class mrpt::maps::CReflectivityGridMap2D

Overview

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.

#include <mrpt/maps/CReflectivityGridMap2D.h>

class CReflectivityGridMap2D:
    public mrpt::maps::CMetricMap,
    public mrpt::containers::CDynamicGrid,
    public mrpt::maps::CLogOddsGridMap2D
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CReflectivityGridMap2D> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CReflectivityGridMap2D> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CReflectivityGridMap2D> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CReflectivityGridMap2D> ConstUniquePtr;
    typedef detail::logoddscell_traits<int8_t> traits_t;

    // structs

    struct TInsertionOptions;
    struct TMapDefinition;
    struct TMapDefinitionBase;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CReflectivityGridMap2D";
    static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CReflectivityGridMap2D,reflectivityMap" ,& mrpt::maps::CReflectivityGridMap2D ::MapDefinition,& mrpt::maps::CReflectivityGridMap2D ::internal_CreateFromMapDefinition);
    mrpt::maps::CReflectivityGridMap2D::TInsertionOptions insertionOptions;

    // construction

    CReflectivityGridMap2D(
        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<CReflectivityGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    static std::shared_ptr<mrpt::maps::CMetricMap> internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    void clear();
    virtual float cell2float(const int8_t&) 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& o) const;
    void getAsImage(mrpt::img::CImage& img, bool verticalFlip = false, bool forceRGB = false) const;
    virtual std::string asString() const;
};

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;
    typedef TCELL cell_t;

    // 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;

    void updateCell_fast_occupied(
        const unsigned x,
        const unsigned y,
        const cell_t logodd_obs,
        const cell_t thres,
        cell_t* mapArray,
        const unsigned _size_x
        );

    void updateCell_fast_occupied(cell_t* theCell, const cell_t logodd_obs, const cell_t thres);

    static void updateCell_fast_free(
        const unsigned x,
        const unsigned y,
        const cell_t logodd_obs,
        const cell_t thres,
        cell_t* mapArray,
        const unsigned _size_x
        );

    static void updateCell_fast_free(cell_t* theCell, const cell_t logodd_obs, const cell_t thres);

Typedefs

typedef std::shared_ptr<mrpt::maps ::CReflectivityGridMap2D> 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::CReflectivityGridMap2D,reflectivityMap" ,& mrpt::maps::CReflectivityGridMap2D ::MapDefinition,& mrpt::maps::CReflectivityGridMap2D ::internal_CreateFromMapDefinition)

ID used to initialize class registration (just ignore it)

Construction

CReflectivityGridMap2D(
    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<CReflectivityGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

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

void clear()

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

virtual float cell2float(const int8_t&) const

The user must implement this in order to provide “saveToTextFile” a way to convert each cell into a numeric value.

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 this 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& o) const

Inserts 3D primitives representing this object into the provided container.

Note that the former contents of o are not cleared.