Go to the documentation of this file.
84 std::vector<cellType>
map;
118 template <
typename T>
119 static T
H(
const T p)
121 if (p == 0 || p == 1)
124 return -p * std::log(p);
231 void fill(
float default_value = 0.5f);
235 float min_x = -20.0f,
float max_x = 20.0f,
float min_y = -20.0f,
236 float max_y = 20.0f,
float resolution = 0.05f);
249 float default_value = 0.5f);
263 float new_x_min,
float new_x_max,
float new_y_min,
float new_y_max,
264 float new_cells_default_value = 0.5f,
265 bool additionalMargin =
true) noexcept;
307 inline float idx2x(
const size_t cx)
const
311 inline float idx2y(
const size_t cy)
const
318 inline int x2idx(
float x,
float xmin)
const
320 return static_cast<int>((x - xmin) /
resolution);
322 inline int y2idx(
float y,
float ymin)
const
324 return static_cast<int>((y - ymin) /
resolution);
346 inline void setCell(
int x,
int y,
float value)
349 if (
static_cast<unsigned int>(x) >=
size_x ||
350 static_cast<unsigned int>(y) >=
size_y)
360 if (
static_cast<unsigned int>(x) >=
size_x ||
361 static_cast<unsigned int>(y) >=
size_y)
371 if (cy < 0 ||
static_cast<unsigned int>(cy) >=
size_y)
381 if (cy < 0 ||
static_cast<unsigned int>(cy) >=
size_y)
388 inline void setPos(
float x,
float y,
float value)
394 inline float getPos(
float x,
float y)
const
401 inline bool isStaticPos(
float x,
float y,
float threshold = 0.7f)
const
407 return (
getCell(cx, cy) <= threshold);
484 const std::string& section)
override;
486 std::ostream&
out)
const override;
566 const std::string& section)
override;
568 std::ostream&
out)
const override;
668 float threshold,
float robot_size,
int x1 = 0,
int x2 = 0,
int y1 = 0,
742 int cx,
int cy,
int* basis_x,
int* basis_y,
int* nBasis,
743 bool GetContourPoint =
false)
const;
790 size_t N = 361,
float noiseStd = 0,
unsigned int decimation = 1,
817 float rangeNoiseStd = 0.f,
824 const double x,
const double y,
const double angle_direction,
825 float& out_range,
bool& out_valid,
const double max_range_meters,
826 const float threshold_free = 0.4f,
const double noiseStd = .0,
827 const double angleNoiseStd = .0)
const;
975 template <
class CLANDMARKSMAP>
977 const std::string& file,
const CLANDMARKSMAP* landmarks,
978 bool addTextLabels =
false,
985 const bool topleft = img.isOriginTopLeft();
986 for (
unsigned int i = 0; i < landmarks->landmarks.size(); i++)
988 const typename CLANDMARKSMAP::landmark_type* lm =
989 landmarks->landmarks.get(i);
990 int px =
x2idx(lm->pose_mean.x);
991 int py = topleft ?
size_y - 1 -
y2idx(lm->pose_mean.y)
992 :
y2idx(lm->pose_mean.y);
993 img.rectangle(px - 7, (py + 7), px + 7, (py - 7), marks_color);
994 img.rectangle(px - 6, (py + 6), px + 6, (py - 6), marks_color);
999 return img.saveToFile(file.c_str());
1012 bool forceRGB =
false,
bool tricolor =
false)
const;
1024 bool forceRGB =
false)
const;
1035 const float occup_threshold = 0.5f)
const;
1041 bool isEmpty()
const override;
1057 std::numeric_limits<double>::max(),
1058 std::numeric_limits<double>::max()));
1066 std::numeric_limits<double>::max(),
1067 std::numeric_limits<double>::max()));
1094 const std::string& filNamePrefix)
const override;
1151 float min_x{-10.0f}, max_x{10.0f}, min_y{-10.0f}, max_y{10.0f},
size_t getSizeY() const
Returns the vertical size of grid map in cells count.
int y2idx(double y) const
double computeLikelihoodField_II(const CPointsMap *pm, const mrpt::poses::CPose2D *relativePose=nullptr)
Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
bool LF_alternateAverageMethod
[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole ...
int direction2idx(int dx, int dy)
Returns the index [0,7] of the given movement, or -1 if invalid one.
float LF_maxRange
[LikelihoodField] The max.
