MRPT  1.9.9
CEllipsoidInverseDepth2D.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
13 namespace mrpt::opengl
14 {
15 /** An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a
16  * (inv_range,yaw) variable.
17  * The parameter space of this ellipsoid comprises these variables (in this
18  * order):
19  * - inv_range: The inverse distance from the sensor to the feature.
20  * - yaw: Angle for the rotation around +Z ("azimuth").
21  *
22  * This parameterization is a 2D version of that presented in the paper:
23  * - Civera, J. and Davison, A.J. and Montiel, J., "Inverse depth
24  * parametrization for monocular SLAM", T-RO, 2008.
25  *
26  * This class expects you to provide a mean vector of length 4 and a 4x4
27  * covariance matrix, set with \a setCovMatrixAndMean().
28  *
29  * Please read the documentation of
30  * CGeneralizedEllipsoidTemplate::setQuantiles() for learning
31  * the mathematical details about setting the desired confidence interval.
32  *
33  * <div align="center">
34  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
35  * border-style: solid;">
36  * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth2D </td> <td> \image html
37  * preview_CEllipsoidInverseDepth2D.png </td> </tr>
38  * </table>
39  * </div>
40  *
41  * \ingroup mrpt_opengl_grp
42  */
44 {
47 
48  public:
49  /** The maximum range to be used as a correction when a point of the
50  * ellipsoid falls in the negative ranges (default: 1e6) */
51  void setUnderflowMaxRange(const double maxRange)
52  {
53  m_underflowMaxRange = maxRange;
54  }
55  double getUnderflowMaxRange() const { return m_underflowMaxRange; }
56 
57  protected:
58  /** To be implemented by derived classes: maps, using some arbitrary space
59  * transformation, a list of points
60  * defining an ellipsoid in parameter space into their corresponding
61  * points in 2D/3D space.
62  */
64  const std::vector<BASE::array_parameter_t>& in_pts,
65  std::vector<BASE::array_point_t>& out_pts) const override;
66 
67  private:
68  double m_underflowMaxRange{1e6};
69 
70  public:
71  /** Constructor
72  */
73  CEllipsoidInverseDepth2D() = default;
74  /** Private, virtual destructor: only can be deleted from smart pointers */
75  ~CEllipsoidInverseDepth2D() override = default;
76 };
77 
78 } // namespace mrpt::opengl
CEllipsoidInverseDepth2D()=default
Constructor.
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.
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
The namespace for 3D scene representation and rendering.
Definition: CGlCanvasBase.h:15
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
~CEllipsoidInverseDepth2D() override=default
Private, virtual destructor: only can be deleted from smart pointers.
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.



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