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.
Definition at line 34 of file maps/CLandmark.h.
#include <mrpt/maps/CLandmark.h>
Public Types | |
typedef int64_t | TLandmarkID |
The type for the IDs of landmarks. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
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... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
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). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Public Attributes | |
std::vector< mrpt::vision::CFeaturePtr > | features |
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... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
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. More... | |
Static Protected Attributes | |
static TLandmarkID | m_counterIDs |
Auxiliary variable. More... | |
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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CLandmarkPtr | Create () |
typedef CLandmarkPtr mrpt::maps::CLandmark::SmartPtr |
A typedef for the associated smart pointer
Definition at line 37 of file maps/CLandmark.h.
typedef int64_t mrpt::maps::CLandmark::TLandmarkID |
The type for the IDs of landmarks.
Definition at line 40 of file maps/CLandmark.h.
mrpt::maps::CLandmark::CLandmark | ( | ) |
Default constructor.
|
virtual |
Virtual destructor.
|
staticprotected |
|
inlineinherited |
|
static |
|
static |
|
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.
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
inlineinherited |
void mrpt::maps::CLandmark::getPose | ( | mrpt::poses::CPointPDFGaussian & | p | ) | const |
Returns the pose as an object:
|
inline |
Definition at line 65 of file maps/CLandmark.h.
References mrpt::poses::CPointPDFGaussian::cov, and mrpt::poses::CPointPDFGaussian::mean.
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
|
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_.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
inlinestatic |
Definition at line 37 of file maps/CLandmark.h.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
inline |
Definition at line 37 of file maps/CLandmark.h.
|
protectedvirtual |
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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
void mrpt::maps::CLandmark::setPose | ( | const mrpt::poses::CPointPDFGaussian & | p | ) |
Sets the pose from an object:
|
inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
References BASE_IMPEXP, mrpt::utils::CSerializablePtr, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
|
protectedvirtual |
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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
|
staticprotected |
Definition at line 37 of file maps/CLandmark.h.
|
static |
Definition at line 37 of file maps/CLandmark.h.
|
staticinherited |
|
staticinherited |
Definition at line 42 of file CSerializable.h.
|
static |
Definition at line 37 of file maps/CLandmark.h.
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.
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:
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.
|
staticprotected |
Auxiliary variable.
Definition at line 97 of file maps/CLandmark.h.
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.
float mrpt::maps::CLandmark::pose_cov_11 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_12 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_13 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_22 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_23 |
Definition at line 46 of file maps/CLandmark.h.
float mrpt::maps::CLandmark::pose_cov_33 |
Definition at line 46 of file maps/CLandmark.h.
mrpt::math::TPoint3D mrpt::maps::CLandmark::pose_mean |
The mean of the landmark 3D position.
Definition at line 44 of file maps/CLandmark.h.
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.
mrpt::system::TTimeStamp mrpt::maps::CLandmark::timestampLastSeen |
The last time that this landmark was observed.
Definition at line 58 of file maps/CLandmark.h.
Page generated by Doxygen 1.8.11 for MRPT 1.3.2 SVN: at Mon May 9 06:50:38 UTC 2016 |