class mrpt::maps::CHeightGridMap2D

Overview

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

#include <mrpt/maps/CHeightGridMap2D.h>

class CHeightGridMap2D:
    public mrpt::maps::CMetricMap,
    public mrpt::containers::CDynamicGrid,
    public mrpt::maps::CHeightGridMap2D_Base
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CHeightGridMap2D> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CHeightGridMap2D> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CHeightGridMap2D> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CHeightGridMap2D> ConstUniquePtr;

    // enums

    enum TMapRepresentation;

    // structs

    struct TInsertionOptions;
    struct TMapDefinition;
    struct TMapDefinitionBase;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CHeightGridMap2D";
    static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CHeightGridMap2D,heightMap,dem" ,& mrpt::maps::CHeightGridMap2D ::MapDefinition,& mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition);
    mrpt::maps::CHeightGridMap2D::TInsertionOptions insertionOptions;
    TMapRepresentation m_mapType;

    // construction

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

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition();
    static std::shared_ptr<CHeightGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    static std::shared_ptr<mrpt::maps::CMetricMap> internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    bool intersectLine3D(const mrpt::math::TLine3D& r1, mrpt::math::TObject3D& obj) const;
    bool getMinMaxHeight(float& z_min, float& z_max) const;
    std::optional<std::pair<float, float>> getMinMaxHeightOpt() const;
    void clear();
    float cell2float(const THeightGridmapCell& c) const;
    virtual std::string asString() const;
    virtual bool isEmpty() const;
    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const;
    TMapRepresentation getMapType();
    size_t countObservedCells() const;

    virtual bool insertIndividualPoint(
        const double x,
        const double y,
        const double z,
        const CHeightGridMap2D_Base::TPointInsertParams& params = CHeightGridMap2D_Base::TPointInsertParams()
        );

    virtual double dem_get_resolution() const;
    virtual size_t dem_get_size_x() const;
    virtual size_t dem_get_size_y() const;
    virtual bool dem_get_z_by_cell(size_t cx, size_t cy, double& z_out) const;
    virtual bool dem_get_z(const double x, const double y, double& z_out) const;
    virtual void dem_update_map();
    virtual void internal_clear();
    virtual bool internal_insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose);
    virtual double internal_computeObservationLikelihood(const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom) const;
    bool dem_internal_insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;

    // structs

    struct TPointInsertParams;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual bool isEmpty() const = 0;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual std::string asString() const = 0;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;

    virtual bool insertIndividualPoint(
        const double x,
        const double y,
        const double z,
        const TPointInsertParams& params = TPointInsertParams()
        ) = 0;

    virtual double dem_get_resolution() const = 0;
    virtual size_t dem_get_size_x() const = 0;
    virtual size_t dem_get_size_y() const = 0;
    virtual bool dem_get_z_by_cell(size_t cx, size_t cy, double& z_out) const = 0;
    virtual bool dem_get_z(const double x, const double y, double& z_out) const = 0;
    virtual void dem_update_map() = 0;

Typedefs

typedef std::shared_ptr<mrpt::maps ::CHeightGridMap2D> Ptr

A type for the associated smart pointer.

Fields

static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CHeightGridMap2D,heightMap,dem" ,& mrpt::maps::CHeightGridMap2D ::MapDefinition,& mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)

ID used to initialize class registration (just ignore it)

TMapRepresentation m_mapType

The map representation type of this map.

Construction

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

Constructor.

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

Returns a deep copy (clone) of the object, indepently of its class.

static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition()

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

static std::shared_ptr<CHeightGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

bool intersectLine3D(const mrpt::math::TLine3D& r1, mrpt::math::TObject3D& obj) const

Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell)

bool getMinMaxHeight(float& z_min, float& z_max) const

Computes the minimum and maximum height in the grid.

Deprecated Use getMinMaxHeightOpt() returning optional instead.

Returns:

False if there is no observed cell yet.

std::optional<std::pair<float, float>> getMinMaxHeightOpt() const

Returns {z_min, z_max} if any cell is observed, or std::nullopt otherwise.

void clear()

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

virtual std::string asString() const

Returns a short description of the map.

virtual bool isEmpty() const

Returns true if the map is empty/no observation has been inserted.

virtual float compute3DMatchingRatio(
    const mrpt::maps::CMetricMap* otherMap,
    const mrpt::poses::CPose3D& otherMapPose,
    const TMatchingRatioParams& params
    ) const

See docs in base class: in this class it always returns 0.

virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const

This virtual method saves the map to a file “filNamePrefix”+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const

Returns a 3D object representing the map: by default, it will be a mrpt::viz::CMesh object, unless it is specified otherwise in mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH.

TMapRepresentation getMapType()

Return the type of the gas distribution map, according to parameters passed on construction.

size_t countObservedCells() const

Return the number of cells with at least one height data inserted.

virtual bool insertIndividualPoint(
    const double x,
    const double y,
    const double z,
    const CHeightGridMap2D_Base::TPointInsertParams& params = CHeightGridMap2D_Base::TPointInsertParams()
    )

Update the DEM with one new point.

Returns:

true if updated OK, false if (x,y) is out of bounds