MRPT  1.9.9
CObservationVisualLandmarks.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 #include <mrpt/obs/CObservation.h>
13 #include <mrpt/poses/CPose2D.h>
14 #include <mrpt/poses/CPose3D.h>
16 
17 namespace mrpt::obs
18 {
19 /** Declares a class derived from "CObservation" that stores a Landmarks Map as
20  * seen from a stereo camera at a given instant of time.
21  *
22  * \sa CLandmarksMap, CObservation
23  * \ingroup mrpt_vision_grp
24  */
26 {
28 
29  public:
30  /** Constructor */
32 
33  /** The 3D pose of the reference camera relative to robot coordinates. */
35  /** The landmarks, with coordinates origin in the camera reference system.
36  */
38 
39  /** Implements the virtual method in charge of finding the likelihood
40  *between this
41  * and another observation, probably only of the same derived class. The
42  *operator
43  * may be asymmetric.
44  *
45  * \param anotherObs The other observation to compute likelihood with.
46  * \param anotherObsPose If known, the belief about the robot pose when the
47  *other observation was taken can be supplied here, or nullptr if it is
48  *unknown.
49  *
50  * \return Returns a likelihood measurement, in the range [0,1].
51  * \exception std::exception On any error, as another observation being of
52  *an invalid class.
53  */
54  float likelihoodWith(
55  const mrpt::obs::CObservation* anotherObs,
56  const mrpt::poses::CPosePDF* anotherObsPose = nullptr) const;
57 
58  // See base class docs
59  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
60  {
61  out_sensorPose = refCameraPose;
62  }
63  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
64  {
65  refCameraPose = newSensorPose;
66  }
67  void getDescriptionAsText(std::ostream& o) const override;
68 
69 }; // End of class def.
70 
71 } // namespace mrpt::obs
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
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 observatio...
A class for storing a map of 3D probabilistic landmarks.
Definition: CLandmarksMap.h:74
This namespace contains representation of robot actions and observations.
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
Definition: CPosePDF.h:38
mrpt::poses::CPose3D refCameraPose
The 3D pose of the reference camera relative to robot coordinates.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
mrpt::maps::CLandmarksMap landmarks
The landmarks, with coordinates origin in the camera reference system.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...



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