CObservationVisualLandmarks.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CObservationVisualLandmarks_H
#define CObservationVisualLandmarks_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/maps/CLandmarksMap.h>

namespace mrpt
{
namespace obs
{
/** Declares a class derived from "CObservation" that stores a Landmarks Map as
 * seen from a stereo camera at a given instant of time.
 *
 * \sa CLandmarksMap, CObservation
 * \ingroup mrpt_vision_grp
 */
class CObservationVisualLandmarks : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationVisualLandmarks)

   public:
        /** Constructor */
        CObservationVisualLandmarks();

        /** The 3D pose of the reference camera relative to robot coordinates. */
        mrpt::poses::CPose3D refCameraPose;
        /** The landmarks, with coordinates origin in the camera reference system.
         */
        mrpt::maps::CLandmarksMap landmarks;

        /** Implements the virtual method in charge of finding the likelihood
          *between this
          *   and another observation, probably only of the same derived class. The
          *operator
          *   may be asymmetric.
          *
          * \param anotherObs The other observation to compute likelihood with.
          * \param anotherObsPose If known, the belief about the robot pose when the
          *other observation was taken can be supplied here, or nullptr if it is
          *unknown.
          *
          * \return Returns a likelihood measurement, in the range [0,1].
          *     \exception std::exception On any error, as another observation being of
          *an invalid class.
          */
        float likelihoodWith(
                const mrpt::obs::CObservation* anotherObs,
                const mrpt::poses::CPosePDF* anotherObsPose = nullptr) const;

        // See base class docs
        void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
        {
                out_sensorPose = refCameraPose;
        }
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
        {
                refCameraPose = newSensorPose;
        }
        void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

}  // End of namespace
}  // End of namespace

#endif