MedianFillFilter.hpp

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/*
 * MedianFillFilter.hpp
 *
 *  Created on: September 7, 2020
 *      Author: Magnus Gärtner
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <filters/filter_base.hpp>

#include <Eigen/Core>
#include <string>

#include <grid_map_core/TypeDefs.hpp>
#include <opencv2/core.hpp>

namespace grid_map {

template <typename T>
class MedianFillFilter : public filters::FilterBase<T> {
 public:
  MedianFillFilter();

  virtual ~MedianFillFilter();

  virtual bool configure();

  virtual bool update(const T& mapIn, T& mapOut);

 protected:
  float getMedian(Eigen::Ref<const grid_map::Matrix> inputMap, const grid_map::Index& centerIndex, const size_t radiusInPixels,
                  const grid_map::Size bufferSize);

  Eigen::MatrixXf computeAndAddFillMask(const Eigen::MatrixXf& inputMap, T& mapOut);

  cv::Mat_<bool> cleanedMask(const cv::Mat_<bool>& inputMask);

  cv::Mat_<bool> fillHoles(const cv::Mat_<bool>& isValidMask, const size_t numDilationClosingIterations);

  void addCvMatAsLayer(T& gridMap, const cv::Mat& cvLayer, const std::string& layerName);

 private:
  double fillHoleRadius_;

  double existingValueRadius_;

  bool filterExistingValues_;

  std::string inputLayer_;

  std::string outputLayer_;

  std::string fillMaskLayer_ = "should_fill";

  std::string debugInfillMaskLayer_ = "debug_infill_mask";

  bool debug_;
};

}  // namespace grid_map