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	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::TKeyPointMethod	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
	Default constructor. More...

	~CLandmark () override
	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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
std::vector< mrpt::vision::CFeature >	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 {INVALID_LANDMARK_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 {INVALID_TIMESTAMP}
	The last time that this landmark was observed. More...

uint32_t	seenTimesCount {0}
	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...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Static Protected Attributes
static TLandmarkID	m_counterIDs
	Auxiliary variable. More...

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

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

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

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

static constexpr auto	getClassName ()

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

static std::shared_ptr< CObject >	CreateObject ()

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

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, 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 mrpt::maps :: CLandmark >

Definition at line 37 of file CLandmark.h.

◆ ConstUniquePtr

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

Definition at line 37 of file CLandmark.h.

◆ Ptr

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

Definition at line 37 of file CLandmark.h.

Constructor & Destructor Documentation

◆ CLandmark()

mrpt::maps::CLandmark::CLandmark ( )

default

Default constructor.

◆ ~CLandmark()

CLandmark::~CLandmark ( )

overridedefault

Virtual destructor.

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.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CLandmark::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 37 of file CLandmark.h.

◆ CreateObject()

static std::shared_ptr<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 112 of file CLandmark.h.

References features.

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

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◆ 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

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

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

inlinestatic

Definition at line 37 of file CLandmark.h.

◆ getPose() [1/2]

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

Returns the pose as an object:

Definition at line 32 of file CLandmark.cpp.

References mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPointPDFGaussian::mean, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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 87 of file CLandmark.h.

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

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◆ 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::TKeyPointMethod 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 102 of file CLandmark.h.

References ASSERT_, and features.

◆ serializeFrom() [1/2]

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 73 of file CLandmark.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ 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 65 of file CLandmark.cpp.

◆ serializeTo() [1/2]

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 66 of file CLandmark.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setPose()

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

Sets the pose from an object:

Definition at line 51 of file CLandmark.cpp.

References mrpt::poses::CPointPDFGaussian::cov, mrpt::d2f(), mrpt::poses::CPointPDFGaussian::mean, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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

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◆ 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 90 of file CSerializable.h.

Member Data Documentation

◆ className

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

static

Definition at line 37 of file CLandmark.h.

◆ features

std::vector<mrpt::vision::CFeature> 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(), mrpt::apps::CGridMapAlignerApp::run(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ ID

TLandmarkID mrpt::maps::CLandmark::ID {INVALID_LANDMARK_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(), 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 123 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(), and mrpt::vision::projectMatchedFeatures().

◆ pose_cov_11

float mrpt::maps::CLandmark::pose_cov_11 {}

Definition at line 51 of file CLandmark.h.

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

◆ pose_cov_13

float mrpt::maps::CLandmark::pose_cov_13 {}

Definition at line 52 of file CLandmark.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), 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(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), 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(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), 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(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), 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 {0}

The number of times that this landmark has been seen.

Definition at line 81 of file CLandmark.h.

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

◆ timestampLastSeen

mrpt::system::TTimeStamp mrpt::maps::CLandmark::timestampLastSeen {INVALID_TIMESTAMP}

The last time that this landmark was observed.

Definition at line 78 of file CLandmark.h.

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

Detailed Description

Public Types

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()

◆ CreateAlloc()

◆ CreateObject()

◆ createOneFeature()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getType()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setPose()

◆ writeToMatlab()

Member Data Documentation

◆ 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