CHeightGridMap2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 CHeightGridMap2D_H
#define CHeightGridMap2D_H
 
#include <mrpt/maps/CHeightGridMap2D_Base.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/containers/CDynamicGrid.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/img/color_maps.h>
#include <mrpt/typemeta/TEnumType.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/obs/obs_frwds.h>
 
namespace mrpt
{
namespace maps
{
/** The contents of each cell in a CHeightGridMap2D map */
struct THeightGridmapCell
{
        /** The current average height (in meters) */
        float h;
        /** The current standard deviation of the height (in meters) */
        float var;
        /** Auxiliary variable for storing the incremental mean value (in meters).
         */
        float u;
        /** Auxiliary (in meters) */
        float v;
        /** [For mrSimpleAverage model] The accumulated weight: initially zero if
         * un-observed, increased by one for each observation */
        uint32_t w;
 
        THeightGridmapCell() : h(), var(), u(), v(), w() {}
};
 
/** 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
 *
 * \ingroup mrpt_maps_grp
 */
class CHeightGridMap2D
        : public mrpt::maps::CMetricMap,
          public mrpt::containers::CDynamicGrid<THeightGridmapCell>,
          public CHeightGridMap2D_Base
{
        DEFINE_SERIALIZABLE(CHeightGridMap2D)
   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 THeightGridmapCell& c) const override
        {
                return float(c.h);
        }
 
        /** The type of map representation to be used.
         *  See mrpt::maps::CHeightGridMap2D for discussion.
         */
        enum TMapRepresentation
        {
                mrSimpleAverage = 0
        };
 
        /** Constructor */
        CHeightGridMap2D(
                TMapRepresentation mapType = mrSimpleAverage, 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 mrpt::config::CLoadableOptions
        {
                /** Default values loader */
                TInsertionOptions();
 
                void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        std::ostream& out) const override;  // See base docs
 
                /** Whether to perform filtering by z-coordinate (default=false):
                 * coordinates are always RELATIVE to the robot for this filter.vvv */
                bool filterByHeight;
                /** Only when filterByHeight is true: coordinates are always RELATIVE to
                 * the robot for this filter. */
                float z_min, z_max;
 
                mrpt::img::TColormap colorMap;
        } insertionOptions;
 
        /** See docs in base class: in this class it 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;  // See base class docs
 
        /** Returns a 3D object representing the map: by default, it will be a
         * mrpt::opengl::CMesh object, unless
         *   it is specified otherwise in
         * mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH */
        void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;
 
        /** Return the type of the gas distribution map, according to parameters
         * passed on construction */
        TMapRepresentation getMapType();
 
        /** Return the number of cells with at least one height data inserted. */
        size_t countObservedCells() const;
 
        virtual bool insertIndividualPoint(
                const double x, const double y, const double z,
                const CHeightGridMap2D_Base::TPointInsertParams& params =
                        CHeightGridMap2D_Base::TPointInsertParams()) override;
        virtual double dem_get_resolution() const override;
        virtual size_t dem_get_size_x() const override;
        virtual size_t dem_get_size_y() const override;
        virtual bool dem_get_z_by_cell(
                const size_t cx, const size_t cy, double& z_out) const override;
        virtual bool dem_get_z(
                const double x, const double y, double& z_out) const override;
        virtual void dem_update_map() override;
 
        /** The map representation type of this map */
        TMapRepresentation m_mapType;
 
        // 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(CHeightGridMap2D)
        /** See CHeightGridMap2D::CHeightGridMap2D */
        double min_x, max_x, min_y, max_y, resolution;
        /** The kind of map representation (see CHeightGridMap2D::CHeightGridMap2D)
         */
        mrpt::maps::CHeightGridMap2D::TMapRepresentation mapType;
        mrpt::maps::CHeightGridMap2D::TInsertionOptions insertionOpts;
        MAP_DEFINITION_END(CHeightGridMap2D)
};
 
}  // namespace maps
 
namespace global_settings
{
/** If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a
 *opengl::CMesh, otherwise, as a opengl::CPointCloudColoured
 * Affects to:
 *              - CHeightGridMap2D::getAs3DObject
 */
void HEIGHTGRIDMAP_EXPORT3D_AS_MESH(bool value);
bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH();
}  // namespace global_settings
}  // namespace mrpt
 
MRPT_ENUM_TYPE_BEGIN(maps::CHeightGridMap2D::TMapRepresentation)
MRPT_FILL_ENUM_MEMBER(
        maps::CHeightGridMap2D::TMapRepresentation, mrSimpleAverage);
MRPT_ENUM_TYPE_END()
 
#endif