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mrpt::slam::CLandmark Class Reference


Detailed Description

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.

See also:
CLandmarksMap

Definition at line 57 of file CLandmark.h.

#include <mrpt/slam/CLandmark.h>

Inheritance diagram for mrpt::slam::CLandmark:
Inheritance graph
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List of all members.

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< CFeaturePtrfeatures
 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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CLandmarkPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 60 of file CLandmark.h.

The type for the IDs of landmarks.

Definition at line 63 of file CLandmark.h.


Constructor & Destructor Documentation

mrpt::slam::CLandmark::CLandmark ( )

Default constructor.

virtual mrpt::slam::CLandmark::~CLandmark ( ) [virtual]

Virtual destructor.


Member Function Documentation

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]
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:


Member Data Documentation

Definition at line 60 of file CLandmark.h.

Definition at line 60 of file CLandmark.h.

Definition at line 60 of file CLandmark.h.

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:

  • In 'servers' (classes/modules/... that detect landmarks from images): A different ID must be assigned to every landmark (e.g. a sequential counter), BUT only in the case of being sure of the correspondence of one landmark with another one in the past (e.g. tracking).
  • In 'clients': This field can be ignored, but if it is used, the advantage is solving the correspondence between landmarks detected in consequentive instants of time: Two landmarks with the same ID correspond to the same physical feature, BUT it should not be expected the inverse to be always true.

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.

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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