std::vector< int > x_basis1
Their two first basis points coordinates.
void simulateScanRay(const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const double max_range_meters, const float threshold_free=0.4f, const double noiseStd=.0, const double angleNoiseStd=.0) const
Simulate just one "ray" in the grid map.
void determineMatching2D(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const override
See the base class for more details: In this class it is implemented as correspondences of the passed...
float maxDistanceInsertion
The largest distance at which cells will be updated (Default 15 meters)
TLaserSimulUncertaintyResult()
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
#define MRPT_ENUM_TYPE_END()
std::pair< double, mrpt::math::TPoint2D > TPairLikelihoodIndex
Auxiliary private class.
bool enabled
If set to false (default), this struct is not used.
bool LF_useSquareDist
[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2)
An internal structure for storing data related to counting the new information apported by some obser...
std::shared_ptr< mrpt::opengl ::CSetOfObjects > Ptr
float LF_stdHit
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0....
A 2D range scan plus an uncertainty model for each range.
void setCell_nocheck(int x, int y, float value)
Change the contents [0,1] of a cell, given its index.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
TLikelihoodMethod likelihoodMethod
The selected method to compute an observation likelihood.
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncert...
float maxFreenessUpdateCertainty
A value in the range [0.5,1] for updating a free cell.
static double RAYTRACE_STEP_SIZE_IN_CELL_UNITS
(Default:1.0) Can be set to <1 if a more fine raytracing is needed in sonarSimulator() and laserScanS...
OccGridCellTraits::cellType cellType
The type of the map cells:
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
cellType * getRow(int cy)
Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
bool useMapAltitude
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
bool isStaticPos(float x, float y, float threshold=0.7f) const
Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.
uint32_t size_x
The size of the grid in cells.
TLaserSimulUncertaintyMethod method
(Default: sumMonteCarlo) Select the method to do the uncertainty propagation
double mean_I
The target variable for mean information, defined as information per cell: mean_I(map) = I(map) / (ce...
void setVoroniClearance(int cx, int cy, uint16_t dist)
Used to set the clearance of a cell, while building the Voronoi diagram.
bool loadFromBitmap(const mrpt::img::CImage &img, float resolution, const mrpt::math::TPoint2D &origin=mrpt::math::TPoint2D(std::numeric_limits< double >::max(), std::numeric_limits< double >::max()))
Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
float voroni_free_threshold
The free-cells threshold used to compute the Voronoi diagram.
double computeObservationLikelihood_ConsensusOWA(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood".
void getAsPointCloud(mrpt::maps::CSimplePointsMap &pm, const float occup_threshold=0.5f) const
Get a point cloud with all (border) occupied cells as points.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini" file.
double computeObservationLikelihood_rayTracing(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood".
static cellType p2l(const float p)
Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the val...
int x2idx(float x, float xmin) const
Transform a coordinate value into a cell index, using a diferent "x_min" value.
mrpt::poses::CPose3D sensorPose
(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan.
float computePathCost(float x1, float y1, float x2, float y2) const
Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.
std::vector< int > y_basis2
void laserScanSimulatorWithUncertainty(const TLaserSimulUncertaintyParams &in_params, TLaserSimulUncertaintyResult &out_results) const
Like laserScanSimulatorWithUncertainty() (see it for a discussion of most parameters) but taking into...
void resizeGrid(float new_x_min, float new_x_max, float new_y_min, float new_y_max, float new_cells_default_value=0.5f, bool additionalMargin=true) noexcept
Change the size of gridmap, maintaining previous contents.
Parameters for CMetricMap::compute3DMatchingRatio()
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
float aperture
(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180...
int direccion_vecino_x[8]
Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.
double computeObservationLikelihood_MI(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood".
@ sumUnscented
Performs an unscented transform.
mrpt::vision::TStereoCalibResults out
int x2idx(double x) const
void getAsImage(mrpt::img::CImage &img, bool verticalFlip=false, bool forceRGB=false, bool tricolor=false) const
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if ...
unsigned char GetNeighborhood(int cx, int cy) const
Returns a byte with the occupancy of the 8 sorrounding cells.
void internal_clear() override
Clear the map: It set all cells to their default occupancy value (0.5), without changing the resoluti...
void setPos(float x, float y, float value)
Change the contents [0,1] of a cell, given its coordinates.
void setBasisCell(int x, int y, uint8_t value)
Change a cell in the "basis" maps.Used for Voronoi calculation.
float rangeNoiseStd
(Default: 0) The standard deviation of measurement noise.
float horizontalTolerance
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal,...
mrpt::maps::COccupancyGridMap2D::TInsertionOptions insertionOpts
Observations insertion options.
