metric_map_types.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/math/TPoint3D.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::maps
{
/** Parameters for the determination of matchings between point clouds, etc. \sa
 * CMetricMap::determineMatching2D, CMetricMap::determineMatching3D */
struct TMatchingParams
{
    /** Maximum linear distance between two points to be paired (meters) */
    float maxDistForCorrespondence{0.50f};
    /** Allowed "angular error" (in radians): this permits larger pairing
     * threshold distances to more distant points. */
    float maxAngularDistForCorrespondence{.0f};
    /** If set to true (default), only the closest correspondence will be
     * returned. If false all are returned. */
    bool onlyKeepTheClosest{true};
    /** Additional consistency filter: "onlyKeepTheClosest" allows one
     * correspondence for each "local map" point, but many of them may have as
     * corresponding pair the same "global point", which this flag avoids. */
    bool onlyUniqueRobust{false};
    /** (Default=1) Only consider 1 out of this number of points from the
     * "other" map. */
    size_t decimation_other_map_points{1};
    /** Index of the first point in the "other" map to start checking for
     * correspondences (Default=0) */
    size_t offset_other_map_points{0};
    /** The point used to calculate angular distances: e.g. the coordinates of
     * the sensor for a 2D laser scanner. */
    mrpt::math::TPoint3D angularDistPivotPoint{0, 0, 0};

    /** Ctor: default values */
    TMatchingParams() = default;
};

/** Additional results from the determination of matchings between point clouds,
 * etc., apart from the pairings themselves \sa CMetricMap::determineMatching2D,
 * CMetricMap::determineMatching3D */
struct TMatchingExtraResults
{
    /** The ratio [0,1] of points in otherMap with at least one correspondence.
     */
    float correspondencesRatio{0};
    /** The sum of all matched points squared distances.If undesired, set to
     * nullptr, as default. */
    float sumSqrDist{0};

    TMatchingExtraResults() = default;
};

/** Parameters for CMetricMap::compute3DMatchingRatio() */
struct TMatchingRatioParams
{
    /** (Default: 0.10f) The minimum distance between 2 non-probabilistic map
     * elements for counting them as a correspondence. */
    float maxDistForCorr{0.10f};
    /** (Default: 2.0f) The minimum Mahalanobis distance between 2 probabilistic
     * map elements for counting them as a correspondence. */
    float maxMahaDistForCorr{2.0f};

    TMatchingRatioParams() = default;
};

/** Common params to all maps derived from mrpt::maps::CMetricMap  */
class TMapGenericParams : public mrpt::config::CLoadableOptions,
                          public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(TMapGenericParams, mrpt::maps)
   public:
    /** (Default=true) If false, calling CMetricMap::getAs3DObject() will have
     * no effects */
    bool enableSaveAs3DObject{true};
    /** (Default=true) Enable computing observation likelihoods with this map */
    bool enableObservationLikelihood{true};
    /** (Default=true) Enable inserting observations in this map  */
    bool enableObservationInsertion{true};

    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& sectionNamePrefix) override;  // See base docs
    void saveToConfigFile(
        mrpt::config::CConfigFileBase& target,
        const std::string& section) const override;
};

}  // namespace mrpt::maps