class mrpt::maps::CReflectivityGridMap2D

Overview

A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor).

Important implemented features are:

Insertion of mrpt::obs::CObservationReflectivity observations.
Probability estimation of observations. See base class.
Rendering as 3D object: a 2D textured plane.
Automatic resizing of the map limits when inserting observations close to the border.

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.

#include <mrpt/maps/CReflectivityGridMap2D.h>

class CReflectivityGridMap2D:
    public mrpt::maps::CMetricMap,
    public mrpt::containers::CDynamicGrid,
    public mrpt::maps::CLogOddsGridMap2D,
    public mrpt::config::OptionsCapable
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CReflectivityGridMap2D> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CReflectivityGridMap2D> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CReflectivityGridMap2D> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CReflectivityGridMap2D> ConstUniquePtr;

    // structs

    struct TInsertionOptions;
    struct TMapDefinition;
    struct TMapDefinitionBase;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CReflectivityGridMap2D";
    static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CReflectivityGridMap2D,reflectivityMap" ,& mrpt::maps::CReflectivityGridMap2D ::MapDefinition,& mrpt::maps::CReflectivityGridMap2D ::internal_CreateFromMapDefinition);
    mrpt::maps::CReflectivityGridMap2D::TInsertionOptions insertionOptions;

    // construction

    CReflectivityGridMap2D(
        double x_min = -2,
        double x_max = 2,
        double y_min = -2,
        double y_max = 2,
        double resolution = 0.1
        );

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition();
    static std::shared_ptr<CReflectivityGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    static std::shared_ptr<mrpt::maps::CMetricMap> internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    void clear();
    virtual float cell2float(const int8_t&) const;
    virtual bool isEmpty() const;
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName();
    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const;
    void getAsImage(mrpt::img::CImage& img, bool verticalFlip = false, bool forceRGB = false) const;
    virtual std::string asString() const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CMetricMap> Ptr;
    typedef std::shared_ptr<const CMetricMap> ConstPtr;
    typedef std::vector<T> grid_data_t;
    typedef typename grid_data_t::iterator iterator;
    typedef typename grid_data_t::const_iterator const_iterator;
    typedef TCELL cell_t;
    typedef detail::logoddscell_traits<TCELL> traits_t;

    // fields

    TMapGenericParams genericMapParams;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual std::string asString() const = 0;
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;
    std::shared_ptr<mrpt::viz::CSetOfObjects> getVisualization() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void clear();
    virtual bool isEmpty() const = 0;
    virtual auto boundingBox() const;
    void loadFromSimpleMap(const mrpt::maps::CSimpleMap& Map);
    bool insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    bool insertObservationPtr(const mrpt::obs::CObservation::Ptr& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    double computeObservationLikelihood(const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom) const;
    virtual bool canComputeObservationLikelihood(const mrpt::obs::CObservation& obs) const;
    double computeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf, const mrpt::poses::CPose3D& takenFrom);
    bool canComputeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf) const;

    virtual void determineMatching2D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose2D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual void determineMatching3D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual void auxParticleFilterCleanUp();
    virtual float squareDistanceToClosestCorrespondence(float x0, float y0) const;
    const grid_data_t& data() const;
    iterator begin();
    iterator end();
    const_iterator begin() const;
    const_iterator end() const;

    void setSize(
        const double x_min,
        const double x_max,
        const double y_min,
        const double y_max,
        const double resolution,
        const T* fill_value = nullptr
        );

    void clear();
    void fill(const T& value);

    virtual void resize(
        double new_x_min,
        double new_x_max,
        double new_y_min,
        double new_y_max,
        const T& defaultValueNewCells,
        double additionalMarginMeters = 2.0
        );

    T* cellByPos(double x, double y);
    const T* cellByPos(double x, double y) const;
    T* cellByIndex(unsigned int cx, unsigned int cy);
    const T* cellByIndex(unsigned int cx, unsigned int cy) const;
    size_t getSizeX() const;
    size_t getSizeY() const;
    double getXMin() const;
    double getXMax() const;
    double getYMin() const;
    double getYMax() const;
    double getResolution() const;
    int x2idx(double x) const;
    int y2idx(double y) const;
    int xy2idx(double x, double y) const;
    void idx2cxcy(int idx, int& cx, int& cy) const;
    double idx2x(int cx) const;
    double idx2y(int cy) const;

    template <class MAT>
    void getAsMatrix(MAT& m) const;

    virtual float cell2float(const T&) const;
    bool saveToTextFile(const std::string& fileName) const;

    void updateCell_fast_occupied(
        const unsigned x,
        const unsigned y,
        const cell_t logodd_obs,
        const cell_t thres,
        cell_t* mapArray,
        const unsigned _size_x
        );

    void updateCell_fast_occupied(cell_t* theCell, const cell_t logodd_obs, const cell_t thres);

    static void updateCell_fast_free(
        const unsigned x,
        const unsigned y,
        const cell_t logodd_obs,
        const cell_t thres,
        cell_t* mapArray,
        const unsigned _size_x
        );

    static void updateCell_fast_free(cell_t* theCell, const cell_t logodd_obs, const cell_t thres);
    OptionsCapable& operator = (const OptionsCapable&);
    OptionsCapable& operator = (OptionsCapable&&);
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName() = 0;
    virtual bool trySetCreationOptions(] const mrpt::config::CConfigFileBase& cfg, ] const std::string& section);

Typedefs

typedef std::shared_ptr<mrpt::maps ::CReflectivityGridMap2D> Ptr

A type for the associated smart pointer.

Fields

static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CReflectivityGridMap2D,reflectivityMap" ,& mrpt::maps::CReflectivityGridMap2D ::MapDefinition,& mrpt::maps::CReflectivityGridMap2D ::internal_CreateFromMapDefinition)

ID used to initialize class registration (just ignore it)

Construction

CReflectivityGridMap2D(
    double x_min = -2,
    double x_max = 2,
    double y_min = -2,
    double y_max = 2,
    double resolution = 0.1
    )

Constructor

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

Returns a deep copy (clone) of the object, indepently of its class.

static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition()

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

static std::shared_ptr<CReflectivityGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

void clear()

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

virtual float cell2float(const int8_t&) const

The user must implement this in order to provide “saveToTextFile” a way to convert each cell into a numeric value.

virtual bool isEmpty() const

Returns true if the map is empty/no observation has been inserted.

virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName()

Maps an options-group name (e.g.

“insertionOptions”) to a pointer to the corresponding, live CLoadableOptions member. Pointers remain valid as long as this is alive, and point directly to the actual option members (no copies), so writes through them (e.g. via loadFromConfigFile()) take effect immediately.

Implementations should list every CLoadableOptions member they define, INCLUDING “creationOptions” if present (so it can be discovered/exported generically); however, callers must use trySetCreationOptions(), not a direct write through this pointer, to safely modify creation options.

virtual float compute3DMatchingRatio(
    const mrpt::maps::CMetricMap* otherMap,
    const mrpt::poses::CPose3D& otherMapPose,
    const TMatchingRatioParams& params
    ) const

See docs in base class: in this class this always returns 0.

virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const

This virtual method saves the map to a file “filNamePrefix”+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const

Inserts 3D primitives representing this object into the provided container.

Note that the former contents of o are not cleared.