42 std::vector<mrpt::vision::CFeaturePtr>
features;
46 float pose_cov_11,pose_cov_22,pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;
79 {
ASSERT_( !features.empty() );
ASSERT_(features[0].present())
return features[0]->type; }
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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 class for storing "landmarks" (visual or laser-scan-extracted features,...)
mrpt::math::TPoint3D pose_mean
The mean of the landmark 3D position.
int64_t TLandmarkID
The type for the IDs of landmarks.
void getPose(mrpt::poses::CPoint3D &p, mrpt::math::CMatrixDouble &COV) const
void createOneFeature()
Creates one feature in the vector "features", calling the appropriate constructor of the smart pointe...
uint32_t seenTimesCount
The number of times that this landmark has been seen.
TLandmarkID ID
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...
virtual ~CLandmark()
Virtual destructor.
mrpt::math::TPoint3D normal
The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction,...
mrpt::system::TTimeStamp timestampLastSeen
The last time that this landmark was observed.
mrpt::vision::TFeatureType getType() const
Gets the type of the first feature in its feature vector.
void setPose(const mrpt::poses::CPointPDFGaussian &p)
Sets the pose from an object:
void getPose(mrpt::poses::CPointPDFGaussian &p) const
Returns the pose as an object:
std::vector< mrpt::vision::CFeaturePtr > features
The set of features from which the landmark comes.
CLandmark()
Default constructor.
static TLandmarkID m_counterIDs
Auxiliary variable.
A class used to store a 3D point.
A gaussian distribution for 3D points.
mrpt::math::CMatrixDouble33 cov
The 3x3 covariance matrix.
CPoint3D mean
The mean value.
A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...
TFeatureType
Types of features - This means that the point has been detected with this algorithm,...
struct VISION_IMPEXP CFeaturePtr
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
CMatrixTemplateNumeric< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.