<CObservation2DRangeScan*>(obs.get());

Expand Down
6 changes: 3 additions & 3 deletions apps/RawLogViewer/CFormPlayVideo.cpp
View file
Expand Up @@ -538,7 +538,7 @@ void CFormPlayVideo::OnbtnPlayClick(wxCommandEvent& event)

bool doDelay = false;

if (IS_CLASS(obj, CSensoryFrame))
if (IS_CLASS(*obj, CSensoryFrame))
{
doDelay = showSensoryFrame(obj.get(), nImgs);
}
Expand Down Expand Up @@ -1063,7 +1063,7 @@ void CFormPlayVideo::saveCamImage(int n)
wxString defaultDir(
(iniFile->read_string(iniFileSect, "LastDir", ".").c_str()));

if (IS_CLASS(displayedImgs[n], CObservationImage))
if (IS_CLASS(*displayedImgs[n], CObservationImage))
{
CObservationImage::Ptr o =
std::dynamic_pointer_cast<CObservationImage>(displayedImgs[n]);
Expand All @@ -1081,7 +1081,7 @@ void CFormPlayVideo::saveCamImage(int n)

o->image.saveToFile(fil);
}
else if (IS_CLASS(displayedImgs[n], CObservationStereoImages))
else if (IS_CLASS(*displayedImgs[n], CObservationStereoImages))
{
CObservationStereoImages::Ptr o =
std::dynamic_pointer_cast<CObservationStereoImages>(
Expand Down
6 changes: 3 additions & 3 deletions apps/RawLogViewer/CFormRawMap.cpp
View file
Expand Up @@ -707,7 +707,7 @@ void CFormRawMap::OnbtnGenerateClick(wxCommandEvent&)
{
// Always, process odometry:
const CObservation* obs = rawlog.getAsObservation(i).get();
if (IS_CLASS(obs, CObservationOdometry))
if (IS_CLASS(*obs, CObservationOdometry))
{
const auto* obsOdo =
static_cast<const CObservationOdometry*>(obs);
Expand All @@ -718,7 +718,7 @@ void CFormRawMap::OnbtnGenerateClick(wxCommandEvent&)
{
CPose3D dumPose(curPose);
theMap.insertObservation(
rawlog.getAsObservation(i).get(), &dumPose);
*rawlog.getAsObservation(i), &dumPose);
last_tim = rawlog.getAsObservation(i)->timestamp;
}
addNewPathEntry = true;
Expand Down Expand Up @@ -1117,7 +1117,7 @@ void CFormRawMap::OnGenerateFromRTK(wxCommandEvent&)
size_t& dec_cnt = decim_count[o->sensorLabel];

if ((++dec_cnt % decimate) == 0)
theMap.insertObservation(o.get(), &p);
theMap.insertObservation(*o, &p);
}
}
break;
Expand Down
12 changes: 6 additions & 6 deletions apps/RawLogViewer/CScanAnimation.cpp
View file
Expand Up @@ -353,7 +353,7 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
{
it->load();
// force generate 3D point clouds:
if (IS_CLASS(it, CObservation3DRangeScan))
if (IS_CLASS(*it, CObservation3DRangeScan))
{
CObservation3DRangeScan::Ptr o =
std::dynamic_pointer_cast<CObservation3DRangeScan>(it);
Expand Down Expand Up @@ -387,7 +387,7 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
{
const std::string sNameInMap =
std::string(it->GetRuntimeClass()->className) + it->sensorLabel;
if (IS_CLASS(it, CObservation2DRangeScan))
if (IS_CLASS(*it, CObservation2DRangeScan))
{
CObservation2DRangeScan::Ptr obs =
std::dynamic_pointer_cast<CObservation2DRangeScan>(it);
Expand Down Expand Up @@ -419,7 +419,7 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
m_plot3D->getOpenGLSceneRef()->insert(gl_obj);
}
}
else if (IS_CLASS(it, CObservation3DRangeScan))
else if (IS_CLASS(*it, CObservation3DRangeScan))
{
CObservation3DRangeScan::Ptr obs =
std::dynamic_pointer_cast<CObservation3DRangeScan>(it);
Expand All @@ -432,7 +432,7 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
CColouredPointsMap::cmFromIntensityImage;
pointMap.insertionOptions.minDistBetweenLaserPoints = 0;

pointMap.insertObservation(obs.get());
pointMap.insertObservation(*obs);

