Add map editing examples for C++ API

examples/cpp/edit/CMakeLists.txt

@@ -1,4 +1,19 @@
 # Binaries
+add_executable(crop_map crop_map.cc)
+set_wavemap_target_properties(crop_map)
+target_link_libraries(crop_map PUBLIC
+    wavemap::wavemap_core wavemap::wavemap_io)
+
+add_executable(multiply_map multiply_map.cc)
+set_wavemap_target_properties(multiply_map)
+target_link_libraries(multiply_map PUBLIC
+    wavemap::wavemap_core wavemap::wavemap_io)
+
+add_executable(sum_map sum_map.cc)
+set_wavemap_target_properties(sum_map)
+target_link_libraries(sum_map PUBLIC
+    wavemap::wavemap_core wavemap::wavemap_io)
+
 add_executable(transform_map transform_map.cc)
 set_wavemap_target_properties(transform_map)
 target_link_libraries(transform_map PUBLIC

examples/cpp/edit/crop_map.cc

@@ -0,0 +1,30 @@
+#include <memory>
+
+#include <wavemap/core/common.h>
+#include <wavemap/core/utils/edit/crop.h>
+#include <wavemap/io/file_conversions.h>
+
+int main(int, char**) {
+  // Load the map
+  const std::filesystem::path home_dir = CHECK_NOTNULL(getenv("HOME"));
+  const std::filesystem::path input_map_path = home_dir / "your_map.wvmp";
+  wavemap::MapBase::Ptr map_base;
+  bool success = wavemap::io::fileToMap(input_map_path, map_base);
+  CHECK(success);
+
+  // Downcast it to a concrete map type
+  auto map = std::dynamic_pointer_cast<wavemap::HashedWaveletOctree>(map_base);
+  CHECK_NOTNULL(map);
+
+  // Crop the map
+  const wavemap::Point3D t_W_center{-2.2, -1.4, 0.0};
+  const wavemap::FloatingPoint radius = 3.0;
+  auto thread_pool = std::make_shared<wavemap::ThreadPool>();  // Optional
+  wavemap::edit::crop_to_sphere(*map, t_W_center, radius, 0, thread_pool);
+
+  // Save the map
+  const std::filesystem::path output_map_path =
+      home_dir / "your_map_cropped.wvmp";
+  success &= wavemap::io::mapToFile(*map, output_map_path);
+  CHECK(success);
+}

examples/cpp/edit/multiply_map.cc

@@ -0,0 +1,29 @@
+#include <memory>
+
+#include <wavemap/core/common.h>
+#include <wavemap/core/utils/edit/multiply.h>
+#include <wavemap/io/file_conversions.h>
+
+int main(int, char**) {
+  // Load the map
+  const std::filesystem::path home_dir = CHECK_NOTNULL(getenv("HOME"));
+  const std::filesystem::path input_map_path = home_dir / "your_map.wvmp";
+  wavemap::MapBase::Ptr map_base;
+  bool success = wavemap::io::fileToMap(input_map_path, map_base);
+  CHECK(success);
+
+  // Downcast it to a concrete map type
+  auto map = std::dynamic_pointer_cast<wavemap::HashedWaveletOctree>(map_base);
+  CHECK_NOTNULL(map);
+
+  // Use the multiply method to implement exponential forgetting
+  const wavemap::FloatingPoint decay_factor = 0.9;
+  auto thread_pool = std::make_shared<wavemap::ThreadPool>();  // Optional
+  wavemap::edit::multiply(*map, decay_factor, thread_pool);
+
+  // Save the map
+  const std::filesystem::path output_map_path =
+      home_dir / "your_map_decayed.wvmp";
+  success &= wavemap::io::mapToFile(*map, output_map_path);
+  CHECK(success);
+}

