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CEllipsoidInverseDepth3D.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef opengl_CEllipsoidInverseDepth3D_H
10#define opengl_CEllipsoidInverseDepth3D_H
11
13
14namespace mrpt
15{
16 namespace opengl
17 {
18 // This must be added to any CSerializable derived class:
20
21 /** An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable.
22 * The parameter space of this ellipsoid comprises these variables (in this order):
23 * - inv_range: The inverse distance from the sensor to the feature.
24 * - yaw: Angle for the rotation around +Z ("azimuth").
25 * - pitch: Angle for the rotation around +Y ("elevation"). Positive means pointing below the XY plane.
26 *
27 * This parameterization is based on the paper:
28 * - Civera, J. and Davison, A.J. and Montiel, J., "Inverse depth parametrization for monocular SLAM", T-RO, 2008.
29 *
30 * This class expects you to provide a mean vector of length 3 and a 3x3 covariance matrix, set with \a setCovMatrixAndMean().
31 *
32 * Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning
33 * the mathematical details about setting the desired confidence interval.
34 *
35 * <div align="center">
36 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
37 * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth3D </td> <td> \image html preview_CEllipsoidInverseDepth3D.png </td> </tr>
38 * </table>
39 * </div>
40 *
41 *
42 * \ingroup mrpt_opengl_grp
43 */
45 {
48
49 public:
50 /** The maximum range to be used as a correction when a point of the ellipsoid falls in the negative ranges (default: 1e6) */
51 void setUnderflowMaxRange(const double maxRange) { m_underflowMaxRange = maxRange; }
52 double getUnderflowMaxRange() const { return m_underflowMaxRange; }
53
54 protected:
55 /** To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points
56 * defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
57 */
59 const std::vector<BASE::array_parameter_t> &in_pts,
60 std::vector<BASE::array_point_t> & out_pts) const MRPT_OVERRIDE;
61 private:
63
64 /** Constructor
65 */
66 CEllipsoidInverseDepth3D() : m_underflowMaxRange(1e6)
67 {
68 }
69 /** Private, virtual destructor: only can be deleted from smart pointers */
71 };
72 DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CEllipsoidInverseDepth3D, CRenderizableDisplayList, OPENGL_IMPEXP )
73
74 } // end namespace
75
76} // End of namespace
77
78#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,...
virtual void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const MRPT_OVERRIDE
To be implemented by derived classes: maps, using some arbitrary space transformation,...
virtual ~CEllipsoidInverseDepth3D()
Private, virtual destructor: only can be deleted from smart pointers.
void setUnderflowMaxRange(const double maxRange)
The maximum range to be used as a correction when a point of the ellipsoid falls in the negative rang...
CGeneralizedEllipsoidTemplate< 3 > BASE
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
A renderizable object suitable for rendering with OpenGL's display lists.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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