// Already in the map with the same sensor label?
auto it_gl = m_gl_objects.find(sNameInMap);
Expand Down Expand Up @@ -462,7 +462,7 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
// Add to list:
// m_lstScans[obs->sensorLabel] = obs;
}
else if (IS_CLASS(it, CObservationVelodyneScan))
else if (IS_CLASS(*it, CObservationVelodyneScan))
{
CObservationVelodyneScan::Ptr obs =
std::dynamic_pointer_cast<CObservationVelodyneScan>(it);
Expand Down Expand Up @@ -501,7 +501,7 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
m_plot3D->getOpenGLSceneRef()->insert(gl_obj);
}
}
else if (IS_CLASS(it, CObservationPointCloud))
else if (IS_CLASS(*it, CObservationPointCloud))
{
auto obs = std::dynamic_pointer_cast<CObservationPointCloud>(it);
wereScans = true;
Expand Down
6 changes: 3 additions & 3 deletions apps/RawLogViewer/CScanMatching.cpp
View file
Expand Up @@ -548,21 +548,21 @@ class CMyButtonsDisabler
static void insert_obs_into_map(
const CSerializable::Ptr& obj, mrpt::maps::CMetricMap* theMap)
{
if (IS_CLASS(obj, CSensoryFrame))
if (IS_CLASS(*obj, CSensoryFrame))
{
auto SF = std::dynamic_pointer_cast<CSensoryFrame>(obj);
SF->insertObservationsInto(theMap);
}
else if (IS_DERIVED(obj, CObservation))
{
CObservationVelodyneScan::Ptr obs_velodyne;
if (IS_CLASS(obj, CObservationVelodyneScan))
if (IS_CLASS(*obj, CObservationVelodyneScan))
{
obs_velodyne = mrpt::ptr_cast<CObservationVelodyneScan>::from(obj);
obs_velodyne->generatePointCloud();
}
auto obs_ref = std::dynamic_pointer_cast<CObservation>(obj);
theMap->insertObservation(obs_ref.get());
theMap->insertObservation(*obs_ref);

// free mem:
if (obs_velodyne) obs_velodyne->point_cloud.clear_deep();
Expand Down
18 changes: 9 additions & 9 deletions apps/RawLogViewer/main_gps_ops.cpp
View file
Expand Up @@ -113,7 +113,7 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)

CObservation::Ptr o =
sf->getObservationBySensorLabel(the_label);
if (o && IS_CLASS(o, CObservationGPS))
if (o && IS_CLASS(*o, CObservationGPS))
{
obs = std::dynamic_pointer_cast<CObservationGPS>(o);
}
Expand All @@ -125,7 +125,7 @@ void xRawLogViewerFrame::OnMenuDrawGPSPath(wxCommandEvent& event)
CObservation::Ptr o = rawlog.getAsObservation(i);

if (!os::_strcmpi(o->sensorLabel.c_str(), the_label.c_str()) &&
IS_CLASS(o, CObservationGPS))
IS_CLASS(*o, CObservationGPS))
{
obs = std::dynamic_pointer_cast<CObservationGPS>(o);
}
Expand Down Expand Up @@ -342,7 +342,7 @@ void xRawLogViewerFrame::OnMenuRegenerateGPSTimestamps(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(i);

if (IS_CLASS(o, CObservationGPS) &&
if (IS_CLASS(*o, CObservationGPS) &&
find_in_vector(o->sensorLabel, the_labels) != string::npos)
{
CObservationGPS::Ptr obs =
Expand Down Expand Up @@ -474,7 +474,7 @@ void xRawLogViewerFrame::OnMenuDistanceBtwGPSs(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(i);

if (!ref_valid && IS_CLASS(o, CObservationGPS))
if (!ref_valid && IS_CLASS(*o, CObservationGPS))
{
CObservationGPS::Ptr ob =
std::dynamic_pointer_cast<CObservationGPS>(o);
Expand All @@ -488,7 +488,7 @@ void xRawLogViewerFrame::OnMenuDistanceBtwGPSs(wxCommandEvent& event)

