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CObservationVisualLandmarks.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 CObservationVisualLandmarks_H
10 #define CObservationVisualLandmarks_H
11 
13 #include <mrpt/obs/CObservation.h>
14 #include <mrpt/poses/CPose3D.h>
15 #include <mrpt/poses/CPose2D.h>
17 
18 namespace mrpt
19 {
20 namespace obs
21 {
22 /** Declares a class derived from "CObservation" that stores a Landmarks Map as
23  * seen from a stereo camera at a given instant of time.
24  *
25  * \sa CLandmarksMap, CObservation
26  * \ingroup mrpt_vision_grp
27  */
29 {
31 
32  public:
33  /** Constructor */
35 
36  /** The 3D pose of the reference camera relative to robot coordinates. */
38  /** The landmarks, with coordinates origin in the camera reference system.
39  */
41 
42  /** Implements the virtual method in charge of finding the likelihood
43  *between this
44  * and another observation, probably only of the same derived class. The
45  *operator
46  * may be asymmetric.
47  *
48  * \param anotherObs The other observation to compute likelihood with.
49  * \param anotherObsPose If known, the belief about the robot pose when the
50  *other observation was taken can be supplied here, or nullptr if it is
51  *unknown.
52  *
53  * \return Returns a likelihood measurement, in the range [0,1].
54  * \exception std::exception On any error, as another observation being of
55  *an invalid class.
56  */
57  float likelihoodWith(
58  const mrpt::obs::CObservation* anotherObs,
59  const mrpt::poses::CPosePDF* anotherObsPose = nullptr) const;
60 
61  // See base class docs
62  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
63  {
64  out_sensorPose = refCameraPose;
65  }
66  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
67  {
68  refCameraPose = newSensorPose;
69  }
70  void getDescriptionAsText(std::ostream& o) const override;
71 
72 }; // End of class def.
73 
74 } // End of namespace
75 } // End of namespace
76 
77 #endif
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
float likelihoodWith(const mrpt::obs::CObservation *anotherObs, const mrpt::poses::CPosePDF *anotherObsPose=nullptr) const
Implements the virtual method in charge of finding the likelihood between this and another observatio...
A class for storing a map of 3D probabilistic landmarks.
Definition: CLandmarksMap.h:75
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
Definition: CPosePDF.h:41
mrpt::poses::CPose3D refCameraPose
The 3D pose of the reference camera relative to robot coordinates.
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...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
mrpt::maps::CLandmarksMap landmarks
The landmarks, with coordinates origin in the camera reference system.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...



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