MRPT  1.9.9
CEllipsoidInverseDepth3D.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,pitch) 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  * - pitch: Angle for the rotation around +Y ("elevation"). Positive means
22  * pointing below the XY plane.
23  *
24  * This parameterization is based on the paper:
25  * - Civera, J. and Davison, A.J. and Montiel, J., "Inverse depth
26  * parametrization for monocular SLAM", T-RO, 2008.
27  *
28  * This class expects you to provide a mean vector of length 3 and a 3x3
29  * covariance matrix, set with \a setCovMatrixAndMean().
30  *
31  * Please read the documentation of
32  * 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;
37  * border-style: solid;">
38  * <tr> <td> mrpt::opengl::CEllipsoidInverseDepth3D </td> <td> \image html
39  * preview_CEllipsoidInverseDepth3D.png </td> </tr>
40  * </table>
41  * </div>
42  *
43  *
44  * \ingroup mrpt_opengl_grp
45  */
47 {
50 
51  public:
52  /** The maximum range to be used as a correction when a point of the
53  * ellipsoid falls in the negative ranges (default: 1e6) */
54  void setUnderflowMaxRange(const double maxRange)
55  {
56  m_underflowMaxRange = maxRange;
57  }
58  double getUnderflowMaxRange() const { return m_underflowMaxRange; }
59 
60  protected:
61  /** To be implemented by derived classes: maps, using some arbitrary space
62  * transformation, a list of points
63  * defining an ellipsoid in parameter space into their corresponding
64  * points in 2D/3D space.
65  */
67  const std::vector<BASE::array_parameter_t>& in_pts,
68  std::vector<BASE::array_point_t>& out_pts) const override;
69 
70  private:
71  double m_underflowMaxRange{1e6};
72 
73  public:
74  /** Constructor
75  */
76  CEllipsoidInverseDepth3D() = default;
77  /** Private, virtual destructor: only can be deleted from smart pointers */
78  ~CEllipsoidInverseDepth3D() override = default;
79 };
80 
81 } // namespace mrpt::opengl
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.
An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable.
~CEllipsoidInverseDepth3D() override=default
Private, virtual destructor: only can be deleted from smart pointers.
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...
CEllipsoidInverseDepth3D()=default
Constructor.
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...



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