CObservation2DRangeScan.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CObservation2DRangeScan_H
#define CObservation2DRangeScan_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/obs/T2DScanProperties.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/math/CPolygon.h>
#include <mrpt/utils/ContainerReadOnlyProxyAccessor.h>

// Add for declaration of mexplus::from template specialization
DECLARE_MEXPLUS_FROM(mrpt::obs::CObservation2DRangeScan)

namespace mrpt
{
namespace obs
{
/** A "CObservation"-derived class that represents a 2D range scan measurement
 * (typically from a laser scanner).
  *  The data structures are generic enough to hold a wide variety of 2D
 * scanners and "3D" planar rotating 2D lasers.
  *
  *  These are the most important data fields:
  *    - These three fields are private data member (since MRPT 1.5.0) for
 * safety and to ensure data consistency. Read them with the
 * backwards-compatible proxies `scan`, `intensity`, `validRange` or (preferred)
 * with the new `get_*`, `set_*` and `resize()` methods:
  *      - CObservation2DRangeScan::scan -> A vector of float values with all
 * the range measurements (in meters).
  *      - CObservation2DRangeScan::validRange -> A vector (of <b>identical
 * size</b> to <i>scan<i>), has non-zeros for those ranges than are valid (i.e.
 * will be zero for non-reflected rays, etc.)
  *      - CObservation2DRangeScan::intensity -> A vector (of <b>identical
 * size</b> to <i>scan<i>) a unitless int values representing the relative
 * strength of each return. Higher values indicate a more intense return. This
 * is useful for filtering out low intensity(noisy) returns or detecting intense
 * landmarks.
  *    - CObservation2DRangeScan::aperture -> The field-of-view of the scanner,
 * in radians (typically, M_PI = 180deg).
  *    - CObservation2DRangeScan::sensorPose -> The 6D location of the sensor on
 * the robot reference frame (default=at the origin).
  *
  * \sa CObservation, CPointsMap, T2DScanProperties
  * \ingroup mrpt_obs_grp
  */
class CObservation2DRangeScan : public CObservation
{
        DEFINE_SERIALIZABLE(CObservation2DRangeScan)
        // This must be added for declaration of MEX-related functions
        DECLARE_MEX_CONVERSION
   private:
        /** The range values of the scan, in meters. Must have same length than \a
         * validRange */
        std::vector<float> m_scan;
        /** The intensity values of the scan. If available, must have same length
         * than \a validRange */
        std::vector<int32_t> m_intensity;
        /** It's false (=0) on no reflected rays, referenced to elements in \a scan
         */
        std::vector<char> m_validRange;
        /** Whether the intensity values are present or not. If not, space is saved
         * during serialization. */
        bool m_has_intensity;

   public:
        /** Used in filterByExclusionAreas */
        typedef std::vector<mrpt::math::CPolygon> TListExclusionAreas;
        /** Used in filterByExclusionAreas */
        typedef std::vector<
                std::pair<mrpt::math::CPolygon, std::pair<double, double>>>
                TListExclusionAreasWithRanges;

        /** Default constructor */
        CObservation2DRangeScan();
        /** copy ctor */
        CObservation2DRangeScan(const CObservation2DRangeScan& o);
        /** Destructor */
        virtual ~CObservation2DRangeScan();

        /** @name Scan data
                @{ */
        /** Resizes all data vectors to allocate a given number of scan rays */
        void resizeScan(const size_t len);
        /** Resizes all data vectors to allocate a given number of scan rays and
         * assign default values. */
        void resizeScanAndAssign(
                const size_t len, const float rangeVal, const bool rangeValidity,
                const int32_t rangeIntensity = 0);
        /** Get number of scan rays */
        size_t getScanSize() const;

        /** The range values of the scan, in meters. Must have same length than \a
         * validRange */
        mrpt::utils::ContainerReadOnlyProxyAccessor<std::vector<float>> scan;
        float getScanRange(const size_t i) const;
        void setScanRange(const size_t i, const float val);

        /** The intensity values of the scan. If available, must have same length
         * than \a validRange */
        mrpt::utils::ContainerReadOnlyProxyAccessor<std::vector<int32_t>> intensity;
        int32_t getScanIntensity(const size_t i) const;
        void setScanIntensity(const size_t i, const int val);

        /** It's false (=0) on no reflected rays, referenced to elements in \a scan
         */
        mrpt::utils::ContainerReadOnlyProxyAccessor<std::vector<char>> validRange;
        bool getScanRangeValidity(const size_t i) const;
        void setScanRangeValidity(const size_t i, const bool val);

