NormalVectorsFilter.hpp

Go to the documentation of this file.

/*
 * NormalVectorsFilter.hpp
 *
 *  Created on: May 05, 2015
 *      Author: Peter Fankhauser, Martin Wermelinger
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <filters/filter_base.hpp>
#include <grid_map_core/grid_map_core.hpp>

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

namespace grid_map {

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

  ~NormalVectorsFilter() override;

  bool configure() override;

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

 private:
  void computeWithAreaSerial(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix);

  void computeWithAreaParallel(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix);

  void areaSingleNormalComputation(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix,
                                          const grid_map::Index& index);
  void computeWithRasterSerial(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix);

  void computeWithRasterParallel(GridMap& map, const std::string& inputLayer, const std::string& outputLayersPrefix);

  void rasterSingleNormalComputation(GridMap& map, const std::string& outputLayersPrefix, const grid_map::Matrix& dataMap,
                                            const grid_map::Index& index);

  enum class Method { AreaSerial, AreaParallel, RasterSerial, RasterParallel };

  Method method_;

  double estimationRadius_;

  bool parallelizationEnabled_;

  int threadCount_;

  Eigen::Vector3d normalVectorPositiveAxis_;

  std::string inputLayer_;

  std::string outputLayersPrefix_;

  double gridMapResolution_;
};

}  // namespace grid_map