The class for storing "landmarks" (visual or laser-scan-extracted features,...)
The descriptors for each kind of descriptor are stored in the vector "features", which will typically consists of only 1 element, or 2 elements for landmarks obtained from stereo images.
Definition at line 34 of file maps/CLandmark.h.
#include <mrpt/maps/CLandmark.h>
Public Types | |
typedef int64_t | TLandmarkID |
The type for the IDs of landmarks. | |
Public Member Functions | |
void | getPose (mrpt::poses::CPointPDFGaussian &p) const |
Returns the pose as an object: | |
void | getPose (mrpt::poses::CPoint3D &p, mrpt::math::CMatrixDouble &COV) const |
void | setPose (const mrpt::poses::CPointPDFGaussian &p) |
Sets the pose from an object: | |
mrpt::vision::TFeatureType | getType () const |
Gets the type of the first feature in its feature vector. | |
void | createOneFeature () |
Creates one feature in the vector "features", calling the appropriate constructor of the smart pointer, so after calling this method "features[0]" is a valid pointer to a CFeature object. | |
CLandmark () | |
Default constructor. | |
virtual | ~CLandmark () |
Virtual destructor. | |
Public Attributes | |
std::vector< mrpt::vision::CFeaturePtr > | features |
The set of features from which the landmark comes. | |
mrpt::math::TPoint3D | pose_mean |
The mean of the landmark 3D position. | |
mrpt::math::TPoint3D | normal |
The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable. | |
float | pose_cov_11 |
float | pose_cov_22 |
float | pose_cov_33 |
float | pose_cov_12 |
float | pose_cov_13 |
float | pose_cov_23 |
TLandmarkID | ID |
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. | |
mrpt::system::TTimeStamp | timestampLastSeen |
The last time that this landmark was observed. | |
uint32_t | seenTimesCount |
The number of times that this landmark has been seen. | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Static Protected Attributes | |
static TLandmarkID | m_counterIDs |
Auxiliary variable. | |
RTTI stuff <br> | |
typedef CLandmarkPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CLandmark |
static mrpt::utils::TRuntimeClassId | classCLandmark |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CLandmarkPtr | Create () |
A typedef for the associated smart pointer
Definition at line 37 of file maps/CLandmark.h.
typedef int64_t mrpt::maps::CLandmark::TLandmarkID |
The type for the IDs of landmarks.
Definition at line 40 of file maps/CLandmark.h.
mrpt::maps::CLandmark::CLandmark | ( | ) |
Default constructor.
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Virtual destructor.
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Creates one feature in the vector "features", calling the appropriate constructor of the smart pointer, so after calling this method "features[0]" is a valid pointer to a CFeature object.
Definition at line 83 of file maps/CLandmark.h.
References mrpt::vision::CFeaturePtr.
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Definition at line 65 of file maps/CLandmark.h.
References mrpt::poses::CPointPDFGaussian::cov, and mrpt::poses::CPointPDFGaussian::mean.
void mrpt::maps::CLandmark::getPose | ( | mrpt::poses::CPointPDFGaussian & | p | ) | const |
Returns the pose as an object:
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Gets the type of the first feature in its feature vector.
The vector must not be empty.
Definition at line 78 of file maps/CLandmark.h.
References ASSERT_.
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protected |
void mrpt::maps::CLandmark::setPose | ( | const mrpt::poses::CPointPDFGaussian & | p | ) |
Sets the pose from an object:
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Definition at line 37 of file maps/CLandmark.h.
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Definition at line 37 of file maps/CLandmark.h.
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Definition at line 37 of file maps/CLandmark.h.
std::vector<mrpt::vision::CFeaturePtr> mrpt::maps::CLandmark::features |
The set of features from which the landmark comes.
Definition at line 42 of file maps/CLandmark.h.
TLandmarkID mrpt::maps::CLandmark::ID |
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames.
Thus, the management of this field should be:
Note that this field is never fill out automatically, it must be set by the programmer if used.
Definition at line 57 of file maps/CLandmark.h.
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staticprotected |
Auxiliary variable.
Definition at line 97 of file maps/CLandmark.h.
mrpt::math::TPoint3D mrpt::maps::CLandmark::normal |
The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable.
Definition at line 45 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_11 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_12 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_13 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_22 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_23 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_33 |
Definition at line 46 of file maps/CLandmark.h.
mrpt::math::TPoint3D mrpt::maps::CLandmark::pose_mean |
The mean of the landmark 3D position.
Definition at line 44 of file maps/CLandmark.h.
uint32_t mrpt::maps::CLandmark::seenTimesCount |
The number of times that this landmark has been seen.
Definition at line 59 of file maps/CLandmark.h.
mrpt::system::TTimeStamp mrpt::maps::CLandmark::timestampLastSeen |
The last time that this landmark was observed.
Definition at line 58 of file maps/CLandmark.h.
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