Template Class CGeneralizedEllipsoidTemplate

Defined in File CGeneralizedEllipsoidTemplate.h

Inheritance Relationships

Base Types

public mrpt::viz::CVisualObject (Class CVisualObject)
public mrpt::viz::VisualObjectParams_Lines (Class VisualObjectParams_Lines)
public mrpt::viz::VisualObjectParams_Triangles (Class VisualObjectParams_Triangles)

Class Documentation

template<int DIM> class CGeneralizedEllipsoidTemplate : public virtual mrpt::viz::CVisualObject, public mrpt::viz::VisualObjectParams_Lines, public mrpt::viz::VisualObjectParams_Triangles 

A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty shapes in either 2D or 3D. See derived classes for examples.

Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.

The main method to set the modeled uncertainty is setCovMatrixAndMean()

By default, only the front faces are rendered. Use cullFaces() to change if needed.

Template Parameters:: DIM – The dimensionality of the parameter space, which must coincide with that of the rendering space (2 or 3)

Public Types

using cov_matrix_t = mrpt::math::CMatrixFixed<double, DIM, DIM>: The type of fixed-size covariance matrices for this representation

using mean_vector_t = mrpt::math::CMatrixFixed<double, DIM, 1>: The type of fixed-size vector for this representation

using array_parameter_t = mrpt::math::CMatrixFixed<float, DIM, 1>

using array_point_t = mrpt::math::CMatrixFixed<float, DIM, 1>

Public Functions

template<typename MATRIX, typename VECTOR> inline void setCovMatrixAndMean(const MATRIX &new_cov, const VECTOR &new_mean): Set the NxN covariance matrix that will determine the aspect of the ellipsoid - Notice that the covariance determines the uncertainty in the parameter space, which would be transformed by derived function

inline cov_matrix_t getCovMatrix() const: Gets the current uncertainty covariance of parameter space

template<typename MATRIX> inline void setCovMatrix(const MATRIX &new_cov): Like setCovMatrixAndMean(), for mean=zero.

inline void setQuantiles(float q)

Changes the scale of the “sigmas” for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of “quantiles” q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval. Note that this value depends on the dimensionality. Refer to the MATLAB functions chi2inv() and chi2cdf().

Some common values follow here for the convenience of users:

Dimensionality=3 (3D ellipsoids):
- 19.8748% CI -> q=1
- 73.8536% CI -> q=2
- 97.0709% CI -> q=3
- 99.8866% CI -> q=4
Dimensionality=2 (2D ellipses):
- 39.347% CI -> q=1
- 86.466% CI -> q=2
- 98.8891% CI -> q=3
- 99.9664% CI -> q=4
Dimensionality=1 (Not aplicable to this class but provided for reference):
- 68.27% CI -> q=1
- 95.45% CI -> q=2
- 99.73% CI -> q=3
- 99.9937% CI -> q=4

inline float getQuantiles() const: Refer to documentation of setQuantiles()

inline void setNumberOfSegments(const uint32_t numSegments): Set the number of segments of the surface/curve (higher means with greater resolution)

inline uint32_t getNumberOfSegments() const

inline void enableDrawSolid3D(bool v): If set to “true”, a whole ellipsoid surface will be drawn, or if set to “false” (default) it will be drawn as a “wireframe”.

inline virtual bool traceRay([[maybe_unused]] const mrpt::poses::CPose3D &o, [[maybe_unused]] double &dist) const override: Ray tracing

inline virtual void updateBuffers() const override

Called by the rendering system to update internal geometry buffers.

Derived classes should override this to populate their data buffers (triangles, points, lines) when the object geometry changes.

This is called automatically when hasToUpdateBuffers() returns true, which happens after notifyChange() was called.

The base implementation does nothing; derived classes should override.

Note

Thread safety: implementations should lock the appropriate mutexes when writing to shared buffers.

inline virtual const mrpt::rtti::TRuntimeClassId *GetRuntimeClass() const override

Protected Functions

virtual void transformFromParameterSpace(const std::vector<array_point_t> &params_pts, std::vector<array_point_t> &out_pts) const = 0: 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.

inline void thisclass_writeToStream(mrpt::serialization::CArchive &out) const

inline void thisclass_readFromStream(mrpt::serialization::CArchive &in)

CGeneralizedEllipsoidTemplate() = default

virtual ~CGeneralizedEllipsoidTemplate() override = default

void generatePoints(const cov_matrix_t &U, std::vector<array_parameter_t> &out_params_pts) const

inline void recomputeRenderPoints() const: When called, if m_needToRecomputeEigenVals==true, the points in m_render_pts will be regenerated.

inline virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const override

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates. This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.