mrpt::vision::TKeyPointMethod getType() const
Gets the type of the first feature in its feature vector.
static TLandmarkID m_counterIDs
Auxiliary variable.
void createOneFeature()
Creates one feature in the vector "features", calling the appropriate constructor of the smart pointe...
CPoint3D mean
The mean value.
int64_t TLandmarkID
The type for the IDs of landmarks.
#define ASSERT_(f)
Defines an assertion mechanism.
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
void setPose(const mrpt::poses::CPointPDFGaussian &p)
Sets the pose from an object:
mrpt::math::CMatrixDouble33 cov
The 3x3 covariance matrix.
TKeyPointMethod
Types of key point detectors.
void getPose(mrpt::poses::CPointPDFGaussian &p) const
Returns the pose as an object:
A class used to store a 3D point.
mrpt::system::TTimeStamp timestampLastSeen
The last time that this landmark was observed.
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
mrpt::math::TPoint3D normal
The "normal" to the landmark, i.e.
void getPose(mrpt::poses::CPoint3D &p, mrpt::math::CMatrixDouble &COV) const
std::vector< mrpt::vision::CFeature > features
The set of features from which the landmark comes.
The virtual base class which provides a unified interface for all persistent objects in MRPT...
#define INVALID_LANDMARK_ID
Used for CObservationBearingRange::TMeasurement::beaconID and others.
CLandmark()=default
Default constructor.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
~CLandmark() override
Virtual destructor.
mrpt::math::TPoint3D pose_mean
The mean of the landmark 3D position.
uint32_t seenTimesCount
The number of times that this landmark has been seen.
#define INVALID_TIMESTAMP
Represents an invalid timestamp, where applicable.
A gaussian distribution for 3D points.
TLandmarkID ID
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...
CMatrixDynamic< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).