data_field.hpp

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/*
 * SPDX-FileCopyrightText: 2021-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021-2022 Nils Funk
 * SPDX-FileCopyrightText: 2021-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_DATA_FIELD_HPP
#define SE_DATA_FIELD_HPP
 
#include <se/map/utils/setup_util.hpp>
#include <se/map/utils/type_util.hpp>
 
namespace se {
 
enum class UncertaintyModel { Linear, Quadratic };
 
template<Field FieldT>
struct FieldData {
    struct Config {
    };
};
 
template<>
struct FieldData<Field::Occupancy> {
    field_t occupancy = 0;
    weight_t weight = 0;
    bool observed = false;
 
    static constexpr bool normals_along_gradient = false;
    static constexpr field_t surface_boundary = 0;
    static constexpr field_t min_occupancy = -100;
    static constexpr field_t max_occupancy = 100;
 
    bool valid() const;
 
    bool update(const field_t occupancy, const weight_t max_weight);
 
    struct Config {
        float k_sigma = 0.052f;
        float sigma_min_factor = 1.5f;
        float sigma_max_factor = 6.0f;
 
        float k_tau = 0.026f;
        float tau_min_factor = 6.0f;
        float tau_max_factor = 16.0f;
 
        field_t log_odd_min = -5.015;
        field_t log_odd_max = 5.015;
 
        weight_t max_weight = std::floor(std::fabs(min_occupancy / (0.97f * log_odd_min)));
 
        int fs_integr_scale = 1;
 
        UncertaintyModel uncertainty_model = UncertaintyModel::Linear;
 
        void readYaml(const std::string& yaml_file);
    };
};
 
std::ostream& operator<<(std::ostream& os, const FieldData<Field::Occupancy>::Config& c);
 
template<>
struct FieldData<Field::TSDF> {
    struct Config {
        field_t truncation_boundary_factor = 8;
        weight_t max_weight = 100;
 
        void readYaml(const std::string& yaml_file);
    };
 
    field_t tsdf = 1;
    weight_t weight = 0;
 
    static constexpr bool normals_along_gradient = true;
    static constexpr field_t surface_boundary = 0;
 
    bool valid() const;
 
    bool update(const field_t sdf, const field_t truncation_boundary, const weight_t max_weight);
};
 
std::ostream& operator<<(std::ostream& os, const FieldData<Field::TSDF>::Config& c);
 
} // namespace se
 
#include "impl/data_field_impl.hpp"
 
#endif // SE_DATA_FIELD_HPP