Main MRPT website > C++ reference for MRPT 1.5.7
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Static Protected Attributes
mrpt::maps::CLandmark Class Reference

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

Definition at line 34 of file maps/CLandmark.h.

#include <mrpt/maps/CLandmark.h>

Inheritance diagram for mrpt::maps::CLandmark:
Inheritance graph

Public Types

typedef int64_t TLandmarkID
 The type for the IDs of landmarks. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator 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 mxArraywriteToMatlab () 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator 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 = static_cast<CLandmark::TLandmarkID>(0)
 Auxiliary variable. More...
 

RTTI stuff

typedef CLandmarkPtr Ptr
 
typedef CLandmarkPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CLandmark
 
static mrpt::utils::TRuntimeClassId classCLandmark
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CLandmarkPtr Create ()
 

Member Typedef Documentation

typedef CLandmarkPtr mrpt::maps::CLandmark::ConstPtr

Definition at line 37 of file maps/CLandmark.h.

typedef CLandmarkPtr mrpt::maps::CLandmark::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file maps/CLandmark.h.

The type for the IDs of landmarks.

Definition at line 40 of file maps/CLandmark.h.

Constructor & Destructor Documentation

CLandmark::CLandmark ( )

Default constructor.

Definition at line 31 of file CLandmark.cpp.

CLandmark::~CLandmark ( )
virtual

Virtual destructor.

Definition at line 45 of file CLandmark.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CLandmark::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CLandmarkPtr mrpt::maps::CLandmark::Create ( )
static
static mrpt::utils::CObject* mrpt::maps::CLandmark::CreateObject ( )
static
void mrpt::maps::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 83 of file maps/CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), and mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan().

virtual mrpt::utils::CObject* mrpt::maps::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
inlineinherited

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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void CLandmark::getPose ( mrpt::poses::CPointPDFGaussian p) const
void mrpt::maps::CLandmark::getPose ( mrpt::poses::CPoint3D p,
mrpt::math::CMatrixDouble COV 
) const
inline
virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CLandmark::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

mrpt::vision::TFeatureType mrpt::maps::CLandmark::getType ( ) const
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_.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

void mrpt::maps::CLandmark::operator delete ( void ptr)
throw (
)
inline

Definition at line 37 of file maps/CLandmark.h.

void mrpt::maps::CLandmark::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 37 of file maps/CLandmark.h.

void mrpt::maps::CLandmark::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file maps/CLandmark.h.

void mrpt::maps::CLandmark::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 37 of file maps/CLandmark.h.

void* mrpt::maps::CLandmark::operator new ( size_t  size)
inline

Definition at line 37 of file maps/CLandmark.h.

static void* mrpt::maps::CLandmark::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 37 of file maps/CLandmark.h.

void* mrpt::maps::CLandmark::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file maps/CLandmark.h.

void* mrpt::maps::CLandmark::operator new[] ( size_t  size)
inline

Definition at line 37 of file maps/CLandmark.h.

void CLandmark::readFromStream ( mrpt::utils::CStream in,
int  version 
)
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.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 113 of file CLandmark.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION.

void CLandmark::setPose ( const mrpt::poses::CPointPDFGaussian p)
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
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.

Returns
A new 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, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

Referenced by mrpt::poses::operator<<(), mrpt::utils::TCamera::readFromStream(), mrpt::obs::CObservationImage::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), and mrpt::utils::CImage::readFromStream().

void CLandmark::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 91 of file CLandmark.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CLandmark::_init_CLandmark
staticprotected

Definition at line 37 of file maps/CLandmark.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CLandmark::classCLandmark
static

Definition at line 37 of file maps/CLandmark.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::maps::CLandmark::classinfo
static

Definition at line 37 of file maps/CLandmark.h.

std::vector<mrpt::vision::CFeaturePtr> mrpt::maps::CLandmark::features
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:

  • 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 57 of file maps/CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::vision::projectMatchedFeatures(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

CLandmark::TLandmarkID CLandmark::m_counterIDs = static_cast<CLandmark::TLandmarkID>(0)
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.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), and mrpt::vision::projectMatchedFeatures().

float mrpt::maps::CLandmark::pose_cov_11
float mrpt::maps::CLandmark::pose_cov_12
float mrpt::maps::CLandmark::pose_cov_13
float mrpt::maps::CLandmark::pose_cov_22
float mrpt::maps::CLandmark::pose_cov_23
float mrpt::maps::CLandmark::pose_cov_33
mrpt::math::TPoint3D mrpt::maps::CLandmark::pose_mean
uint32_t mrpt::maps::CLandmark::seenTimesCount
mrpt::system::TTimeStamp mrpt::maps::CLandmark::timestampLastSeen



Page generated by Doxygen 1.8.11 for MRPT 1.5.7 Git: 2190203 Tue May 15 02:01:15 2018 +0200 at miƩ may 16 12:40:16 CEST 2018