if (o->sensorLabel == gps1)
{
ASSERT_(IS_CLASS(o, CObservationGPS));
ASSERT_(IS_CLASS(*o, CObservationGPS));
CObservationGPS::Ptr obs =
std::dynamic_pointer_cast<CObservationGPS>(o);
if (obs->has_GGA_datum &&
Expand All @@ -499,7 +499,7 @@ void xRawLogViewerFrame::OnMenuDistanceBtwGPSs(wxCommandEvent& event)

if (o->sensorLabel == gps2)
{
ASSERT_(IS_CLASS(o, CObservationGPS));
ASSERT_(IS_CLASS(*o, CObservationGPS));
CObservationGPS::Ptr obs =
std::dynamic_pointer_cast<CObservationGPS>(o);
if (obs->has_GGA_datum &&
Expand Down Expand Up @@ -617,7 +617,7 @@ void xRawLogViewerFrame::OnSummaryGPS(wxCommandEvent& event)
case CRawlog::etObservation:
{
CObservation::Ptr o = rawlog.getAsObservation(i);
if (IS_CLASS(o, CObservationGPS))
if (IS_CLASS(*o, CObservationGPS))
{
CObservationGPS::Ptr obs =
std::dynamic_pointer_cast<CObservationGPS>(o);
Expand Down Expand Up @@ -879,7 +879,7 @@ void xRawLogViewerFrame::OnGenGPSTxt(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(i);

if (IS_CLASS(o, CObservationGPS))
if (IS_CLASS(*o, CObservationGPS))
{
CObservationGPS::Ptr obs =
std::dynamic_pointer_cast<CObservationGPS>(o);
Expand Down Expand Up @@ -1159,7 +1159,7 @@ void filter_delGPSNan(
for (auto it = SF->begin(); it != SF->end();)
{
bool del = false;
if (IS_CLASS(*it, CObservationGPS))
if (IS_CLASS(**it, CObservationGPS))
{
CObservationGPS::Ptr o =
std::dynamic_pointer_cast<CObservationGPS>(*it);
Expand Down
14 changes: 7 additions & 7 deletions apps/RawLogViewer/main_images_ops.cpp
View file
Expand Up @@ -118,7 +118,7 @@ void xRawLogViewerFrame::OnGenerateSeqImgs(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(countLoop);

if (IS_CLASS(o, CObservationStereoImages))
if (IS_CLASS(*o, CObservationStereoImages))
{
CObservationStereoImages::Ptr obsSt =
std::dynamic_pointer_cast<CObservationStereoImages>(
Expand All @@ -134,7 +134,7 @@ void xRawLogViewerFrame::OnGenerateSeqImgs(wxCommandEvent& event)
imgFileExtension.c_str()));
imgSaved++;
}
else if (IS_CLASS(o, CObservationImage))
else if (IS_CLASS(*o, CObservationImage))
{
CObservationImage::Ptr obsIm =
std::dynamic_pointer_cast<CObservationImage>(o);
Expand Down Expand Up @@ -373,7 +373,7 @@ void xRawLogViewerFrame::OnMenuRectifyImages(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(countLoop);

if (IS_CLASS(o, CObservationImage))
if (IS_CLASS(*o, CObservationImage))
{
CObservationImage::Ptr obsIm =
std::dynamic_pointer_cast<CObservationImage>(o);
Expand Down Expand Up @@ -561,7 +561,7 @@ void xRawLogViewerFrame::OnMenuRenameImageFiles(wxCommandEvent& event)
for (unsigned int k = 0; k < SF->size(); k++)
{
if (IS_CLASS(
SF->getObservationByIndex(k),
*SF->getObservationByIndex(k),
CObservationImage))
{
auto obsIm = SF->getObservationByIndexAs<
Expand All @@ -570,7 +570,7 @@ void xRawLogViewerFrame::OnMenuRenameImageFiles(wxCommandEvent& event)
N++;
} // end if CObservationImage
else if (IS_CLASS(
SF->getObservationByIndex(k),
*SF->getObservationByIndex(k),
CObservationStereoImages))
{
auto obsIm = SF->getObservationByIndexAs<
Expand All @@ -586,14 +586,14 @@ void xRawLogViewerFrame::OnMenuRenameImageFiles(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(countLoop);

