Add test for missing fields in generic cloud deskew

demos/sm2mm_bonxai_voxelmap.yaml

@@ -59,7 +59,7 @@ filters:
       input_pointcloud_layer: "raw"
       output_pointcloud_layer: "deskewed"
       #silently_ignore_no_timestamps: true # To handle more dataset types
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
 
       # These (vx,...,wz) are variable names that must be defined via the
       # mp2p_icp::Parameterizable API to update them dynamically.

demos/sm2mm_bonxai_voxelmap_gridmap.yaml

@@ -59,7 +59,7 @@ filters:
       input_pointcloud_layer: "raw"
       output_pointcloud_layer: "deskewed"
       #silently_ignore_no_timestamps: true # To handle more dataset types
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
       method: MotionCompensationMethod::Linear
 
       # These (vx,...,wz) are variable names that must be defined via the

demos/sm2mm_no_decim_imu.yaml

@@ -34,7 +34,7 @@ filters:
       method: MotionCompensationMethod::IMU
       silently_ignore_no_timestamps: false
 
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
 
       # These (vx,...,wz) are variable names that must be defined via the
       # mp2p_icp::Parameterizable API to update them dynamically.

demos/sm2mm_no_decim_imu_mls.yaml

@@ -34,7 +34,7 @@ filters:
       method: MotionCompensationMethod::IMU
       silently_ignore_no_timestamps: false
 
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
 
       # These (vx,...,wz) are variable names that must be defined via the
       # mp2p_icp::Parameterizable API to update them dynamically.

demos/sm2mm_no_decim_imu_mls_keyframe_map.yaml

@@ -63,7 +63,7 @@ filters:
       method: MotionCompensationMethod::IMU
       silently_ignore_no_timestamps: false
 
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
 
       # These (vx,...,wz) are variable names that must be defined via the
       # mp2p_icp::Parameterizable API to update them dynamically.

demos/sm2mm_pointcloud_voxelize.yaml

@@ -33,7 +33,7 @@ filters:
       output_pointcloud_layer: "deskewed"
       method: MotionCompensationMethod::IMU
       #silently_ignore_no_timestamps: true # To handle more dataset types
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
 
       # These (vx,...,wz) are variable names that must be defined via the
       # mp2p_icp::Parameterizable API to update them dynamically.

demos/sm2mm_voxels_static_dynamic_points.yaml

@@ -88,7 +88,7 @@ filters:
       input_pointcloud_layer: "raw"
       output_pointcloud_layer: "deskewed"
       silently_ignore_no_timestamps: true # To handle more dataset types
-      output_layer_class: "mrpt::maps::CPointsMapXYZIRT" # Keep intensity & ring channels
+      output_layer_class: "mrpt::maps::CGenericPointsMap" # Keep all channels: intensity, ring, ...
 
       # These (vx,...,wz) are variable names that must be defined via the
       # mp2p_icp::Parameterizable API to update them dynamically.

mp2p_icp_filters/src/FilterBoundingBox.cpp

@@ -110,10 +110,12 @@ void FilterBoundingBox::filter(mp2p_icp::metric_map_t& inOut) const
     mrpt::maps::CPointsMap::InsertCtx ctxOutside, ctxInside;
     if (insidePc)
     {
+        insidePc->registerPointFieldsFrom(pc);
         ctxInside = insidePc->prepareForInsertPointsFrom(pc);
     }
     if (outsidePc)
     {
+        outsidePc->registerPointFieldsFrom(pc);
         ctxOutside = outsidePc->prepareForInsertPointsFrom(pc);
     }
 #endif

mp2p_icp_filters/src/FilterByIntensity.cpp

@@ -129,14 +129,17 @@ void FilterByIntensity::filter(mp2p_icp::metric_map_t& inOut) const
     mrpt::maps::CPointsMap::InsertCtx ctxLow, ctxHigh, ctxMid;
     if (outLow)
     {
+        outLow->registerPointFieldsFrom(pc);
         ctxLow = outLow->prepareForInsertPointsFrom(pc);
     }
     if (outHigh)
     {
+        outHigh->registerPointFieldsFrom(pc);
         ctxHigh = outHigh->prepareForInsertPointsFrom(pc);
     }
     if (outMid)
     {
+        outMid->registerPointFieldsFrom(pc);
         ctxMid = outMid->prepareForInsertPointsFrom(pc);
     }
 #endif

mp2p_icp_filters/src/FilterByRange.cpp

@@ -117,10 +117,12 @@ void FilterByRange::filter(mp2p_icp::metric_map_t& inOut) const
     std::optional<mrpt::maps::CPointsMap::InsertCtx> ctxOutside;
     if (outBetween)
     {
+        outBetween->registerPointFieldsFrom(pc);
         ctxBetween = outBetween->prepareForInsertPointsFrom(pc);
     }
     if (outOutside)
     {
+        outOutside->registerPointFieldsFrom(pc);
         ctxOutside = outOutside->prepareForInsertPointsFrom(pc);
     }
 #endif

mp2p_icp_filters/src/FilterByRing.cpp

@@ -49,7 +49,10 @@ void FilterByRing::Parameters::load_from_yaml(const mrpt::containers::yaml& c)
             "YAML configuration must have an entry `selected_ring_ids` "
             "with a scalar or sequence.");
 
-        for (const auto& n : cfgIn.asSequenceRange()) selected_ring_ids.insert(n.as<int>());
+        for (const auto& n : cfgIn.asSequenceRange())
+        {
+            selected_ring_ids.insert(n.as<int>());
+        }
     }
     ASSERT_(!selected_ring_ids.empty());
 }
@@ -106,7 +109,7 @@ void FilterByRing::filter(mp2p_icp::metric_map_t& inOut) const
     const auto& xs = pc.getPointsBufferRef_x();
 
 #if MRPT_VERSION >= 0x020f00  // 2.15.0
-    const auto* ptrR = pc.getPointsBufferRef_float_field("ring");
+    const auto* ptrR = pc.getPointsBufferRef_uint_field("ring");
 #else
     const auto* ptrR = pc.getPointsBufferRef_ring();
 #endif
@@ -123,11 +126,13 @@ void FilterByRing::filter(mp2p_icp::metric_map_t& inOut) const
     mrpt::maps::CPointsMap::InsertCtx ctxSelected;
     if (outSelected)
     {
+        outSelected->registerPointFieldsFrom(pc);
         ctxSelected = outSelected->prepareForInsertPointsFrom(pc);
     }
     mrpt::maps::CPointsMap::InsertCtx ctxNotSelected;
     if (outNonSel)
     {
+        outNonSel->registerPointFieldsFrom(pc);
         ctxNotSelected = outNonSel->prepareForInsertPointsFrom(pc);
     }
 #endif

mp2p_icp_filters/src/FilterCurvature.cpp

@@ -135,16 +135,19 @@ void FilterCurvature::filter(mp2p_icp::metric_map_t& inOut) const
     mrpt::maps::CPointsMap::InsertCtx ctxLarger;
     if (outPcLarger)
     {
+        outPcLarger->registerPointFieldsFrom(pc);
         ctxLarger = outPcLarger->prepareForInsertPointsFrom(pc);
     }
     mrpt::maps::CPointsMap::InsertCtx ctxSmaller;
     if (outPcSmaller)
     {
+        outPcSmaller->registerPointFieldsFrom(pc);
         ctxSmaller = outPcSmaller->prepareForInsertPointsFrom(pc);
     }
     mrpt::maps::CPointsMap::InsertCtx ctxOther;
     if (outPcOther)
     {
+        outPcOther->registerPointFieldsFrom(pc);
         ctxOther = outPcOther->prepareForInsertPointsFrom(pc);
     }
 #endif

mp2p_icp_filters/src/FilterDecimateAdaptive.cpp

@@ -176,6 +176,7 @@ void FilterDecimateAdaptive::filter(mp2p_icp::metric_map_t& inOut) const
 #endif
 
