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CEllipsoidInverseDepth2D.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, 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_CEllipsoidInverseDepth2D_H
10 #define opengl_CEllipsoidInverseDepth2D_H
11 
13 
14 namespace mrpt
15 {
16  namespace opengl
17  {
18  // This must be added to any CSerializable derived class:
19  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CEllipsoidInverseDepth2D, CRenderizableDisplayList, OPENGL_IMPEXP )
20 
21  /** An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw) 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  *
26  * This parameterization is a 2D version of that presented in the paper:
27  * - Civera, J. and Davison, A.J. and Montiel, J., "Inverse depth parametrization for monocular SLAM", T-RO, 2008.
28  *
29  * This class expects you to provide a mean vector of length 4 and a 4x4 covariance matrix, set with \a setCovMatrixAndMean().
30  *
31  * Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning
32  * the mathematical details about setting the desired confidence interval.
33  *
34  * <div align="center">
35  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
36  * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth2D </td> <td> \image html preview_CEllipsoidInverseDepth2D.png </td> </tr>
37  * </table>
38  * </div>
39  *
40  * \ingroup mrpt_opengl_grp
41  */
43  {
46 
47  public:
48  /** The maximum range to be used as a correction when a point of the ellipsoid falls in the negative ranges (default: 1e6) */
49  void setUnderflowMaxRange(const double maxRange) { m_underflowMaxRange = maxRange; }
50  double getUnderflowMaxRange() const { return m_underflowMaxRange; }
51 
52 
53  protected:
54  /** To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points
55  * defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
56  */
57  virtual void transformFromParameterSpace(
58  const std::vector<BASE::array_parameter_t> &in_pts,
59  std::vector<BASE::array_point_t> & out_pts) const MRPT_OVERRIDE;
60  private:
62 
63  /** Constructor
64  */
65  CEllipsoidInverseDepth2D() : m_underflowMaxRange(1e6)
66  {
67  }
68  /** Private, virtual destructor: only can be deleted from smart pointers */
70  };
71  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CEllipsoidInverseDepth2D, CRenderizableDisplayList, OPENGL_IMPEXP )
72 
73  } // end namespace
74 
75 } // End of namespace
76 
77 #endif
virtual ~CEllipsoidInverseDepth2D()
Private, virtual destructor: only can be deleted from smart pointers.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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...
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw) variable.
#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...
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
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...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
CGeneralizedEllipsoidTemplate< 2 > BASE



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