Merge remote-tracking branch 'origin/master' into...

Merge remote-tracking branch 'origin/master' into feature/move-laser-scanner-feature-extraction-to-navigation

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp

@@ -31,6 +31,7 @@ namespace armarx::aron::codegenerator::cpp::generator
 {
     const std::map<type::matrix::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
     {
+        // TODO: rename to float32 etc. but keep backward compability
         {type::matrix::INT16, {"short", 2, "::armarx::aron::type::matrix::INT16"}},
         {type::matrix::INT32, {"int", 4, "::armarx::aron::type::matrix::INT32"}},
         {type::matrix::INT64, {"long", 8, "::armarx::aron::type::matrix::INT64"}},

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp

@@ -102,7 +102,19 @@ namespace armarx::aron::codegenerator::cpp::generator
         block_if_data->addLine("std::vector<int> " + dims + ";");
         block_if_data->addLine("std::vector<unsigned char> " + data + ";");
         block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
-        block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "(" + dims + "[0], " + dims + "[1]);");
+
+        block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + dims + ".size() == 3, ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong dimensions for member '"+cppAccessor+"'.\"));");
+        block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + type + " == \"" + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong type for member '"+cppAccessor+"'.\"));");
+
+        // assign is not availablePCL for PCL 1.8
+        // block_if_data->addLine(cppAccessor + nextEl() + "assign(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "());");
+        block_if_data->addLine(cppAccessor + nextEl() + "clear();");
+        // resize(width, height , value) is not available either
+        // block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "()));");
+        block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + "[0] * " + dims + "[1]);");
+        block_if_data->addLine(cppAccessor + nextEl() + "width = " + dims + "[0];");
+        block_if_data->addLine(cppAccessor + nextEl() + "height = " + dims + "[1];");
+
         block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "points.data()), "+data+".data(), "+data+".size());");
         return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
     }