class mrpt::obs::CObservationVisualLandmarks

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

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.