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 35 of file CLandmark.h.

#include <mrpt/maps/CLandmark.h>

Inheritance diagram for mrpt::maps::CLandmark:

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) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

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...

RTTI classes and functions
mrpt::utils::CObject::Ptr	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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
std::vector< mrpt::vision::CFeature::Ptr >	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. 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...

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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
using	Ptr = std::shared_ptr< CLandmark >

using	ConstPtr = std::shared_ptr< const CLandmark >

static mrpt::utils::CLASSINIT	_init_CLandmark

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CLandmark"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::maps::CLandmark::ConstPtr = std::shared_ptr<const CLandmark >

Definition at line 37 of file CLandmark.h.

◆ Ptr

using mrpt::maps::CLandmark::Ptr = std::shared_ptr< CLandmark >

A typedef for the associated smart pointer

Definition at line 37 of file CLandmark.h.

◆ TLandmarkID

typedef int64_t mrpt::maps::CLandmark::TLandmarkID

The type for the IDs of landmarks.

Definition at line 41 of file CLandmark.h.

Constructor & Destructor Documentation

◆ CLandmark()

CLandmark::CLandmark ( )

Default constructor.

Definition at line 31 of file CLandmark.cpp.

◆ ~CLandmark()

CLandmark::~CLandmark ( )

virtual

Virtual destructor.

Definition at line 50 of file CLandmark.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CLandmark::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::maps::CLandmark::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CLandmark::Create ( Args &&... args )

inlinestatic

Definition at line 37 of file CLandmark.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::CLandmark::CreateObject ( )

static

◆ createOneFeature()

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 110 of file CLandmark.h.

References features.

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

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◆ getPose() [1/2]

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

Returns the pose as an object:

Definition at line 54 of file CLandmark.cpp.

References mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPointPDFGaussian::mean, pose_cov_11, pose_cov_12, pose_cov_13, pose_cov_22, pose_cov_23, pose_cov_33, pose_mean, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::fuseWith(), and getPose().

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◆ getPose() [2/2]

void mrpt::maps::CLandmark::getPose	(	mrpt::poses::CPoint3D &	p,
		mrpt::math::CMatrixDouble &	COV
	)		const

inline

Definition at line 85 of file CLandmark.h.

References mrpt::poses::CPointPDFGaussian::cov, getPose(), and mrpt::poses::CPointPDFGaussian::mean.

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CLandmark::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::maps::CLandmark::GetRuntimeClassIdStatic ( )

static

◆ getType()

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 100 of file CLandmark.h.

References ASSERT_, and features.

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

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◆ operator delete() [1/3]

void mrpt::maps::CLandmark::operator delete ( void * ptr )

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator new() [1/3]

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

inline

Definition at line 37 of file CLandmark.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 37 of file CLandmark.h.

◆ operator new() [3/3]

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

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator new[]()

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

inline

Definition at line 37 of file CLandmark.h.

◆ readFromStream()

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

overrideprotectedvirtual

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

Implements mrpt::utils::CSerializable.

Definition at line 109 of file CLandmark.cpp.

References features, ID, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, normal, pose_cov_11, pose_cov_12, pose_cov_13, pose_cov_22, pose_cov_23, pose_cov_33, pose_mean, seenTimesCount, THROW_EXCEPTION, and timestampLastSeen.

◆ setPose()

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

Sets the pose from an object:

Definition at line 73 of file CLandmark.cpp.

References mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPointPDFGaussian::mean, pose_cov_11, pose_cov_12, pose_cov_13, pose_cov_22, pose_cov_23, pose_cov_33, pose_mean, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

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◆ writeToMatlab()

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 nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

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

overrideprotectedvirtual

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 nullptr, 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

Implements mrpt::utils::CSerializable.

Definition at line 92 of file CLandmark.cpp.

References features, ID, normal, pose_cov_11, pose_cov_12, pose_cov_13, pose_cov_22, pose_cov_23, pose_cov_33, pose_mean, seenTimesCount, and timestampLastSeen.

Member Data Documentation

◆ _init_CLandmark

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

staticprotected

Definition at line 37 of file CLandmark.h.

◆ className

constexpr const char* mrpt::maps::CLandmark::className = "CLandmark"

static

Definition at line 37 of file CLandmark.h.

◆ features

std::vector<mrpt::vision::CFeature::Ptr> mrpt::maps::CLandmark::features

The set of features from which the landmark comes.

Definition at line 44 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), createOneFeature(), getType(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ ID

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 75 of file CLandmark.h.

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

◆ m_counterIDs

CLandmark::TLandmarkID CLandmark::m_counterIDs

staticprotected

Initial value:

=

static_cast<CLandmark::TLandmarkID>(0)

Auxiliary variable.

Definition at line 127 of file CLandmark.h.

◆ normal

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 50 of file CLandmark.h.

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

◆ pose_cov_11

float mrpt::maps::CLandmark::pose_cov_11

Definition at line 51 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), getPose(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), setPose(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ pose_cov_12

float mrpt::maps::CLandmark::pose_cov_12

Definition at line 51 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), getPose(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), setPose(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ pose_cov_13

float mrpt::maps::CLandmark::pose_cov_13

Definition at line 51 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), getPose(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), setPose(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ pose_cov_22

float mrpt::maps::CLandmark::pose_cov_22

Definition at line 51 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), getPose(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), setPose(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ pose_cov_23

float mrpt::maps::CLandmark::pose_cov_23

Definition at line 51 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), getPose(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), setPose(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ pose_cov_33

float mrpt::maps::CLandmark::pose_cov_33

Definition at line 51 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), getPose(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), readFromStream(), setPose(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ pose_mean

mrpt::math::TPoint3D mrpt::maps::CLandmark::pose_mean

The mean of the landmark 3D position.

Definition at line 47 of file CLandmark.h.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::CLandmark::runtimeClassId

staticprotected

Definition at line 37 of file CLandmark.h.

◆ seenTimesCount

uint32_t mrpt::maps::CLandmark::seenTimesCount

The number of times that this landmark has been seen.

Definition at line 79 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), readFromStream(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), and writeToStream().

◆ timestampLastSeen

mrpt::system::TTimeStamp mrpt::maps::CLandmark::timestampLastSeen

The last time that this landmark was observed.

Definition at line 77 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), readFromStream(), and writeToStream().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TLandmarkID

Constructor & Destructor Documentation

◆ CLandmark()

◆ ~CLandmark()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ createOneFeature()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getType()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ setPose()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CLandmark

◆ className

◆ features

◆ ID

◆ m_counterIDs

◆ normal

◆ pose_cov_11

◆ pose_cov_12

◆ pose_cov_13

◆ pose_cov_22

◆ pose_cov_23

◆ pose_cov_33

◆ pose_mean

◆ runtimeClassId

◆ seenTimesCount

◆ timestampLastSeen