MRPT  2.0.3
CObservationVisualLandmarks.cpp
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, 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 
10 #include "vision-precomp.h" // Precompiled headers
11 
14 
15 using namespace mrpt::obs;
16 using namespace mrpt::poses;
17 
18 // This must be added to any CSerializable class implementation file.
20 
21 /** Constructor
22  */
24  : refCameraPose(), landmarks()
25 {
26 }
27 
31 {
32  out << refCameraPose
33  << timestamp
34  // The landmarks:
35  << landmarks << sensorLabel;
36 }
37 
39  mrpt::serialization::CArchive& in, uint8_t version)
40 {
41  switch (version)
42  {
43  case 0:
44  case 1:
45  {
46  in >> refCameraPose >> timestamp
47 
48  // The landmarks:
49  >> landmarks;
50 
51  if (version > 0)
52  in >> sensorLabel;
53  else
54  sensorLabel = "";
55  }
56  break;
57  default:
59  };
60 }
61 
62 /*---------------------------------------------------------------
63  Inserts a pure virtual method for finding the likelihood between this
64  and another observation, probably only of the same derived class. The
65  operator
66  may be asymmetric.
67 
68  \param anotherObs The other observation to compute likelihood with.
69  \param anotherObsPose If known, the belief about the robot pose when the other
70  observation was taken can be supplied here, or nullptr if it is unknown.
71 
72  \return Returns a likelihood measurement, in the range [0,1].
73  \exception std::exception On any error, as another observation being of an
74  invalid class.
75  ---------------------------------------------------------------*/
77  [[maybe_unused]] const CObservation* anotherObs,
78  [[maybe_unused]] const CPosePDF* anotherObsPose) const
79 {
80  return 0;
81 }
82 
84 {
86 }
mrpt::obs::CObservationVisualLandmarks
Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...
Definition: CObservationVisualLandmarks.h:25
CObservationVisualLandmarks.h
mrpt::obs::CObservationVisualLandmarks::serializeTo
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
Definition: CObservationVisualLandmarks.cpp:29
out
mrpt::vision::TStereoCalibResults out
Definition: chessboard_stereo_camera_calib_unittest.cpp:25
mrpt::poses
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Definition: CHierarchicalMapMHPartition.h:22
vision-precomp.h
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:17
mrpt::serialization::CArchive
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:54
mrpt::obs::CObservationVisualLandmarks::serializeGetVersion
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
Definition: CObservationVisualLandmarks.cpp:28
mrpt::obs::CObservationVisualLandmarks::getDescriptionAsText
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
Definition: CObservationVisualLandmarks.cpp:83
mrpt::obs::CObservation::getDescriptionAsText
virtual void getDescriptionAsText(std::ostream &o) const
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
Definition: CObservation.cpp:42
mrpt::obs::CObservationVisualLandmarks::serializeFrom
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
Definition: CObservationVisualLandmarks.cpp:38
IMPLEMENTS_SERIALIZABLE
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
Definition: CSerializable.h:166
mrpt::poses::CPosePDF
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
Definition: CPosePDF.h:38
mrpt::obs::CObservation
Declares a class that represents any robot's observation.
Definition: CObservation.h:43
CArchive.h
MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:97
mrpt::obs::CObservationVisualLandmarks::likelihoodWith
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...
Definition: CObservationVisualLandmarks.cpp:76



Page generated by Doxygen 1.8.17 for MRPT 2.0.3 at Fri May 15 23:51:15 UTC 2020