MRPT  1.9.9
CEllipsoidInverseDepth3D.h
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
8  +------------------------------------------------------------------------+ */
9 #ifndef opengl_CEllipsoidInverseDepth3D_H
10 #define opengl_CEllipsoidInverseDepth3D_H
11
13
14 namespace mrpt::opengl
15 {
16 /** An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a
17  * (inv_range,yaw,pitch) variable.
18  * The parameter space of this ellipsoid comprises these variables (in this
19  * order):
20  * - inv_range: The inverse distance from the sensor to the feature.
21  * - yaw: Angle for the rotation around +Z ("azimuth").
22  * - pitch: Angle for the rotation around +Y ("elevation"). Positive means
23  * pointing below the XY plane.
24  *
25  * This parameterization is based on the paper:
26  * - Civera, J. and Davison, A.J. and Montiel, J., "Inverse depth
27  * parametrization for monocular SLAM", T-RO, 2008.
28  *
29  * This class expects you to provide a mean vector of length 3 and a 3x3
30  * covariance matrix, set with \a setCovMatrixAndMean().
31  *
33  * CGeneralizedEllipsoidTemplate::setQuantiles() for learning
34  * the mathematical details about setting the desired confidence interval.
35  *
36  * <div align="center">
37  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
38  * border-style: solid;">
39  * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth3D </td> <td> \image html
40  * preview_CEllipsoidInverseDepth3D.png </td> </tr>
41  * </table>
42  * </div>
43  *
44  *
45  * \ingroup mrpt_opengl_grp
46  */
48 {
51
52  public:
53  /** The maximum range to be used as a correction when a point of the
54  * ellipsoid falls in the negative ranges (default: 1e6) */
55  void setUnderflowMaxRange(const double maxRange)
56  {
57  m_underflowMaxRange = maxRange;
58  }
59  double getUnderflowMaxRange() const { return m_underflowMaxRange; }
60  protected:
61  /** To be implemented by derived classes: maps, using some arbitrary space
62  * transformation, a list of points
63  * defining an ellipsoid in parameter space into their corresponding
64  * points in 2D/3D space.
65  */
66  virtual void transformFromParameterSpace(
67  const std::vector<BASE::array_parameter_t>& in_pts,
68  std::vector<BASE::array_point_t>& out_pts) const override;
69
70  private:
72
73  public:
74  /** Constructor
75  */
77  /** Private, virtual destructor: only can be deleted from smart pointers */
79 };
80
81 }
82 #endif
83
84
virtual void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const override
To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable.
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...
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
virtual ~CEllipsoidInverseDepth3D()
Private, virtual destructor: only can be deleted from smart pointers.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
The namespace for 3D scene representation and rendering.
Definition: CGlCanvasBase.h:15

 Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 7d5e6d718 Fri Aug 24 01:51:28 2018 +0200 at lun nov 2 08:35:50 CET 2020