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mrpt::maps::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 34 of file maps/CLandmark.h.

#include <mrpt/maps/CLandmark.h>

Inheritance diagram for mrpt::maps::CLandmark:
Inheritance graph

Public Types

typedef int64_t TLandmarkID
 The type for the IDs of landmarks. More...
 

Public Member Functions

void getPose (mrpt::poses::CPointPDFGaussian &p) const
 Returns the pose as an object: More...
 
void getPose (mrpt::poses::CPoint3D &p, mrpt::math::CMatrixDouble &COV) const
 
void setPose (const mrpt::poses::CPointPDFGaussian &p)
 Sets the pose from an object: More...
 
mrpt::vision::TFeatureType getType () const
 Gets the type of the first feature in its feature vector. More...
 
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. More...
 
 CLandmark ()
 Default constructor. More...
 
virtual ~CLandmark ()
 Virtual destructor. More...
 

Public Attributes

std::vector< mrpt::vision::CFeaturePtrfeatures
 The set of features from which the landmark comes. More...
 
mrpt::math::TPoint3D pose_mean
 The mean of the landmark 3D position. More...
 
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. More...
 
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. More...
 
mrpt::system::TTimeStamp timestampLastSeen
 The last time that this landmark was observed. More...
 
uint32_t seenTimesCount
 The number of times that this landmark has been seen. More...
 

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. More...
 

RTTI stuff <br>

typedef CLandmarkPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CLandmark
 
static mrpt::utils::TRuntimeClassId classCLandmark
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CLandmarkPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

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

◆ 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

◆ 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.




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