42 std::vector<
mrpt::vision::CFeaturePtr> features;
44 mrpt::math::TPoint3D pose_mean;
45 mrpt::math::TPoint3D normal;
46 float pose_cov_11,pose_cov_22,pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;
59 uint32_t seenTimesCount;
63 void getPose(
mrpt::poses::CPointPDFGaussian &p ) const;
79 {
ASSERT_( !features.empty() );
ASSERT_(features[0].present())
return features[0]->type; }
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
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 pointe...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
mrpt::maps::CLandmark CLandmark
Backward compatible typedef.
CPoint3D mean
The mean value.
int64_t TLandmarkID
The type for the IDs of landmarks.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
class BASE_IMPEXP CSerializable
mrpt::math::CMatrixDouble33 cov
The 3x3 covariance matrix.
CMatrixTemplateNumeric< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).
A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...
static TLandmarkID m_counterIDs
Auxiliary variable.
TFeatureType
Types of features - This means that the point has been detected with this algorithm, which is independent of additional descriptors a feature may also have.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A gaussian distribution for 3D points.