class mrpt::maps::CRandomFieldGridMap3D
Overview
CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class.
This class implements a Gaussian Markov Random Field (GMRF) estimator, with each voxel being connected to its 6 immediate neighbors (Up, down, left, right, front, back).
See papers:
“Time-variant gas distribution mapping with obstacle information”, Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots, 40(1), 1-16, 2016.
Note that this class does not derive from mrpt::maps::CMetricMap since the estimated values do not have sensor-especific semantics, i.e. the grid can be used to estimate temperature, gas concentration, etc.
Usage:
Define grid size with either constructor or via
setSize().Initialize the map with
initialize(). This resets the contents of the map, so previously-added observations will be lost.Add observations of 3D voxels with
insertIndividualReading()
Custom connectivity patterns can be defined with setVoxelsConnectivity().
See also:
mrpt::maps::CRandomFieldGridMap3D
#include <mrpt/maps/CRandomFieldGridMap3D.h> class CRandomFieldGridMap3D: public mrpt::containers::CDynamicGrid3D, public mrpt::serialization::CSerializable, public mrpt::system::COutputLogger { public: // typedefs typedef std::vector<TRandomFieldVoxel> grid_data_t; typedef typename grid_data_t::iterator iterator; typedef typename grid_data_t::const_iterator const_iterator; // enums enum TVoxelInterpolationMethod; // structs struct ConnectivityDescriptor; struct TInsertionOptions; struct TObservationGMRF; struct TPriorFactorGMRF; // fields static bool ENABLE_GMRF_PROFILER; static const size_t INVALID_VOXEL_IDX; TInsertionOptions insertionOptions; // construction CRandomFieldGridMap3D( double x_min = -2, double x_max = 2, double y_min = -2, double y_max = 2, double z_min = -2, double z_max = 2, double voxel_size = 0.5, bool call_initialize_now = true ); // methods const grid_data_t& data() const; iterator begin(); const_iterator begin() const; iterator end(); const_iterator end() const; virtual void clear(); bool saveAsCSV( const std::string& filName_mean, const std::string& filName_stddev = std::string() ) const; void resize( double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel& defaultValueNewvoxels, double additionalMarginMeters = 2.0 ); void setSize( const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z = -1.0, const TRandomFieldVoxel* fill_value = nullptr ); void setVoxelsConnectivity(const ConnectivityDescriptor::Ptr& new_connectivity_descriptor); bool insertIndividualReading( const double sensorReading, const double sensorVariance, const mrpt::math::TPoint3D& point, const TVoxelInterpolationMethod method, const bool update_map ); void updateMapEstimation(); bool isOutOfBounds( const int cx, const int cy, const int cz ) const; const TRandomFieldVoxel* cellByIndex( unsigned int cx, unsigned int cy, unsigned int cz ) const; size_t getSizeX() const; size_t getSizeY() const; size_t getSizeZ() const; size_t getVoxelCount() const; double getXMin() const; double getXMax() const; double getYMin() const; double getYMax() const; double getZMin() const; double getZMax() const; double getResolutionXY() const; double getResolutionZ() const; int y2idx(double y) const; int z2idx(double z) const; double idx2y(int cy) const; double idx2z(int cz) const; };
Inherited Members
public: // structs struct TMsg; // methods virtual void resize( coord_t new_x_min, coord_t new_x_max, coord_t new_y_min, coord_t new_y_max, coord_t new_z_min, coord_t new_z_max, const T& defaultValueNewCells, coord_t additionalMarginMeters = 2 ); virtual void setSize( const coord_t x_min, const coord_t x_max, const coord_t y_min, const coord_t y_max, const coord_t z_min, const coord_t z_max, const coord_t resolution_xy, const coord_t resolution_z_ = -1.0, const T* fill_value = nullptr ); virtual void clear(); void fill(const T& value); size_t cellAbsIndexFromCXCYCZ(const int cx, const int cy, const int cz) const; T* cellByPos(coord_t x, coord_t y, coord_t z); const T* cellByPos(coord_t x, coord_t y, coord_t z) const; T& cellRefByPos(coord_t x, coord_t y, coord_t z); const T& cellRefByPos(coord_t x, coord_t y, coord_t z) const; T* cellByIndex(unsigned int cx, unsigned int cy, unsigned int cz); const T* cellByIndex(size_t cidx) const; T* cellByIndex(size_t cidx); int x2idx(coord_t x) const; coord_t idx2x(int cx) const; template <class ARCHIVE> void dyngridcommon_writeToStream(ARCHIVE& out) const; template <class ARCHIVE> void dyngridcommon_readFromStream(ARCHIVE& in);
Fields
static bool ENABLE_GMRF_PROFILER
[default:false] Enables a profiler to show a performance report at application end.
TInsertionOptions insertionOptions
See also:
Construction
CRandomFieldGridMap3D( double x_min = -2, double x_max = 2, double y_min = -2, double y_max = 2, double z_min = -2, double z_max = 2, double voxel_size = 0.5, bool call_initialize_now = true )
Constructor.
If you set call_initialize_now to false, the object will be initialized immediately (without the heavy initialization of the GMRF), but you then must call setSize() or clear() later to properly initialize the object before using it to insert observations.
Methods
virtual void clear()
Erases all added observations and start again with an empty gridmap.
bool saveAsCSV( const std::string& filName_mean, const std::string& filName_stddev = std::string() ) const
Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value.
Optionally, std deviations can be also saved to another file with fields x y z stddev_value, if filName_stddev is provided.
Returns:
false on error writing to file
void resize( double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel& defaultValueNewvoxels, double additionalMarginMeters = 2.0 )
Changes the size of the grid, maintaining previous contents.
See also:
void setSize( const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z = -1.0, const TRandomFieldVoxel* fill_value = nullptr )
Changes the size of the grid, erasing previous contents.If resolution_z <0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy
Changes the size of the grid, erasing previous contents.
See also:
void setVoxelsConnectivity(const ConnectivityDescriptor::Ptr& new_connectivity_descriptor)
Sets a custom object to define the connectivity between voxels.
Must call clear() or setSize() afterwards for the changes to take place.
bool insertIndividualReading( const double sensorReading, const double sensorVariance, const mrpt::math::TPoint3D& point, const TVoxelInterpolationMethod method, const bool update_map )
Direct update of the map with a reading in a given position of the map.
Returns:
false if point is out of the grid extension.
void updateMapEstimation()
Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions.