metric_map_types.h

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/* +---------------------------------------------------------------------------+
   |                     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    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/obs/link_pragmas.h>

namespace mrpt
{
        namespace maps
        {
                /** Parameters for the determination of matchings between point clouds, etc. \sa CMetricMap::determineMatching2D, CMetricMap::determineMatching3D */
                struct OBS_IMPEXP TMatchingParams
                {
                        float  maxDistForCorrespondence;          //!< Maximum linear distance between two points to be paired (meters)
                        float  maxAngularDistForCorrespondence;   //!< Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant points.
                        bool   onlyKeepTheClosest;  //!< If set to true (default), only the closest correspondence will be returned. If false all are returned.
                        bool   onlyUniqueRobust;    //!< Additional consistency filter: "onlyKeepTheClosest" allows one correspondence for each "local map" point, but many of them may have as corresponding pair the same "global point", which this flag avoids.
                        size_t decimation_other_map_points; //!< (Default=1) Only consider 1 out of this number of points from the "other" map.
                        size_t offset_other_map_points;  //!< Index of the first point in the "other" map to start checking for correspondences (Default=0)
                        mrpt::math::TPoint3D angularDistPivotPoint; //!< The point used to calculate angular distances: e.g. the coordinates of the sensor for a 2D laser scanner.

                        /** Ctor: default values */
                        TMatchingParams() :
                                maxDistForCorrespondence(0.50f),
                                maxAngularDistForCorrespondence(.0f),
                                onlyKeepTheClosest(true),
                                onlyUniqueRobust(false),
                                decimation_other_map_points(1),
                                offset_other_map_points(0),
                                angularDistPivotPoint(0,0,0)
                        {}
                };

                /** Additional results from the determination of matchings between point clouds, etc., apart from the pairings themselves \sa CMetricMap::determineMatching2D, CMetricMap::determineMatching3D */
                struct OBS_IMPEXP TMatchingExtraResults
                {
                        float correspondencesRatio; //!< The ratio [0,1] of points in otherMap with at least one correspondence.
                        float sumSqrDist;           //!< The sum of all matched points squared distances.If undesired, set to NULL, as default.

                        TMatchingExtraResults() : correspondencesRatio(0),sumSqrDist(0)
                        {}
                };

                /** Parameters for CMetricMap::compute3DMatchingRatio() */
                struct OBS_IMPEXP TMatchingRatioParams
                {
                        float maxDistForCorr;     //!< (Default: 0.10f) The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
                        float maxMahaDistForCorr; //!< (Default: 2.0f) The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

                        TMatchingRatioParams() : maxDistForCorr(0.10f), maxMahaDistForCorr(2.0f)
                        {}
                };

                DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE ( TMapGenericParams, OBS_IMPEXP )
                /** Common params to all maps derived from mrpt::maps::CMetricMap  */
                class OBS_IMPEXP TMapGenericParams : public mrpt::utils::CLoadableOptions, public mrpt::utils::CSerializable
                {
                        DEFINE_SERIALIZABLE( TMapGenericParams )
                public:
                        bool  enableSaveAs3DObject;        //!< (Default=true) If false, calling CMetricMap::getAs3DObject() will have no effects
                        bool  enableObservationLikelihood; //!< (Default=true) Enable computing observation likelihoods with this map
                        bool  enableObservationInsertion;  //!< (Default=true) Enable inserting observations in this map 

                        TMapGenericParams();
                        void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &sectionNamePrefix) MRPT_OVERRIDE; // See base docs
                        void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE ( TMapGenericParams, OBS_IMPEXP )


        } // End of namespace
} // End of namespace