CHeightGridMap2D_MRF.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/maps/CHeightGridMap2D_Base.h>
#include <mrpt/maps/CRandomFieldGridMap2D.h>

namespace mrpt::maps
{
/** CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with
 * uncertainty, based on a Markov-Random-Field (MRF) estimator.
 *
 *  There are a number of methods available to build the gas grid-map,
 * depending on the value of
 *    "TMapRepresentation maptype" passed in the constructor (see base class
 * mrpt::maps::CRandomFieldGridMap2D).
 *
 * Update the map with insertIndividualReading() or insertObservation()
 *
 * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
 * mrpt::containers::CDynamicGrid, The application icp-slam,
 * mrpt::maps::CMultiMetricMap
 * \note New in MRPT 1.4.0
 * \ingroup mrpt_maps_grp
 */
class CHeightGridMap2D_MRF : public CRandomFieldGridMap2D,
                             public CHeightGridMap2D_Base
{
    DEFINE_SERIALIZABLE(CHeightGridMap2D_MRF, mrpt::maps)
   public:
    /** Constructor */
    CHeightGridMap2D_MRF(
        TMapRepresentation mapType = mrGMRF_SD, double x_min = -2,
        double x_max = 2, double y_min = -2, double y_max = 2,
        double resolution = 0.5,
        /** [in] Whether to call updateMapEstimation(). If false, make sure of
           calling that function before accessing map contents. */
        bool run_first_map_estimation_now = true);

    /** Parameters related with inserting observations into the map */
    struct TInsertionOptions : public mrpt::config::CLoadableOptions,
                               public TInsertionOptionsCommon
    {
        /** 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
    } insertionOptions;

    /** Returns a 3D object representing the map */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

    /** Returns two 3D objects representing the mean and variance maps */
    void getAs3DObject(
        mrpt::opengl::CSetOfObjects::Ptr& meanObj,
        mrpt::opengl::CSetOfObjects::Ptr& varObj) const override;

    bool insertIndividualPoint(
        const double x, const double y, const double z,
        const CHeightGridMap2D_Base::TPointInsertParams& params =
            CHeightGridMap2D_Base::TPointInsertParams()) override;
    double dem_get_resolution() const override;
    size_t dem_get_size_x() const override;
    size_t dem_get_size_y() const override;
    bool dem_get_z_by_cell(
        const size_t cx, const size_t cy, double& z_out) const override;
    bool dem_get_z(
        const double x, const double y, double& z_out) const override;
    void dem_update_map() override;

    /** Get the part of the options common to all CRandomFieldGridMap2D classes
     */
    CRandomFieldGridMap2D::TInsertionOptionsCommon* getCommonInsertOptions()
        override
    {
        return &insertionOptions;
    }

    // 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_MRF)
    /** Runs map estimation at start up (Default:true) */
    bool run_map_estimation_at_ctor{true};
    /** See CHeightGridMap2D_MRF::CHeightGridMap2D_MRF */
    double min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
    /** The kind of map representation (see
     * CHeightGridMap2D_MRF::CHeightGridMap2D_MRF) */
    mrpt::maps::CHeightGridMap2D_MRF::TMapRepresentation mapType{mrGMRF_SD};
    /** Observations insertion options */
    mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOpts;
    MAP_DEFINITION_END(CHeightGridMap2D_MRF)
};

}  // namespace mrpt::maps