CReflectivityGridMap2D.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 CReflectivityGridMap2D_H
#define CReflectivityGridMap2D_H

#include <mrpt/utils/CImage.h>
#include <mrpt/utils/CDynamicGrid.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/maps/CLogOddsGridMap2D.h>
#include <mrpt/obs/obs_frwds.h>

namespace mrpt
{
namespace maps
{
/** A 2D grid map representing the reflectivity of the environment (for example,
  *measured with an IR proximity sensor).
  *
  *  Important implemented features are:
  *             - Insertion of mrpt::obs::CObservationReflectivity observations.
  *             - Probability estimation of observations. See base class.
  *             - Rendering as 3D object: a 2D textured plane.
  *             - Automatic resizing of the map limits when inserting observations close
  *to
  *the border.
  *
  *   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.
  * \ingroup mrpt_maps_grp
  */
class CReflectivityGridMap2D : public CMetricMap,
                                                           public utils::CDynamicGrid<int8_t>,
                                                           public CLogOddsGridMap2D<int8_t>
{
        DEFINE_SERIALIZABLE(CReflectivityGridMap2D)

   protected:
        /** Lookup tables for log-odds */
        static CLogOddsGridMapLUT<cell_t> m_logodd_lut;

   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 int8_t& c) const override
        {
                return m_logodd_lut.l2p(c);
        }

        /** Constructor  */
        CReflectivityGridMap2D(
                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 utils::CLoadableOptions
        {
                /** Default values loader */
                TInsertionOptions();

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

                int16_t channel;  //!< The reflectivity channel for this map. If
                                                  //!channel=-1, then any channel will be accepted.
                                                  //!Otherwise, the map will ignore
                                                  //!CObservationReflectivity instances with a differing
                                                  //!channel. (Default=-1)
        } insertionOptions;

        /** See docs in base class: in this class this 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;

        void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

        /** Returns the grid as a 8-bit graylevel image, where each pixel is a cell
         * (output image is RGB only if forceRGB is true) */
        void getAsImage(
                utils::CImage& img, bool verticalFlip = false,
                bool forceRGB = false) const;

   protected:
        // 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(CReflectivityGridMap2D)
        /** See CReflectivityGridMap2DOptions::CReflectivityGridMap2DOptions */
        double min_x, max_x, min_y, max_y, resolution;
        mrpt::maps::CReflectivityGridMap2D::TInsertionOptions insertionOpts;
        MAP_DEFINITION_END(CReflectivityGridMap2D, )
};

}  // End of namespace

}  // End of namespace

#endif