examples/cpp/edit/sum_map.cc

@@ -0,0 +1,40 @@
+#include <memory>
+
+#include <wavemap/core/common.h>
+#include <wavemap/core/utils/edit/crop.h>
+#include <wavemap/core/utils/edit/sum.h>
+#include <wavemap/core/utils/edit/transform.h>
+#include <wavemap/io/file_conversions.h>
+
+int main(int, char**) {
+  // Load the map
+  const std::filesystem::path home_dir = CHECK_NOTNULL(getenv("HOME"));
+  const std::filesystem::path input_map_path = home_dir / "your_map.wvmp";
+  wavemap::MapBase::Ptr map_base;
+  bool success = wavemap::io::fileToMap(input_map_path, map_base);
+  CHECK(success);
+
+  // Downcast it to a concrete map type
+  auto map = std::dynamic_pointer_cast<wavemap::HashedWaveletOctree>(map_base);
+  CHECK_NOTNULL(map);
+
+  // Crop the map
+  const wavemap::Point3D t_W_center{-2.2, -1.4, 0.0};
+  const wavemap::FloatingPoint radius = 3.0;
+  auto thread_pool = std::make_shared<wavemap::ThreadPool>();  // Optional
+  wavemap::edit::crop_to_sphere(*map, t_W_center, radius, 0, thread_pool);
+
+  // Create a translated copy
+  wavemap::Transformation3D T_AB;
+  T_AB.getPosition() = {5.0, 5.0, 0.0};
+  auto map_translated = wavemap::edit::transform(*map, T_AB, thread_pool);
+
+  // Merge them together
+  wavemap::edit::sum(*map, *map_translated);
+
+  // Save the map
+  const std::filesystem::path output_map_path =
+      home_dir / "your_map_merged.wvmp";
+  success &= wavemap::io::mapToFile(*map, output_map_path);
+  CHECK(success);
+}

examples/cpp/edit/transform_map.cc

@@ -6,8 +6,8 @@
 
 int main(int, char**) {
   // Load the map
-  std::filesystem::path input_map_path =
-      "/home/victor/data/wavemaps/newer_college_cloister_10cm.wvmp";
+  const std::filesystem::path home_dir = CHECK_NOTNULL(getenv("HOME"));
+  const std::filesystem::path input_map_path = home_dir / "your_map.wvmp";
   wavemap::MapBase::Ptr map_base;
   bool success = wavemap::io::fileToMap(input_map_path, map_base);
   CHECK(success);
@@ -21,12 +21,12 @@ int main(int, char**) {
   T_AB.getRotation() = wavemap::Rotation3D{0.f, 1.f, 0.f, 0.f};
 
   // Transform the map
-  map = wavemap::edit::transform(*map, T_AB,
-                                 std::make_shared<wavemap::ThreadPool>());
+  auto thread_pool = std::make_shared<wavemap::ThreadPool>();  // Optional
+  map = wavemap::edit::transform(*map, T_AB, thread_pool);
 
   // Save the map
-  std::filesystem::path output_map_path =
-      "/home/victor/data/wavemaps/newer_college_cloister_10cm_tranformed.wvmp";
+  const std::filesystem::path output_map_path =
+      home_dir / "your_map_transformed.wvmp";
   success &= wavemap::io::mapToFile(*map, output_map_path);
   CHECK(success);
 }

library/cpp/include/wavemap/core/utils/edit/crop.h

@@ -20,12 +20,12 @@ void cropNodeRecursive(typename MapT::Block::OctreeType::NodeRefType node,
                        const OctreeIndex& node_index, FloatingPoint& node_value,
                        const Point3D& t_W_center, FloatingPoint radius,
                        FloatingPoint min_cell_width,
-                       IndexElement termination_height);
+                       IndexElement termination_height = 0);
 }  // namespace detail
 
 template <typename MapT>
 void crop_to_sphere(MapT& map, const Point3D& t_W_center, FloatingPoint radius,
-                    IndexElement termination_height,
+                    IndexElement termination_height = 0,
                     const std::shared_ptr<ThreadPool>& thread_pool = nullptr);
 }  // namespace wavemap::edit
 

library/cpp/include/wavemap/core/utils/edit/impl/multiply_inl.h

@@ -3,6 +3,8 @@
 
 #include <memory>
 
+#include "wavemap/core/indexing/ndtree_index.h"
+
 namespace wavemap::edit {
 namespace detail {
 template <typename MapT>

library/cpp/include/wavemap/core/utils/edit/impl/sum_inl.h

@@ -4,6 +4,8 @@
 #include <memory>
 #include <utility>
 
+#include "wavemap/core/indexing/index_conversions.h"
+
 namespace wavemap::edit {
 namespace detail {
 template <typename MapT, typename SamplingFn>

library/cpp/include/wavemap/core/utils/edit/sum.h

@@ -4,6 +4,7 @@
 #include <memory>
 
 #include "wavemap/core/common.h"
+#include "wavemap/core/indexing/ndtree_index.h"
 #include "wavemap/core/utils/thread_pool.h"
 
 namespace wavemap::edit {