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 57 of file CLandmark.h.
#include <mrpt/slam/CLandmark.h>
Public Types | |
typedef int64_t | TLandmarkID |
The type for the IDs of landmarks. | |
Public Member Functions | |
void | getPose (CPointPDFGaussian &p) const |
Returns the pose as an object: | |
void | getPose (CPoint3D &p, CMatrixDouble &COV) const |
void | setPose (const CPointPDFGaussian &p) |
Sets the pose from an object: | |
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< CFeaturePtr > | features |
The set of features from which the landmark comes. | |
TPoint3D | pose_mean |
The mean of the landmark 3D position. | |
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. | |
Static Protected Attributes | |
static TLandmarkID | m_counterIDs |
Auxiliary variable. | |
RTTI stuff | |
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 |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CLandmarkPtr | Create () |
A typedef for the associated smart pointer
Definition at line 60 of file CLandmark.h.
typedef int64_t mrpt::slam::CLandmark::TLandmarkID |
The type for the IDs of landmarks.
Definition at line 63 of file CLandmark.h.
mrpt::slam::CLandmark::CLandmark | ( | ) |
Default constructor.
virtual mrpt::slam::CLandmark::~CLandmark | ( | ) | [virtual] |
Virtual destructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmark::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
static CLandmarkPtr mrpt::slam::CLandmark::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CLandmark::CreateObject | ( | ) | [static] |
void mrpt::slam::CLandmark::createOneFeature | ( | ) | [inline] |
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 106 of file CLandmark.h.
virtual mrpt::utils::CObject* mrpt::slam::CLandmark::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::slam::CLandmark::getPose | ( | CPoint3D & | p, |
CMatrixDouble & | COV | ||
) | const [inline] |
Definition at line 88 of file CLandmark.h.
References mrpt::poses::CPointPDFGaussian::cov, and mrpt::poses::CPointPDFGaussian::mean.
void mrpt::slam::CLandmark::getPose | ( | CPointPDFGaussian & | p | ) | const |
Returns the pose as an object:
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmark::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
TFeatureType mrpt::slam::CLandmark::getType | ( | ) | const [inline] |
Gets the type of the first feature in its feature vector.
The vector must not be empty.
Definition at line 101 of file CLandmark.h.
References ASSERT_.
void mrpt::slam::CLandmark::setPose | ( | const CPointPDFGaussian & | p | ) |
Sets the pose from an object:
mrpt::utils::CLASSINIT mrpt::slam::CLandmark::_init_CLandmark [static, protected] |
Definition at line 60 of file CLandmark.h.
Definition at line 60 of file CLandmark.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmark::classinfo [static] |
Definition at line 60 of file CLandmark.h.
std::vector<CFeaturePtr> mrpt::slam::CLandmark::features |
The set of features from which the landmark comes.
Definition at line 65 of file CLandmark.h.
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 80 of file CLandmark.h.
TLandmarkID mrpt::slam::CLandmark::m_counterIDs [static, protected] |
Auxiliary variable.
Definition at line 120 of file CLandmark.h.
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 68 of file CLandmark.h.
Definition at line 69 of file CLandmark.h.
Definition at line 69 of file CLandmark.h.
Definition at line 69 of file CLandmark.h.
Definition at line 69 of file CLandmark.h.
Definition at line 69 of file CLandmark.h.
Definition at line 69 of file CLandmark.h.
The mean of the landmark 3D position.
Definition at line 67 of file CLandmark.h.
The number of times that this landmark has been seen.
Definition at line 82 of file CLandmark.h.
The last time that this landmark was observed.
Definition at line 81 of file CLandmark.h.
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