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 34 of file maps/CLandmark.h.

#include <mrpt/maps/CLandmark.h>

Inheritance diagram for mrpt::maps::CLandmark:

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 ()

Member Typedef Documentation

◆ SmartPtr

typedef CLandmarkPtr mrpt::maps::CLandmark::SmartPtr

A typedef for the associated smart pointer

Definition at line 37 of file maps/CLandmark.h.

◆ TLandmarkID

typedef int64_t mrpt::maps::CLandmark::TLandmarkID

The type for the IDs of landmarks.

Definition at line 40 of file maps/CLandmark.h.

Constructor & Destructor Documentation

◆ CLandmark()

mrpt::maps::CLandmark::CLandmark ( )

Default constructor.

◆ ~CLandmark()

virtual mrpt::maps::CLandmark::~CLandmark ( )

virtual

Virtual destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::maps::CLandmark::_GetBaseClass ( )

staticprotected

◆ Create()

static CLandmarkPtr mrpt::maps::CLandmark::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::maps::CLandmark::CreateObject ( )

static

◆ createOneFeature()

void mrpt::maps::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 83 of file maps/CLandmark.h.

References mrpt::vision::CFeaturePtr.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::maps::CLandmark::duplicate ( ) const

virtual

◆ getPose() [1/2]

void mrpt::maps::CLandmark::getPose	(	mrpt::poses::CPoint3D &	p,
		mrpt::math::CMatrixDouble &	COV
	)		const

inline

Definition at line 65 of file maps/CLandmark.h.

References mrpt::poses::CPointPDFGaussian::cov, and mrpt::poses::CPointPDFGaussian::mean.

◆ getPose() [2/2]

void mrpt::maps::CLandmark::getPose ( mrpt::poses::CPointPDFGaussian & p ) const

Returns the pose as an object:

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::maps::CLandmark::GetRuntimeClass ( ) const

virtual

◆ getType()

mrpt::vision::TFeatureType mrpt::maps::CLandmark::getType ( ) const

inline

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_.

◆ readFromStream()

void mrpt::maps::CLandmark::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protected

◆ setPose()

void mrpt::maps::CLandmark::setPose ( const mrpt::poses::CPointPDFGaussian & p )

Sets the pose from an object:

◆ writeToStream()

void mrpt::maps::CLandmark::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protected

Member Data Documentation

◆ _init_CLandmark

mrpt::utils::CLASSINIT mrpt::maps::CLandmark::_init_CLandmark

staticprotected

Definition at line 37 of file maps/CLandmark.h.

◆ classCLandmark

mrpt::utils::TRuntimeClassId mrpt::maps::CLandmark::classCLandmark

static

Definition at line 37 of file maps/CLandmark.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::maps::CLandmark::classinfo

static

Definition at line 37 of file maps/CLandmark.h.

◆ features

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.

◆ ID

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:

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 57 of file maps/CLandmark.h.

◆ m_counterIDs

TLandmarkID mrpt::maps::CLandmark::m_counterIDs

staticprotected

Auxiliary variable.

Definition at line 97 of file maps/CLandmark.h.

◆ normal

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.

◆ pose_cov_11

float mrpt::maps::CLandmark::pose_cov_11

Definition at line 46 of file maps/CLandmark.h.

◆ pose_cov_12

float mrpt::maps::CLandmark::pose_cov_12

Definition at line 46 of file maps/CLandmark.h.

◆ pose_cov_13

float mrpt::maps::CLandmark::pose_cov_13

Definition at line 46 of file maps/CLandmark.h.

◆ pose_cov_22

float mrpt::maps::CLandmark::pose_cov_22

Definition at line 46 of file maps/CLandmark.h.

◆ pose_cov_23

float mrpt::maps::CLandmark::pose_cov_23

Definition at line 46 of file maps/CLandmark.h.

◆ pose_cov_33

float mrpt::maps::CLandmark::pose_cov_33

Definition at line 46 of file maps/CLandmark.h.

◆ pose_mean

mrpt::math::TPoint3D mrpt::maps::CLandmark::pose_mean

The mean of the landmark 3D position.

Definition at line 44 of file maps/CLandmark.h.

◆ seenTimesCount

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.

◆ timestampLastSeen

mrpt::system::TTimeStamp mrpt::maps::CLandmark::timestampLastSeen

The last time that this landmark was observed.

Definition at line 58 of file maps/CLandmark.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

RTTI stuff <br>

Member Typedef Documentation

◆ SmartPtr

◆ TLandmarkID

Constructor & Destructor Documentation

◆ CLandmark()

◆ ~CLandmark()

Member Function Documentation

◆ _GetBaseClass()

◆ Create()

◆ CreateObject()

◆ createOneFeature()

◆ duplicate()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ GetRuntimeClass()

◆ getType()

◆ readFromStream()

◆ setPose()

◆ writeToStream()

Member Data Documentation

◆ _init_CLandmark

◆ classCLandmark

◆ classinfo

◆ features

◆ ID

◆ m_counterIDs

◆ normal

◆ pose_cov_11

◆ pose_cov_12

◆ pose_cov_13

◆ pose_cov_22

◆ pose_cov_23

◆ pose_cov_33

◆ pose_mean

◆ seenTimesCount

◆ timestampLastSeen