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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) 2005-2018, 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 
14 namespace mrpt
15 {
16 namespace opengl
17 {
18 /** An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a
19  * (inv_range,yaw,pitch) variable.
20  * The parameter space of this ellipsoid comprises these variables (in this
21  * order):
22  * - inv_range: The inverse distance from the sensor to the feature.
23  * - yaw: Angle for the rotation around +Z ("azimuth").
24  * - pitch: Angle for the rotation around +Y ("elevation"). Positive means
25  * 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
29  * parametrization for monocular SLAM", T-RO, 2008.
30  *
31  * This class expects you to provide a mean vector of length 3 and a 3x3
32  * covariance matrix, set with \a setCovMatrixAndMean().
33  *
34  * Please read the documentation of
35  * CGeneralizedEllipsoidTemplate::setQuantiles() for learning
36  * the mathematical details about setting the desired confidence interval.
37  *
38  * <div align="center">
39  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
40  * border-style: solid;">
41  * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth3D </td> <td> \image html
42  * preview_CEllipsoidInverseDepth3D.png </td> </tr>
43  * </table>
44  * </div>
45  *
46  *
47  * \ingroup mrpt_opengl_grp
48  */
50 {
53 
54  public:
55  /** The maximum range to be used as a correction when a point of the
56  * ellipsoid falls in the negative ranges (default: 1e6) */
57  void setUnderflowMaxRange(const double maxRange)
58  {
59  m_underflowMaxRange = maxRange;
60  }
61  double getUnderflowMaxRange() const { return m_underflowMaxRange; }
62  protected:
63  /** To be implemented by derived classes: maps, using some arbitrary space
64  * transformation, a list of points
65  * defining an ellipsoid in parameter space into their corresponding
66  * points in 2D/3D space.
67  */
68  virtual void transformFromParameterSpace(
69  const std::vector<BASE::array_parameter_t>& in_pts,
70  std::vector<BASE::array_point_t>& out_pts) const override;
71 
72  private:
74 
75  public:
76  /** Constructor
77  */
79  /** Private, virtual destructor: only can be deleted from smart pointers */
81 };
82 
83 } // end namespace
84 
85 } // End of namespace
86 
87 #endif
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...



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