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maps/CHeightGridMap2D.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef CHeightGridMap2D_H
11 #define CHeightGridMap2D_H
12 
14 #include <mrpt/maps/CMetricMap.h>
18 #include <mrpt/utils/color_maps.h>
19 #include <mrpt/utils/TEnumType.h>
20 #include <mrpt/maps/link_pragmas.h>
21 #include <mrpt/poses/poses_frwds.h>
22 #include <mrpt/maps/link_pragmas.h>
23 #include <mrpt/obs/obs_frwds.h>
24 
25 namespace mrpt
26 {
27  namespace maps
28  {
29  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHeightGridMap2D, CMetricMap, MAPS_IMPEXP )
30 
31  /** The contents of each cell in a CHeightGridMap2D map */
33  {
34  float h; //!< The current average height (in meters)
35  float var; //!< The current standard deviation of the height (in meters)
36  float u; //!< Auxiliary variable for storing the incremental mean value (in meters).
37  float v; //!< Auxiliary (in meters)
38  uint32_t w; //!< [For mrSimpleAverage model] The accumulated weight: initially zero if un-observed, increased by one for each observation
39 
40  THeightGridmapCell() : h(),var(),u(),v(),w() {}
41  };
42 
43  /** Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location.
44  * Important implemented features are the insertion of 2D laser scans (from arbitrary 6D poses) and the exportation as 3D scenes.
45  *
46  * Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:
47  * - mrSimpleAverage: Each cell only stores the current average value.
48  *
49  * This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:
50  * - mrpt::obs::CObservation2DRangeScan: 2D range scans
51  * - mrpt::obs::CObservationVelodyneScan
52  *
53  * \ingroup mrpt_maps_grp
54  */
57  public utils::CDynamicGrid<THeightGridmapCell>,
59  {
60  // This must be added to any CSerializable derived class:
62  public:
63 
64  /** Calls the base CMetricMap::clear
65  * Declared here to avoid ambiguity between the two clear() in both base classes.
66  */
67  inline void clear() { CMetricMap::clear(); }
68 
70  return float(c.h);
71  }
72 
73  /** The type of map representation to be used.
74  * See mrpt::maps::CHeightGridMap2D for discussion.
75  */
77  {
78  mrSimpleAverage = 0
79  };
80 
81  /** Constructor */
83  TMapRepresentation mapType = mrSimpleAverage,
84  double x_min = -2, double x_max = 2,
85  double y_min = -2, double y_max = 2,
86  double resolution = 0.1
87  );
88 
89  bool isEmpty() const MRPT_OVERRIDE; //!< Returns true if the map is empty/no observation has been inserted.
90 
91  /** Parameters related with inserting observations into the map */
92  struct MAPS_IMPEXP TInsertionOptions : public utils::CLoadableOptions
93  {
94  TInsertionOptions(); //!< Default values loader
95 
96  void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
97  void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
98 
99  bool filterByHeight; //!< Whether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the robot for this filter.vvv
100  float z_min,z_max; //!< Only when filterByHeight is true: coordinates are always RELATIVE to the robot for this filter.
