#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. | |
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. |
..)
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 55 of file CLandmark.h.
typedef int64_t mrpt::slam::CLandmark::TLandmarkID |
mrpt::slam::CLandmark::CLandmark | ( | ) |
Default constructor.
virtual mrpt::slam::CLandmark::~CLandmark | ( | ) | [virtual] |
Virtual destructor.
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 104 of file CLandmark.h.
void mrpt::slam::CLandmark::getPose | ( | CPoint3D & | p, | |
CMatrixDouble & | COV | |||
) | const [inline] |
Definition at line 86 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:.
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 99 of file CLandmark.h.
References ASSERT_.
void mrpt::slam::CLandmark::setPose | ( | const CPointPDFGaussian & | p | ) |
Sets the pose from an object:.
std::vector<CFeaturePtr> mrpt::slam::CLandmark::features |
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 78 of file CLandmark.h.
TLandmarkID mrpt::slam::CLandmark::m_counterIDs [static, protected] |
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 66 of file CLandmark.h.
Definition at line 67 of file CLandmark.h.
Definition at line 67 of file CLandmark.h.
Definition at line 67 of file CLandmark.h.
Definition at line 67 of file CLandmark.h.
Definition at line 67 of file CLandmark.h.
Definition at line 67 of file CLandmark.h.
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