if (IS_CLASS(o, CObservationImage))
if (IS_CLASS(*o, CObservationImage))
{
CObservationImage::Ptr obsIm =
std::dynamic_pointer_cast<CObservationImage>(o);
renameExternalImageFile(obsIm);
N++;
} // end if CObservationImage
else if (IS_CLASS(o, CObservationStereoImages))
else if (IS_CLASS(*o, CObservationStereoImages))
{
CObservationStereoImages::Ptr obsIm =
std::dynamic_pointer_cast<CObservationStereoImages>(
Expand Down
8 changes: 4 additions & 4 deletions apps/RawLogViewer/main_imports_exports.cpp
View file
Expand Up @@ -1280,7 +1280,7 @@ void xRawLogViewerFrame::OnGenGasTxt(wxCommandEvent& event)
{
CObservation::Ptr o =
rawlog.getAsObservation(i); // get the observation
if (IS_CLASS(o, CObservationGasSensors))
if (IS_CLASS(*o, CObservationGasSensors))
{
obs = std::dynamic_pointer_cast<CObservationGasSensors>(
o); // Get the GAS observation
Expand Down Expand Up @@ -1397,7 +1397,7 @@ void xRawLogViewerFrame::OnGenWifiTxt(wxCommandEvent& event)
{
CObservation::Ptr o =
rawlog.getAsObservation(i); // get the observation
if (IS_CLASS(o, CObservationWirelessPower))
if (IS_CLASS(*o, CObservationWirelessPower))
{
obs = std::dynamic_pointer_cast<
CObservationWirelessPower>(
Expand Down Expand Up @@ -1514,7 +1514,7 @@ void xRawLogViewerFrame::OnGenRFIDTxt(wxCommandEvent& event)
{
CObservation::Ptr o =
rawlog.getAsObservation(i); // get the observation
if (IS_CLASS(o, CObservationRFID))
if (IS_CLASS(*o, CObservationRFID))
{
obs = std::dynamic_pointer_cast<CObservationRFID>(
o); // Get the GAS observation
Expand Down Expand Up @@ -2126,7 +2126,7 @@ void xRawLogViewerFrame::OnGenerateTextFileRangeBearing(wxCommandEvent& event)
{
CObservation::Ptr o = rawlog.getAsObservation(i);

if (IS_CLASS(o, CObservationBearingRange))
if (IS_CLASS(*o, CObservationBearingRange))
{
CObservationBearingRange::Ptr obs =
std::dynamic_pointer_cast<CObservationBearingRange>(o);
Expand Down
6 changes: 3 additions & 3 deletions apps/RawLogViewer/main_show_selected_object.cpp
View file
Expand Up @@ -78,7 +78,7 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
obs->getDescriptionAsText(cout);

// Special cases:
if (IS_CLASS(sel_obj, CObservation2DRangeScan))
if (IS_CLASS(*sel_obj, CObservation2DRangeScan))
{
CObservation2DRangeScan::Ptr obs_scan2d =
std::dynamic_pointer_cast<CObservation2DRangeScan>(
Expand Down Expand Up @@ -123,7 +123,7 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
// The plot:
mrpt::maps::CSimplePointsMap dummMap;
dummMap.insertionOptions.minDistBetweenLaserPoints = 0;
dummMap.insertObservation(obs.get());
dummMap.insertObservation(*obs);

vector<float> Xs, Ys;
dummMap.getAllPoints(Xs, Ys);
Expand Down Expand Up @@ -384,7 +384,7 @@ void xRawLogViewerFrame::SelectObjectInTreeView(
{
pointMap.insertionOptions.minDistBetweenLaserPoints =
0; // don't drop any point
pointMap.insertObservation(obs.get()); // This
pointMap.insertObservation(*obs); // This
// transform
// points into
// vehicle-frame
Expand Down

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