101 
103  } insertionOptions;
104 
105  /** See docs in base class: in this class it always returns 0 */
106  float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const MRPT_OVERRIDE;
107 
108  void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const MRPT_OVERRIDE; // See base class docs
109 
110  /** Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless
111  * it is specified otherwise in mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH */
112  void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE;
113 
114  /** Return the type of the gas distribution map, according to parameters passed on construction */
115  TMapRepresentation getMapType();
116 
117  /** Return the number of cells with at least one height data inserted. */
118  size_t countObservedCells() const;
119 
120  virtual bool insertIndividualPoint(const double x,const double y,const double z, const CHeightGridMap2D_Base::TPointInsertParams & params = CHeightGridMap2D_Base::TPointInsertParams() ) MRPT_OVERRIDE;
121  virtual double dem_get_resolution() const MRPT_OVERRIDE;
122  virtual size_t dem_get_size_x() const MRPT_OVERRIDE;
123  virtual size_t dem_get_size_y() const MRPT_OVERRIDE;
124  virtual bool dem_get_z_by_cell(const size_t cx, const size_t cy, double &z_out) const MRPT_OVERRIDE;
125  virtual bool dem_get_z(const double x, const double y, double &z_out) const MRPT_OVERRIDE;
126  virtual void dem_update_map() MRPT_OVERRIDE;
127 
128  TMapRepresentation m_mapType; //!< The map representation type of this map
129 
130  // See docs in base class
131  void internal_clear() MRPT_OVERRIDE;
132  bool internal_insertObservation( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose = NULL ) MRPT_OVERRIDE;
133  double internal_computeObservationLikelihood( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom ) MRPT_OVERRIDE;
134 
136  double min_x,max_x,min_y,max_y,resolution; //!< See CHeightGridMap2D::CHeightGridMap2D
137  mrpt::maps::CHeightGridMap2D::TMapRepresentation mapType; //!< The kind of map representation (see CHeightGridMap2D::CHeightGridMap2D)
138  mrpt::maps::CHeightGridMap2D::TInsertionOptions insertionOpts;
139  MAP_DEFINITION_END(CHeightGridMap2D,MAPS_IMPEXP)
140  };
141  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CHeightGridMap2D, CMetricMap, MAPS_IMPEXP )
142 
143  } // End of namespace
144 
145  namespace global_settings
146  {
147  /** If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh, otherwise, as a opengl::CPointCloudColoured
148  * Affects to:
149  * - CHeightGridMap2D::getAs3DObject
150  */
151  extern MAPS_IMPEXP bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH;
152  }
153 
154  // Specializations MUST occur at the same namespace:
155  namespace utils
156  {
157  template <>
159  {
161  static void fill(bimap<enum_t,std::string> &m_map)
162  {
163  m_map.insert(maps::CHeightGridMap2D::mrSimpleAverage, "mrSimpleAverage");
164  }
165  };
166  } // End of namespace
167 
168 } // End of namespace
169 
170 #endif
Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated h...
void clear()
Erase all the contents of the map.
Definition: CMetricMap.cpp:34
float var
The current standard deviation of the height (in meters)
float h
The current average height (in meters)
GLint GLint GLint GLint GLint GLint y
Definition: glew.h:1166
Parameters for CMetricMap::compute3DMatchingRatio()
Extra params for insertIndividualPoint()
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
TColormap
Different colormaps for use in mrpt::utils::colormap()
Definition: color_maps.h:30
const GLfloat * c
Definition: glew.h:10088
TMapRepresentation
The type of map representation to be used.
The contents of each cell in a CHeightGridMap2D map.
Only specializations of this class are defined for each enum type of interest.
Definition: TEnumType.h:23
uint32_t w
[For mrSimpleAverage model] The accumulated weight: initially zero if un-observed, increased by one for each observation
float v
Auxiliary (in meters)
void clear()
Clear the contents of this container.
Definition: ts_hash_map.h:113
This class allows loading and storing values and vectors of different types from a configuration text...
MAPS_IMPEXP bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH
If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh, otherwise, as a opengl::CPointCloudColoured Affects to:
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
A 2D grid of dynamic size which stores any kind of data at each cell.
Definition: CDynamicGrid.h:40
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Parameters related with inserting observations into the map.
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std::...
Definition: bimap.h:28
GLint GLint GLint GLint GLint x
Definition: glew.h:1166
float u
Auxiliary variable for storing the incremental mean value (in meters).
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
GLdouble GLdouble z
Definition: glew.h:1464
GLsizei const GLcharARB ** string
Definition: glew.h:3293
Declares a virtual base class for all metric maps storage classes.
bool filterByHeight
Whether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the ...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
float cell2float(const THeightGridmapCell &c) const MRPT_OVERRIDE
Virtual base class for Digital Elevation Model (DEM) maps.
GLfloat * params
Definition: glew.h:1436
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
Definition: bimap.h:69
unsigned __int32 uint32_t
Definition: rptypes.h:49
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
GLsizei GLsizei GLchar * source
Definition: glew.h:1739



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