        /** The "aperture" or field-of-view of the range finder, in radians
         * (typically M_PI = 180 degrees). */
        float aperture;
        /** The scanning direction: true=counterclockwise; false=clockwise */
        bool rightToLeft;
        /** The maximum range allowed by the device, in meters (e.g. 80m, 50m,...)
         */
        float maxRange;
        /** The 6D pose of the sensor on the robot at the moment of starting the
         * scan. */
        mrpt::poses::CPose3D sensorPose;
        /** The "sigma" error of the device in meters, used while inserting the scan
         * in an occupancy grid. */
        float stdError;
        /** The aperture of each beam, in radians, used to insert "thick" rays in
         * the occupancy grid. */
        float beamAperture;
        /** If the laser gathers data by sweeping in the pitch/elevation angle, this
         * holds the increment in "pitch" (=-"elevation") between the beginning and
         * the end of the scan (the sensorPose member stands for the pose at the
         * beginning of the scan). */
        double deltaPitch;

        /** Fill out a T2DScanProperties structure with the parameters of this scan
         */
        void getScanProperties(T2DScanProperties& p) const;
        /** @} */

        void loadFromVectors(
                size_t nRays, const float* scanRanges, const char* scanValidity);

        /** @name Cached points map
                @{  */
   protected:
        /** A points map, build only under demand by the methods getAuxPointsMap()
         * and buildAuxPointsMap().
          *  It's a generic smart pointer to avoid depending here in the library
         * mrpt-obs on classes on other libraries.
          */
        mutable mrpt::maps::CMetricMap::Ptr m_cachedMap;
        /** Internal method, used from buildAuxPointsMap() */
        void internal_buildAuxPointsMap(const void* options = nullptr) const;

   public:
        /** Returns the cached points map representation of the scan, if already
         * build with buildAuxPointsMap(), or nullptr otherwise.
          * Usage:
          *  \code
          *    mrpt::maps::CPointsMap *map =
         * obs->getAuxPointsMap<mrpt::maps::CPointsMap>();
          *  \endcode
          * \sa buildAuxPointsMap
          */
        template <class POINTSMAP>
        inline const POINTSMAP* getAuxPointsMap() const
        {
                return static_cast<const POINTSMAP*>(m_cachedMap.get());
        }

        /** Returns a cached points map representing this laser scan, building it
         * upon the first call.
          * \param options Can be nullptr to use default point maps' insertion
         * options, or a pointer to a "CPointsMap::TInsertionOptions" structure to
         * override some params.
          * Usage:
          *  \code
          *    mrpt::maps::CPointsMap *map =
         * obs->buildAuxPointsMap<mrpt::maps::CPointsMap>(&options or nullptr);
          *  \endcode
          * \sa getAuxPointsMap
          */
        template <class POINTSMAP>
        inline const POINTSMAP* buildAuxPointsMap(
                const void* options = nullptr) const
        {
                if (!m_cachedMap) internal_buildAuxPointsMap(options);
                return static_cast<const POINTSMAP*>(m_cachedMap.get());
        }

        /** @} */

        /** Return true if the laser scanner is "horizontal", so it has an absolute
         * value of "pitch" and "roll" less or equal to the given tolerance (in
         * rads, default=0) (with the normal vector either upwards or downwards).
          */
        bool isPlanarScan(const double tolerance = 0) const;

        /** Return true if scan has intensity */
        bool hasIntensity() const;
        /** Marks this scan as having or not intensity data. */
        void setScanHasIntensity(bool setHasIntensityFlag);

        // See base class docs
        void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
        {
                out_sensorPose = sensorPose;
        }
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
        {
                sensorPose = newSensorPose;
        }
        void getDescriptionAsText(std::ostream& o) const override;

        /** A general method to truncate the scan by defining a minimum valid
           distance and a maximum valid angle as well as minimun and maximum heights
           (NOTE: the laser z-coordinate must be provided).
          */
        void truncateByDistanceAndAngle(
                float min_distance, float max_angle, float min_height = 0,
                float max_height = 0, float h = 0);

        /** Mark as invalid sensed points that fall within any of a set of
         * "exclusion areas", given in coordinates relative to the vehicle (taking
         * into account "sensorPose").
          * \sa C2DRangeFinderAbstract::loadExclusionAreas
          */
        void filterByExclusionAreas(const TListExclusionAreas& areas);

        /** Mark as invalid sensed points that fall within any of a set of
         * "exclusion areas", given in coordinates relative to the vehicle (taking
         * into account "sensorPose"), AND such as the Z coordinate of the point
         * falls in the range [min,max] associated to each exclusion polygon.
          * \sa C2DRangeFinderAbstract::loadExclusionAreas
          */
        void filterByExclusionAreas(const TListExclusionAreasWithRanges& areas);

        /** Mark as invalid the ranges in any of a given set of "forbiden angle
         * ranges", given as pairs<min_angle,max_angle>.
          * \sa C2DRangeFinderAbstract::loadExclusionAreas
          */
        void filterByExclusionAngles(
                const std::vector<std::pair<double, double>>& angles);

};  // End of class def.

}  // End of namespace
namespace utils
{
// Specialization must occur in the same namespace
MRPT_DECLARE_TTYPENAME_PTR_NAMESPACE(CObservation2DRangeScan, ::mrpt::obs)
}

}  // End of namespace

#endif