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42 std::vector<mrpt::vision::CFeaturePtr>
features;
46 float pose_cov_11,pose_cov_22,
pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;
79 {
ASSERT_( !features.empty() );
ASSERT_(features[0].present())
return features[0]->type; }
CMatrixTemplateNumeric< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).
TLandmarkID ID
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...
mrpt::math::CMatrixDouble33 cov
The 3x3 covariance matrix.
std::vector< mrpt::vision::CFeaturePtr > features
The set of features from which the landmark comes.
uint32_t seenTimesCount
The number of times that this landmark has been seen.
A gaussian distribution for 3D points.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
static TLandmarkID m_counterIDs
Auxiliary variable.
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
int64_t TLandmarkID
The type for the IDs of landmarks.
void getPose(mrpt::poses::CPoint3D &p, mrpt::math::CMatrixDouble &COV) const
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
TFeatureType
Types of features - This means that the point has been detected with this algorithm,...
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,...
The virtual base class which provides a unified interface for all persistent objects in MRPT.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
mrpt::vision::TFeatureType getType() const
Gets the type of the first feature in its feature vector.
mrpt::maps::CLandmark CLandmark
Backward compatible typedef.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void createOneFeature()
Creates one feature in the vector "features", calling the appropriate constructor of the smart pointe...
A class used to store a 3D point.
CPoint3D mean
The mean value.
mrpt::system::TTimeStamp timestampLastSeen
The last time that this landmark was observed.
A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...
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