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
using	TLandmarkID = int64_t
	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...

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
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. 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 >

using	UniquePtr = std::unique_ptr< CLandmark >

using	ConstUniquePtr = std::unique_ptr< const CLandmark >

static mrpt::rtti::CLASSINIT	_init_CLandmark

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CLandmark"

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

static constexpr auto	getClassName ()

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

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

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

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::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.

◆ ConstUniquePtr

using mrpt::maps::CLandmark::ConstUniquePtr = std::unique_ptr<const CLandmark >

Definition at line 37 of file CLandmark.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 37 of file CLandmark.h.

◆ TLandmarkID

using mrpt::maps::CLandmark::TLandmarkID = int64_t

The type for the IDs of landmarks.

Definition at line 41 of file CLandmark.h.

◆ UniquePtr

using mrpt::maps::CLandmark::UniquePtr = std::unique_ptr< CLandmark >

Definition at line 37 of file CLandmark.h.

Constructor & Destructor Documentation

◆ CLandmark()

CLandmark::CLandmark ( )

Default constructor.

Definition at line 30 of file CLandmark.cpp.

◆ ~CLandmark()

CLandmark::~CLandmark ( )

virtual

Virtual destructor.

Definition at line 49 of file CLandmark.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::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::rtti::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 111 of file CLandmark.h.

References features.

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

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CLandmark::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 37 of file CLandmark.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

◆ getClassName()

static constexpr auto mrpt::maps::CLandmark::getClassName ( )

inlinestaticconstexpr

Definition at line 37 of file CLandmark.h.

◆ getPose() [1/2]

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.

◆ getPose() [2/2]

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

Returns the pose as an object:

Definition at line 53 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().

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::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().

◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator delete() [2/3]

void mrpt::maps::CLandmark::operator delete ( 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]

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

inlinenoexcept

Definition at line 37 of file CLandmark.h.

◆ operator new() [3/3]

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

inlinestatic

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.

◆ serializeFrom()

void CLandmark::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 94 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.

◆ serializeGetVersion()

uint8_t CLandmark::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 86 of file CLandmark.cpp.

◆ serializeTo()

void CLandmark::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 87 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.

◆ setPose()

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

Sets the pose from an object:

Definition at line 72 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().

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CLandmark

mrpt::rtti::CLASSINIT mrpt::maps::CLandmark::_init_CLandmark

staticprotected

Definition at line 37 of file CLandmark.h.

◆ className

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

staticconstexpr

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(), serializeFrom(), serializeTo(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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(), serializeFrom(), serializeTo(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ m_counterIDs

CLandmark::TLandmarkID CLandmark::m_counterIDs

staticprotected

Initial value:

=

static_cast<CLandmark::TLandmarkID>(0)

Auxiliary variable.

Definition at line 128 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(), serializeFrom(), and serializeTo().

◆ 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(), serializeFrom(), serializeTo(), setPose(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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(), serializeFrom(), serializeTo(), setPose(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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(), serializeFrom(), serializeTo(), setPose(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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(), serializeFrom(), serializeTo(), setPose(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ pose_cov_23

float mrpt::maps::CLandmark::pose_cov_23

Definition at line 52 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(), serializeFrom(), serializeTo(), setPose(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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(), serializeFrom(), serializeTo(), setPose(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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::rtti::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(), serializeFrom(), serializeTo(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ 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(), serializeFrom(), and serializeTo().

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

◆ ConstUniquePtr

◆ Ptr

◆ TLandmarkID

◆ UniquePtr

Constructor & Destructor Documentation

◆ CLandmark()

◆ ~CLandmark()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ createOneFeature()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ 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[]()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ setPose()

◆ writeToMatlab()

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