Some members of this struct will contain intermediate or output data after calling "computeObservatio...
static float l2p(const cellType l)
Scales an integer representation of the log-odd into a real valued probability in [0,...
size_t MC_samples
[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10)
#define MRPT_ENUM_TYPE_BEGIN(_ENUM_TYPE_WITH_NS)
bool operator<(const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2)
const mrpt::containers::CDynamicGrid< uint8_t > & getBasisMap() const
Return the auxiliary "basis" map built while building the Voronoi diagram.
int direccion_vecino_y[8]
static std::vector< float > entropyTable
Internally used to speed-up entropy calculation.
double computeObservationLikelihood_likelihoodField_Thrun(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood".
float getXMax() const
Returns the "x" coordinate of right side of grid map.
static uint8_t l2p_255(const cellType l)
Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)...
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini" file.
bool m_is_empty
True upon construction; used by isEmpty()
float maxOccupancyUpdateCertainty
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0....
float getCell(int x, int y) const
Read the real valued [0,1] contents of a cell, given its index.
float idx2y(const size_t cy) const
unsigned int getSizeY() const
Returns the vertical size of grid map in cells count.
double UT_alpha
[sumUnscented] UT parameters.
Output params for laserScanSimulatorWithUncertainty()
@ lmLikelihoodField_Thrun
float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const override
See docs in base class: in this class this always returns 0.
float getYMax() const
Returns the "y" coordinate of bottom side of grid map.
int computeClearance(int cx, int cy, int *basis_x, int *basis_y, int *nBasis, bool GetContourPoint=false) const
Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points....
A generic provider of log-odds grid-map maintainance functions.
One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold t...
void computeEntropy(TEntropyInfo &info) const
Computes the entropy and related values of this grid map.
double computeObservationLikelihood_likelihoodField_II(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood".
double computeLikelihoodField_Thrun(const CPointsMap *pm, const mrpt::poses::CPose2D *relativePose=nullptr)
Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
Declares a virtual base class for all metric maps storage classes.
void fill(float default_value=0.5f)
Fills all the cells with a default value.
bool internal_insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Insert the observation information into this map.
double I_change
The cummulative change in Information: This is updated only from the "updateCell" method.
size_t getSizeX() const
Returns the horizontal size of grid map in cells count.
void setCell(int x, int y, float value)
Change the contents [0,1] of a cell, given its index.
float getPos(float x, float y) const
Read the real valued [0,1] contents of a cell, given its coordinates.
void laserScanSimulator(mrpt::obs::CObservation2DRangeScan &inout_Scan, const mrpt::poses::CPose2D &robotPose, float threshold=0.6f, size_t N=361, float noiseStd=0, unsigned int decimation=1, float angleNoiseStd=mrpt::DEG2RAD(.0)) const
Simulates a laser range scan into the current grid map.
float x_min
The limits of the grid in "units" (meters)
bool rayTracing_useDistanceFilter
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the si...
std::vector< TPairLikelihoodIndex > OWA_pairList
[OWA method] This will contain the ascending-ordered list of pairs:(likelihood values,...
float consensus_pow
[Consensus] The power factor for the likelihood (default=5)
void setSize(float x_min, float x_max, float y_min, float y_max, float resolution, float default_value=0.5f)
Change the size of gridmap, erasing all its previous contents.
#define ASSERT_BELOWEQ_(__A, __B)
double H
The target variable for absolute entropy, computed as:
static constexpr cellType OCCGRID_CELLTYPE_MIN
Discrete to float conversion factors: The min/max values of the integer cell type,...
std::vector< int > x_basis2
std::vector< float > OWA_weights
[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one...
float LF_zHit
[LikelihoodField]
float mapAltitude
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
unsigned int decimation
(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,...
OccGridCellTraits::cellTypeUnsigned cellTypeUnsigned
This class allows loading and storing values and vectors of different types from a configuration text...
float maxFreenessInvalidRanges
Like maxFreenessUpdateCertainty, but for invalid ranges (no echo).
