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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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Implements a visual landmark 3d map. More...
#include <visualMap.h>
Public Member Functions | |
| visualMap () | |
| default constructor | |
| visualMap (int n, const ConfigFile &config) | |
| constructor | |
| visualMap (const visualMap &) | |
| copy constructor | |
| virtual | ~visualMap () |
| destructor | |
| virtual void | addLandmark (const landmark &mark)=0 |
| Data functions. | |
| pos3d | base2cam (const pos3d &p) const |
| translates a position in the robot's frame of reference to the camera frame of reference | |
| pos3d | cam2base (const pos3d &p) const |
| translates a position in the camera frame of reference to the robot's frame of reference | |
| void | changeLandmark (int id, const landmark &mark) |
| changes a landmark | |
| virtual void | changeLastReturnedLandmark (const landmark &mark)=0 |
| changes a landmark | |
| virtual void | clear ()=0 |
| clear the map | |
| virtual visualMap * | clone () const =0 |
| clone method | |
| virtual landmark * | dataAssociation (const matrix &ZT, const matrix &Rt, const pos3d &globalpos, const pose &robotPos, const matrix &H, const matrix &Htrans, const float *desc)=0 |
| data association, return a NEW copy of the matched mark in the map, the returned mark must be DELETE | |
| virtual void | drawMarks (IplImage &im, float xorigin, float yorigin, float resolution)=0 |
| draw the features in an opencv image | |
| virtual landmark * | getLandmarkByDesc (const float *desc)=0 |
| return return a NEW copy of the landmark with descriptor desc, the returned mark must be DELETE | |
| virtual landmark * | getLandmarkById (int number)=0 |
| return return a NEW copy of the landmark with id number, the returned mark must be DELETE | |
| int | getNLandmarks () const |
| return the number of features in the map | |
| void | initialize (int n, const ConfigFile &config) |
| initializer | |
| virtual visualMap & | operator= (const visualMap &) |
| assignment operator | |
| virtual int | returnLastReturnedId () const =0 |
| return the last returned id | |
| virtual void | saveMap (const char *str)=0 |
| saves the map | |
Static Public Member Functions | |
| static float | descDist (const float *desc1, const float *desc2, int desclength) |
| distance between descriptors | |
| static float | mahalanobis (const pos3d &pos, const matrix &sigma) |
| mahalanobis distance | |
Protected Attributes | |
| float | camx |
| float | camy |
| camera position | |
| float | camz |
| camera position | |
| float | descTh |
| float | mahTh |
| camera position | |
| unsigned short | nlandmarks |
| float | rx |
| camera position | |
| float | ry |
| camera position | |
| float | rz |
| camera position | |
Implements a visual landmark 3d map.
Definition at line 29 of file visualMap.h.
1.7.6.1
