MRPT
1.9.9
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The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation.
Definition at line 134 of file CLandmarksMap.h.
#include <mrpt/maps/CLandmarksMap.h>
Public Types | |
using | iterator = internal::TSequenceLandmarks::iterator |
using | const_iterator = internal::TSequenceLandmarks::const_iterator |
Public Member Functions | |
TCustomSequenceLandmarks () | |
Default constructor. More... | |
iterator | begin () |
iterator | end () |
void | clear () |
size_t | size () const |
const_iterator | begin () const |
const_iterator | end () const |
void | push_back (const CLandmark &lm) |
The object is copied, thus the original copy passed as a parameter can be released. More... | |
CLandmark * | get (unsigned int indx) |
const CLandmark * | get (unsigned int indx) const |
void | isToBeModified (unsigned int indx) |
void | hasBeenModified (unsigned int indx) |
void | hasBeenModifiedAll () |
void | erase (unsigned int indx) |
mrpt::containers::CDynamicGrid< std::vector< int32_t > > * | getGrid () |
const CLandmark * | getByID (CLandmark::TLandmarkID ID) const |
Returns the landmark with a given landmrk ID, or nullptr if not found. More... | |
const CLandmark * | getByBeaconID (unsigned int ID) const |
Returns the landmark with a given beacon ID, or nullptr if not found. More... | |
float | getLargestDistanceFromOrigin () const |
This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More... | |
Private Attributes | |
internal::TSequenceLandmarks | m_landmarks |
The actual list. More... | |
mrpt::containers::CDynamicGrid< std::vector< int32_t > > | m_grid |
A grid-map with the set of landmarks falling into each cell. More... | |
float | m_largestDistanceFromOrigin {} |
Auxiliary variables used in "getLargestDistanceFromOrigin". More... | |
bool | m_largestDistanceFromOriginIsUpdated {false} |
Auxiliary variables used in "getLargestDistanceFromOrigin". More... | |
using mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::const_iterator = internal::TSequenceLandmarks::const_iterator |
Definition at line 164 of file CLandmarksMap.h.
using mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::iterator = internal::TSequenceLandmarks::iterator |
Definition at line 159 of file CLandmarksMap.h.
CLandmarksMap::TCustomSequenceLandmarks::TCustomSequenceLandmarks | ( | ) |
Default constructor.
Definition at line 1793 of file CLandmarksMap.cpp.
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inline |
Definition at line 160 of file CLandmarksMap.h.
References m_landmarks.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().
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inline |
Definition at line 165 of file CLandmarksMap.h.
References m_landmarks.
void CLandmarksMap::TCustomSequenceLandmarks::clear | ( | ) |
Definition at line 1799 of file CLandmarksMap.cpp.
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inline |
Definition at line 161 of file CLandmarksMap.h.
References m_landmarks.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().
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inline |
Definition at line 166 of file CLandmarksMap.h.
References m_landmarks.
void CLandmarksMap::TCustomSequenceLandmarks::erase | ( | unsigned int | indx | ) |
Definition at line 1859 of file CLandmarksMap.cpp.
CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get | ( | unsigned int | indx | ) |
Definition at line 1830 of file CLandmarksMap.cpp.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::fuseWith().
const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get | ( | unsigned int | indx | ) | const |
Definition at line 1835 of file CLandmarksMap.cpp.
const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID | ( | unsigned int | ID | ) | const |
Returns the landmark with a given beacon ID, or nullptr if not found.
Definition at line 2526 of file CLandmarksMap.cpp.
Referenced by mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().
const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByID | ( | CLandmark::TLandmarkID | ID | ) | const |
Returns the landmark with a given landmrk ID, or nullptr if not found.
Definition at line 2505 of file CLandmarksMap.cpp.
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inline |
Definition at line 178 of file CLandmarksMap.h.
References m_grid.
float CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin | ( | ) | const |
This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).
Definition at line 1923 of file CLandmarksMap.cpp.
References mrpt::square().
Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio().
void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified | ( | unsigned int | indx | ) |
Definition at line 1865 of file CLandmarksMap.cpp.
void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModifiedAll | ( | ) |
Definition at line 1883 of file CLandmarksMap.cpp.
References MRPT_END, and MRPT_START.
void CLandmarksMap::TCustomSequenceLandmarks::isToBeModified | ( | unsigned int | indx | ) |
Definition at line 1841 of file CLandmarksMap.cpp.
void CLandmarksMap::TCustomSequenceLandmarks::push_back | ( | const CLandmark & | lm | ) |
The object is copied, thus the original copy passed as a parameter can be released.
Definition at line 1809 of file CLandmarksMap.cpp.
References ASSERT_, mrpt::maps::CLandmark::pose_mean, mrpt::math::TPoint3D_data< T >::x, and mrpt::math::TPoint3D_data< T >::y.
Referenced by mrpt::vision::projectMatchedFeatures(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().
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inline |
Definition at line 163 of file CLandmarksMap.h.
References m_landmarks.
Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), and mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks().
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private |
A grid-map with the set of landmarks falling into each cell.
Definition at line 142 of file CLandmarksMap.h.
Referenced by getGrid().
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private |
The actual list.
Definition at line 138 of file CLandmarksMap.h.
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mutableprivate |
Auxiliary variables used in "getLargestDistanceFromOrigin".
Definition at line 147 of file CLandmarksMap.h.
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mutableprivate |
Auxiliary variables used in "getLargestDistanceFromOrigin".
Definition at line 152 of file CLandmarksMap.h.
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