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
This class stores any customizable set of metric maps.
float LF_maxCorrsDistance
[LikelihoodField] The max.
bool saveAsBitmapFileWithLandmarks(const std::string &file, const CLANDMARKSMAP *landmarks, bool addTextLabels=false, const mrpt::img::TColor &marks_color=mrpt::img::TColor(0, 0, 255)) const
Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell,...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
uint16_t cellTypeUnsigned
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...
void findCriticalPoints(float filter_distance)
Builds a list with the critical points from Voronoi diagram, which must must be built before calling ...
uint32_t LF_decimation
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation
int x2idx(float x) const
Transform a coordinate value into a cell index.
bool considerInvalidRangesAsFreeSpace
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOcc...
unsigned long effectiveMappedCells
The mapped area in cells.
int y2idx(float y, float ymin) const
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
double I
The target variable for absolute "information", defining I(x) = 1 - H(x)
COccupancyGridMap2D(float min_x=-20.0f, float max_x=20.0f, float min_y=-20.0f, float max_y=20.0f, float resolution=0.05f)
Constructor.
void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const override
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >,...
bool enableLikelihoodCache
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).
double getArea() const
Returns the area of the gridmap, in square meters.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
float getYMin() const
Returns the "y" coordinate of top side of grid map.
@ sumMonteCarlo
Montecarlo-based estimation.
mrpt::poses::CPosePDFGaussian robotPose
The robot pose Gaussian, in map coordinates.
int cellsUpdated
The cummulative updated cells count: This is updated only from the "updateCell" method.
double computeObservationLikelihood_CellsDifference(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood"
uint16_t getVoroniClearance(int cx, int cy) const
Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVorono...
bool wideningBeamsWithDistance
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays a...
return_t square(const num_t x)
Inline function for the square of a number.
double mean_H
The target variable for mean entropy, defined as entropy per cell: mean_H(map) = H(map) / (cells)
constexpr double DEG2RAD(const double x)
Degrees to radians
mrpt::vision::TStereoCalibParams params
float MI_ratio_max_distance
[MI] The ratio for the max.
int32_t consensus_takeEachRange
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)
static constexpr cellType OCCGRID_CELLTYPE_MAX
const std::vector< cellType > & getRawMap() const
Read-only access to the raw cell contents (cells are in log-odd units)
std::vector< cellType > map
Store of cell occupancy values.
Parameters for the determination of matchings between point clouds, etc.
const cellType * getRow(int cy) const
Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
TUpdateCellsInfoChangeOnly()=default
A class for storing images as grayscale or RGB bitmaps.
struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList CriticalPointsList
class mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput likelihoodOutputs
Used for returning entropy related information.
std::vector< int > clearance
The clearance of critical points, in 1/100 of cells.
Declares a class derived from "CObservation" that encapsules a single range measurement,...
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
std::vector< int > y_basis1
uint16_t decimation
Specify the decimation of the range scan (default=1 : take all the range values!)
float CFD_features_median_size
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled...
static T H(const T p)
Entropy computation internal function:
#define ASSERT_ABOVEEQ_(__A, __B)
float resolution
Cell size, i.e.
TInsertionOptions insertionOptions
With this struct options are provided to the observation insertion process.
const mrpt::containers::CDynamicGrid< uint16_t > & getVoronoiDiagram() const
Return the Voronoi diagram; each cell contains the distance to its closer obstacle,...
TLikelihoodOptions()
Initilization of default parameters.
double effectiveMappedArea
The target variable for the area of cells with information, i.e.
TLikelihoodMethod
The type for selecting a likelihood computation method.
static CLogOddsGridMapLUT< cellType > & get_logodd_lut()
Lookup tables for log-odds.
static constexpr TColor black()
bool rightToLeft
(Default: true) The scanning direction: true=counterclockwise; false=clockwise
bool saveAsBitmapFile(const std::string &file) const
Saves the gridmap as a graphical file (BMP,PNG,...).
float getResolution() const
Returns the resolution of the grid map.
float CFD_features_gaussian_size
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disab...
T * cellByIndex(unsigned int cx, unsigned int cy)
Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the...
The structure used to store the set of Voronoi diagram critical points.
void freeMap()
Frees the dynamic memory buffers of map.
float angleNoiseStd
(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured...
double computeObservationLikelihood_Consensus(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
One of the methods that can be selected for implementing "computeObservationLikelihood" (This method ...
