( !features.empty() ); ASSERT_
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
static TLandmarkID m_counterIDs
Creates one feature in the vector "features", calling the appropriate constructor of the smart pointe...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Backward compatible typedef.
The mean value.
The type for the IDs of landmarks.
std::vector< mrpt::vision::CFeaturePtr > features
The set of features from which the landmark comes.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
The 3x3 covariance matrix.
CMatrixTemplateNumeric< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).
A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...
A class used to store a 3D point.
The last time that this landmark was observed.
Types of features - This means that the point has been detected with this algorithm, which is independent of additional descriptors a feature may also have.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable.
void getPose(mrpt::poses::CPoint3D &p, mrpt::math::CMatrixDouble &COV) const
mrpt::vision::TFeatureType getType() const
Gets the type of the first feature in its feature vector.
The mean of the landmark 3D position.
unsigned __int32 uint32_t
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
The number of times that this landmark has been seen.
A gaussian distribution for 3D points.
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...