CLandmark.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CLandmark_H
#define CLandmark_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/system/os.h>
#include <mrpt/poses/CPointPDFGaussian.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/vision/CFeature.h>
#include <mrpt/math/lightweight_geom_data.h>


namespace mrpt
{
        /** \ingroup mrpt_vision_grp */
        namespace slam
        {
                using namespace mrpt::poses;
                using namespace mrpt::vision;
                using namespace mrpt::math;

                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLandmark, mrpt::utils::CSerializable, VISION_IMPEXP )

                /** 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.
                  *
                  * \sa CLandmarksMap
                  * \ingroup mrpt_vision_grp
                  */
                class VISION_IMPEXP CLandmark : public mrpt::utils::CSerializable
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CLandmark )

                public:
                        typedef int64_t TLandmarkID;                                    //!< The type for the IDs of landmarks.

                        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,pose_cov_22,pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;

                        /** 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 <b>correspond</b> 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.
                          */
                        TLandmarkID                                     ID;
                        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.

                        /** Returns the pose as an object:
                          */
                        void    getPose( CPointPDFGaussian &p ) const;

                        void    getPose( CPoint3D &p, CMatrixDouble &COV ) const {
                                CPointPDFGaussian pdf;
                                getPose(pdf);
                                p = pdf.mean;
                                COV = CMatrixDouble(pdf.cov);
                        }

                        /** Sets the pose from an object:
                          */
                        void    setPose( const CPointPDFGaussian &p );

                        /** Gets the type of the first feature in its feature vector. The vector must not be empty.
                          */
                        TFeatureType getType() const
                        { ASSERT_( !features.empty() ); ASSERT_(features[0].present()) return features[0]->type; }

                        /** 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.
                          */
                        void createOneFeature()
                        { features.assign(1, CFeaturePtr( new CFeature() ) ); }

                        /** Default constructor
                          */
                        CLandmark();

                        /** Virtual destructor
                          */
                        virtual ~CLandmark();

                protected:
                        /** Auxiliary variable
                          */
                        static TLandmarkID              m_counterIDs;

                }; // End of class definition

        } // End of namespace
} // End of namespace

#endif