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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) 2005-2017, 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_CEllipsoidInverseDepth3D_H
10 #define opengl_CEllipsoidInverseDepth3D_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( CEllipsoidInverseDepth3D, CRenderizableDisplayList, OPENGL_IMPEXP )
20 
21  /** An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) 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  * - pitch: Angle for the rotation around +Y ("elevation"). Positive means 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 parametrization for monocular SLAM", T-RO, 2008.
29  *
30  * This class expects you to provide a mean vector of length 3 and a 3x3 covariance matrix, set with \a setCovMatrixAndMean().
31  *
32  * Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning
33  * the mathematical details about setting the desired confidence interval.
34  *
35  * <div align="center">
36  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
37  * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth3D </td> <td> \image html preview_CEllipsoidInverseDepth3D.png </td> </tr>
38  * </table>
39  * </div>
40  *
41  *
42  * \ingroup mrpt_opengl_grp
43  */
45  {
48 
49  public:
50  /** The maximum range to be used as a correction when a point of the ellipsoid falls in the negative ranges (default: 1e6) */
51  void setUnderflowMaxRange(const double maxRange) { m_underflowMaxRange = maxRange; }
52  double getUnderflowMaxRange() const { return m_underflowMaxRange; }
53 
54  protected:
55  /** To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points
56  * defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
57  */
58  virtual void transformFromParameterSpace(
59  const std::vector<BASE::array_parameter_t> &in_pts,
60  std::vector<BASE::array_point_t> & out_pts) const MRPT_OVERRIDE;
61  private:
63 
64  /** Constructor
65  */
66  CEllipsoidInverseDepth3D() : m_underflowMaxRange(1e6)
67  {
68  }
69  /** Private, virtual destructor: only can be deleted from smart pointers */
71  };
72  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CEllipsoidInverseDepth3D, CRenderizableDisplayList, OPENGL_IMPEXP )
73 
74  } // end namespace
75 
76 } // End of namespace
77 
78 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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...
#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...
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...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
CGeneralizedEllipsoidTemplate< 3 > BASE



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