CLandmark.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CLandmark_H
#define CLandmark_H

#include <mrpt/serialization/CSerializable.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/system/datetime.h>
#include <mrpt/poses/CPointPDFGaussian.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/vision/CFeature.h>
#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt::maps
{
/** 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.
  *
  * \sa CLandmarksMap
  * \ingroup mrpt_vision_grp
  */
class CLandmark : public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(CLandmark)

   public:
    /** The type for the IDs of landmarks. */
    using TLandmarkID = int64_t;

    /** The set of features from which the landmark comes. */
    std::vector<mrpt::vision::CFeature::Ptr> features;

    /** The mean of the landmark 3D position. */
    mrpt::math::TPoint3D pose_mean;
    /** The "normal" to the landmark, i.e. a unitary 3D vector towards the
     * viewing direction, or a null vector if not applicable */
    mrpt::math::TPoint3D normal;
    float pose_cov_11, pose_cov_22, pose_cov_33, pose_cov_12, pose_cov_13,
        pose_cov_23;

    /** 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
      *<b>correspond</b> 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.
      */
    TLandmarkID ID;
    /** The last time that this landmark was observed. */
    mrpt::system::TTimeStamp timestampLastSeen;
    /** The number of times that this landmark has been seen. */
    uint32_t seenTimesCount;

    /** Returns the pose as an object:
      */
    void getPose(mrpt::poses::CPointPDFGaussian& p) const;

    void getPose(mrpt::poses::CPoint3D& p, mrpt::math::CMatrixDouble& COV) const
    {
        mrpt::poses::CPointPDFGaussian pdf;
        getPose(pdf);
        p = pdf.mean;
        COV = mrpt::math::CMatrixDouble(pdf.cov);
    }

    /** Sets the pose from an object:
      */
    void setPose(const mrpt::poses::CPointPDFGaussian& p);

    /** Gets the type of the first feature in its feature vector. The vector
     * must not be empty.
      */
    mrpt::vision::TFeatureType getType() const
    {
        ASSERT_(!features.empty());
        ASSERT_(features[0]);
        return features[0]->type;
    }

    /** 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.
      */
    void createOneFeature()
    {
        features.assign(
            1, mrpt::vision::CFeature::Ptr(new mrpt::vision::CFeature()));
    }

    /** Default constructor
      */
    CLandmark();

    /** Virtual destructor
      */
    virtual ~CLandmark();

   protected:
    /** Auxiliary variable
      */
    static TLandmarkID m_counterIDs;

};  // End of class definition

}
#endif