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>

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

        /** 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 TMatchingExtraResults
{
        /** The ratio [0,1] of points in otherMap with at least one correspondence.
         */
        float correspondencesRatio;
        /** The sum of all matched points squared distances.If undesired, set to
         * nullptr, as default. */
        float sumSqrDist;

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

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

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

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

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

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