#define MAP_DEFINITION_END(_CLASS_NAME_)
float maxRange
(Default: 80) The maximum range allowed by the device, in meters (e.g.
float getXMin() const
Returns the "x" coordinate of left side of grid map.
mrpt::containers::CDynamicGrid< uint8_t > m_basis_map
Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.
bool isStaticCell(int cx, int cy, float threshold=0.7f) const
double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
bool isEmpty() const override
Returns true upon map construction or after calling clear(), the return changes to false upon success...
float idx2x(const size_t cx) const
Transform a cell index into a coordinate value.
With this struct options are provided to the observation insertion process.
void setRawCell(unsigned int cellIndex, cellType b)
Changes a cell by its absolute index (Do not use it normally)
bool m_likelihoodCacheOutDated
float getCell_nocheck(int x, int y) const
Read the real valued [0,1] contents of a cell, given its index.
TLaserSimulUncertaintyMethod
Methods for TLaserSimulUncertaintyParams in laserScanSimulatorWithUncertainty()
mrpt::containers::CDynamicGrid< uint16_t > m_voronoi_diagram
Used to store the Voronoi diagram.
int32_t rayTracing_decimation
[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to...
Declares a class that represents any robot's observation.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
MRPT_FILL_ENUM_MEMBER(mrpt::maps::COccupancyGridMap2D, lmMeanInformation)
A class for storing an occupancy grid map.
float rayTracing_stdHit
[rayTracing] The laser range sigma.
void OnPostSuccesfulInsertObs(const mrpt::obs::CObservation &) override
See base class.
static bool saveAsBitmapTwoMapsWithCorrespondences(const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const mrpt::tfest::TMatchingPairList &corrs)
Saves a composite image with two gridmaps and lines representing a set of correspondences between the...
void subSample(int downRatio)
Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.
mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions likelihoodOptions
With this struct options are provided to the observation likelihood computation process.
mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions likelihoodOpts
Probabilistic observation likelihood options.
std::vector< int > x
The coordinates of critical point.
unsigned int getSizeX() const
Returns the horizontal size of grid map in cells count.
void updateCell(int x, int y, float v)
Performs the Bayesian fusion of a new observation of a cell.
uint32_t MI_skip_rays
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI
bool loadFromBitmapFile(const std::string &file, float resolution, const mrpt::math::TPoint2D &origin=mrpt::math::TPoint2D(std::numeric_limits< double >::max(), std::numeric_limits< double >::max()))
Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
std::vector< double > OWA_individualLikValues
[OWA method] This will contain the ascending-ordered list of likelihood values for individual range m...
int laserRaysSkip
In this mode, some laser rays can be skips to speep-up.
void sonarSimulator(mrpt::obs::CObservationRange &inout_observation, const mrpt::poses::CPose2D &robotPose, float threshold=0.5f, float rangeNoiseStd=0.f, float angleNoiseStd=mrpt::DEG2RAD(0.f)) const
Simulates the observations of a sonar rig into the current grid map.
bool internal_canComputeObservationLikelihood(const mrpt::obs::CObservation &obs) const override
Returns true if this map is able to compute a sensible likelihood function for this observation (i....
void getAsImageFiltered(img::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if ...
static bool saveAsEMFTwoMapsWithCorrespondences(const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const mrpt::tfest::TMatchingPairList &corrs)
Saves a composite image with two gridmaps and numbers for the correspondences between them.
struct mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly updateInfoChangeOnly
void buildVoronoiDiagram(float threshold, float robot_size, int x1=0, int x2=0, int y1=0, int y2=0)
Build the Voronoi diagram of the grid map.
void copyMapContentFrom(const COccupancyGridMap2D &otherMap)
copy the gridmap contents, but not all the options, from another map instance
Input params for laserScanSimulatorWithUncertainty()
TLaserSimulUncertaintyParams()
std::vector< double > precomputedLikelihood
Auxiliary variables to speed up the computation of observation likelihood values for LF method among ...
float threshold
(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied
TInsertionOptions()=default
std::string std::string format(std::string_view fmt, ARGS &&... args)
mrpt::obs::CObservation2DRangeScanWithUncertainty scanWithUncert
The scan + its uncertainty.
unsigned char getBasisCell(int x, int y) const
Reads a cell in the "basis" maps.Used for Voronoi calculation.
float MI_exponent
[MI] The exponent in the MI likelihood computation.
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