 #if MRPT_VERSION >= 0x020f00  // 2.15.0
+    outPc->registerPointFieldsFrom(pc);
     mrpt::maps::CPointsMap::InsertCtx ctx = outPc->prepareForInsertPointsFrom(pc);
 #endif
 

mp2p_icp_filters/src/FilterDecimateVoxels.cpp

@@ -175,6 +175,7 @@ void FilterDecimateVoxels::filter(mp2p_icp::metric_map_t& inOut) const
             const auto& ys = pcPtrs[mapIdx]->getPointsBufferRef_y();
 
 #if MRPT_VERSION >= 0x020f00  // 2.15.0
+            outPc->registerPointFieldsFrom(*pcPtrs[mapIdx]);
             mrpt::maps::CPointsMap::InsertCtx ctxOut =
                 outPc->prepareForInsertPointsFrom(*pcPtrs[mapIdx]);
 #endif
@@ -271,6 +272,7 @@ void FilterDecimateVoxels::filter(mp2p_icp::metric_map_t& inOut) const
                     auto& ctx = ctxs[pc];
                     if (!ctx.xs_src)
                     {
+                        outPc->registerPointFieldsFrom(*pc);
                         ctx = outPc->prepareForInsertPointsFrom(*pc);
                     }
 #if MRPT_VERSION >= 0x020f03  // 2.15.3
@@ -315,6 +317,7 @@ void FilterDecimateVoxels::filter(mp2p_icp::metric_map_t& inOut) const
             flattenUsedBins;
 
 #if MRPT_VERSION >= 0x020f00  // 2.15.0
+        outPc->registerPointFieldsFrom(pc);
         auto ctx = outPc->prepareForInsertPointsFrom(pc);
 #endif
 

mp2p_icp_filters/src/FilterDeskew.cpp

@@ -444,6 +444,10 @@ void FilterDeskew::filter(mp2p_icp::metric_map_t& inOut) const
     std::optional<mrpt::maps::CPointsMap::InsertCtx> insert_ctx;
     if (outPc)
     {
+        // Copy all point fields from the source:
+        outPc->registerPointFieldsFrom(*inPc);
+
+        // and then, prepare structures for fast copying:
         insert_ctx = outPc->prepareForInsertPointsFrom(*inPc);
     }
 

mp2p_icp_filters/src/FilterFartherPointSampling.cpp

@@ -105,6 +105,7 @@ void FilterFartherPointSampling::filter(mp2p_icp::metric_map_t& inOut) const
     outPc->reserve(outPc->size() + params.desired_output_point_count);
 
 #if MRPT_VERSION >= 0x020f00  // 2.15.0
+    outPc->registerPointFieldsFrom(pc);
     mrpt::maps::CPointsMap::InsertCtx ctx = outPc->prepareForInsertPointsFrom(pc);
 #endif
 

mp2p_icp_filters/src/FilterPoleDetector.cpp

@@ -183,11 +183,13 @@ void FilterPoleDetector::filter(mp2p_icp::metric_map_t& inOut) const
     mrpt::maps::CPointsMap::InsertCtx ctxPoles;
     if (outPoles)
     {
+        outPoles->registerPointFieldsFrom(pc);
         ctxPoles = outPoles->prepareForInsertPointsFrom(pc);
     }
     mrpt::maps::CPointsMap::InsertCtx ctxNoPoles;
     if (outNoPoles)
     {
+        outNoPoles->registerPointFieldsFrom(pc);
         ctxNoPoles = outNoPoles->prepareForInsertPointsFrom(pc);
     }
 #endif

mp2p_icp_filters/src/FilterRemoveByVoxelOccupancy.cpp

@@ -127,11 +127,13 @@ void FilterRemoveByVoxelOccupancy::filter(mp2p_icp::metric_map_t& inOut) const
     mrpt::maps::CPointsMap::InsertCtx ctxStatic;
     if (outPcStatic)
     {
+        outPcStatic->registerPointFieldsFrom(*pcPtr);
         ctxStatic = outPcStatic->prepareForInsertPointsFrom(*pcPtr);
     }
     mrpt::maps::CPointsMap::InsertCtx ctxDynamic;
     if (outPcDynamic)
     {
+        outPcDynamic->registerPointFieldsFrom(*pcPtr);
         ctxDynamic = outPcDynamic->prepareForInsertPointsFrom(*pcPtr);
     }
 #endif