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

#include <mrpt/slam/CLandmark.h>

Inheritance diagram for mrpt::slam::CLandmark:

[legend]

List of all members.

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.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
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...) 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.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Static Protected Attributes
static TLandmarkID	m_counterIDs
	Auxiliary variable.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
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
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CLandmarkPtr	Create ()

Member Typedef Documentation

typedef CLandmarkPtr mrpt::slam::CLandmark::SmartPtr

A typedef for the associated smart pointer

Definition at line 62 of file CLandmark.h.

typedef int64_t mrpt::slam::CLandmark::TLandmarkID

The type for the IDs of landmarks.

Definition at line 65 of file CLandmark.h.

Constructor & Destructor Documentation

mrpt::slam::CLandmark::CLandmark ( )

Default constructor.

virtual mrpt::slam::CLandmark::~CLandmark ( ) [virtual]

Virtual destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmark::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CLandmarkPtr mrpt::slam::CLandmark::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CLandmark::CreateObject ( ) [static]

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 108 of file CLandmark.h.

virtual mrpt::utils::CObject* mrpt::slam::CLandmark::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

void mrpt::slam::CLandmark::getPose ( CPointPDFGaussian & p ) const

Returns the pose as an object:

void mrpt::slam::CLandmark::getPose	(	CPoint3D &	p,
		CMatrixDouble &	COV
	)		const `[inline]`

Definition at line 90 of file CLandmark.h.

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

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmark::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

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 103 of file CLandmark.h.

References ASSERT_.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::slam::CLandmark::setPose ( const CPointPDFGaussian & p )

Sets the pose from an object:

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CObservation, mrpt::slam::CMetricMap, mrpt::opengl::CRenderizable, mrpt::poses::CPose3DQuatPDF, mrpt::poses::CPointPDF, mrpt::poses::CPose3DPDF, mrpt::poses::CPosePDF, mrpt::poses::CPoint2DPDF, mrpt::opengl::CRenderizableDisplayList, mrpt::slam::CAction, mrpt::detectors::CDetectableObject, mrpt::opengl::CTexturedObject, and mrpt::reactivenav::CHolonomicLogFileRecord.

Definition at line 56 of file CSerializable.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CLandmark::_init_CLandmark [static, protected]

Definition at line 62 of file CLandmark.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CLandmark::classCLandmark [static]

Definition at line 62 of file CLandmark.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CLandmark::classinfo [static]

Definition at line 62 of file CLandmark.h.

std::vector<CFeaturePtr> mrpt::slam::CLandmark::features

The set of features from which the landmark comes.

Definition at line 67 of file CLandmark.h.

TLandmarkID mrpt::slam::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 82 of file CLandmark.h.

TLandmarkID mrpt::slam::CLandmark::m_counterIDs [static, protected]

Auxiliary variable.

Definition at line 122 of file CLandmark.h.

TPoint3D mrpt::slam::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 70 of file CLandmark.h.

float mrpt::slam::CLandmark::pose_cov_11

Definition at line 71 of file CLandmark.h.

float mrpt::slam::CLandmark::pose_cov_12

Definition at line 71 of file CLandmark.h.