class mrpt::obs::CObservationVisualLandmarks

Overview

Declares a class derived from “CObservation” that stores a Landmarks Map as seen from a stereo camera at a given instant of time.

See also:

CLandmarksMap, CObservation

#include <mrpt/obs/CObservationVisualLandmarks.h>

class CObservationVisualLandmarks: public mrpt::obs::CObservation
{
public:
    // fields

    mrpt::poses::CPose3D refCameraPose;
    mrpt::maps::CLandmarksMap landmarks;

    // construction

    CObservationVisualLandmarks();

    // methods

    float likelihoodWith(const mrpt::obs::CObservation* anotherObs, const mrpt::poses::CPosePDF* anotherObsPose = nullptr) const;
    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members

public:
    // fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    // methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D sensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual std::string asString() const;

Fields

mrpt::poses::CPose3D refCameraPose

The 3D pose of the reference camera relative to robot coordinates.

mrpt::maps::CLandmarksMap landmarks

The landmarks, with coordinates origin in the camera reference system.

Construction

CObservationVisualLandmarks()

Constructor.

Methods

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 observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters:

anotherObs	The other observation to compute likelihood with.
anotherObsPose	If known, the belief about the robot pose when the other observation was taken can be supplied here, or nullptr if it is unknown.
std::exception	On any error, as another observation being of an invalid class.

Returns:

Returns a likelihood measurement, in the range [0,1].

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

setSensorPose

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:

getSensorPose

virtual void getDescriptionAsText(std::ostream& o) const

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset