CHeightGridMap2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/containers/CDynamicGrid.h>
#include <mrpt/img/color_maps.h>
#include <mrpt/maps/CHeightGridMap2D_Base.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/typemeta/TEnumType.h>

namespace mrpt
{
namespace maps
{
/** The contents of each cell in a CHeightGridMap2D map */
struct THeightGridmapCell
{
    /** The current average height (in meters) */
    float h{};
    /** The current standard deviation of the height (in meters) */
    float var{};
    /** Auxiliary variable for storing the incremental mean value (in meters).
     */
    float u{};
    /** Auxiliary (in meters) */
    float v{};
    /** [For mrSimpleAverage model] The accumulated weight: initially zero if
     * un-observed, increased by one for each observation */
    uint32_t w{};

    THeightGridmapCell() = default;
};

/** Digital Elevation Model (DEM), a mesh or grid representation of a surface
 * which keeps the estimated height for each (x,y) location.
 *  Important implemented features are the insertion of 2D laser scans (from
 * arbitrary 6D poses) and the exportation as 3D scenes.
 *
 * Each cell contains the up-to-date average height from measured falling in
 * that cell. Algorithms that can be used:
 *   - mrSimpleAverage: Each cell only stores the current average value.
 *
 *  This class implements generic version of
 * mrpt::maps::CMetric::insertObservation() accepting these types of sensory
 * data:
 *   - mrpt::obs::CObservation2DRangeScan: 2D range scans
 *   - mrpt::obs::CObservationVelodyneScan
 *
 * \ingroup mrpt_maps_grp
 */
class CHeightGridMap2D
    : public mrpt::maps::CMetricMap,
      public mrpt::containers::CDynamicGrid<THeightGridmapCell>,
      public CHeightGridMap2D_Base
{
    DEFINE_SERIALIZABLE(CHeightGridMap2D, mrpt::maps)
   public:
    /** Calls the base CMetricMap::clear
     * Declared here to avoid ambiguity between the two clear() in both base
     * classes.
     */
    inline void clear() { CMetricMap::clear(); }
    float cell2float(const THeightGridmapCell& c) const override
    {
        return float(c.h);
    }

    /** The type of map representation to be used.
     *  See mrpt::maps::CHeightGridMap2D for discussion.
     */
    enum TMapRepresentation
    {
        mrSimpleAverage = 0
    };

    /** Constructor */
    CHeightGridMap2D(
        TMapRepresentation mapType = mrSimpleAverage, double x_min = -2,
        double x_max = 2, double y_min = -2, double y_max = 2,
        double resolution = 0.1);

    /** Returns true if the map is empty/no observation has been inserted. */
    bool isEmpty() const override;

    /** Parameters related with inserting observations into the map */
    struct TInsertionOptions : public mrpt::config::CLoadableOptions
    {
        /** Default values loader */
        TInsertionOptions();

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs

        /** Whether to perform filtering by z-coordinate (default=false):
         * coordinates are always RELATIVE to the robot for this filter.vvv */
        bool filterByHeight{false};
        /** Only when filterByHeight is true: coordinates are always RELATIVE to
         * the robot for this filter. */
        float z_min{-0.5}, z_max{0.5};

        mrpt::img::TColormap colorMap{mrpt::img::cmJET};
    } insertionOptions;

    /** See docs in base class: in this class it always returns 0 */
    float compute3DMatchingRatio(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        const TMatchingRatioParams& params) const override;

    void saveMetricMapRepresentationToFile(const std::string& filNamePrefix)
        const override;  // See base class docs

    /** Returns a 3D object representing the map: by default, it will be a
     * mrpt::opengl::CMesh object, unless
     *   it is specified otherwise in
     * mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

    /** Return the type of the gas distribution map, according to parameters
     * passed on construction */
    TMapRepresentation getMapType();

    /** Return the number of cells with at least one height data inserted. */
    size_t countObservedCells() const;

    bool insertIndividualPoint(
        const double x, const double y, const double z,
        const CHeightGridMap2D_Base::TPointInsertParams& params =
            CHeightGridMap2D_Base::TPointInsertParams()) override;
    double dem_get_resolution() const override;
    size_t dem_get_size_x() const override;
    size_t dem_get_size_y() const override;
    bool dem_get_z_by_cell(
        const size_t cx, const size_t cy, double& z_out) const override;
    bool dem_get_z(
        const double x, const double y, double& z_out) const override;
    void dem_update_map() override;

    /** The map representation type of this map */
    TMapRepresentation m_mapType;

    // See docs in base class
    void internal_clear() override;
    bool internal_insertObservation(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D* robotPose = nullptr) override;
    double internal_computeObservationLikelihood(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D& takenFrom) override;

    MAP_DEFINITION_START(CHeightGridMap2D)
    /** See CHeightGridMap2D::CHeightGridMap2D */
    double min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
    /** The kind of map representation (see CHeightGridMap2D::CHeightGridMap2D)
     */
    mrpt::maps::CHeightGridMap2D::TMapRepresentation mapType{
        CHeightGridMap2D::mrSimpleAverage};
    mrpt::maps::CHeightGridMap2D::TInsertionOptions insertionOpts;
    MAP_DEFINITION_END(CHeightGridMap2D)
};

}  // namespace maps

namespace global_settings
{
/** If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a
 *opengl::CMesh, otherwise, as a opengl::CPointCloudColoured
 * Affects to:
 *      - CHeightGridMap2D::getAs3DObject
 */
void HEIGHTGRIDMAP_EXPORT3D_AS_MESH(bool value);
bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH();
}  // namespace global_settings
}  // namespace mrpt

MRPT_ENUM_TYPE_BEGIN(maps::CHeightGridMap2D::TMapRepresentation)
MRPT_FILL_ENUM_MEMBER(
    maps::CHeightGridMap2D::TMapRepresentation, mrSimpleAverage);
MRPT_ENUM_TYPE_END()