#include <mrpt/slam/CLandmark.h>
Public Types | |
enum | TLandmarkType { vlColor = 0, vlSIFT, glOccupancy, glPanoramicDescriptor, glBeacon } |
The types of visual landmarks in a CLandmarkVisual class. More... | |
typedef int64_t | TLandmarkID |
The type for the IDs of landmarks. | |
Public Member Functions | |
void | getPose (CPointPDFGaussian *p) const |
Returns the pose as an object:. | |
void | setPose (CPointPDFGaussian *p) |
Sets the pose from an object:. | |
void | setDescriptorFromMatrix (CMatrix &m) |
Sets the descriptor1[0] and [1] to the matrix's number of rows and cols, respectively, and store in "descriptor2" its contents, row by row. | |
void | getDescriptorAsMatrix (CMatrix &m) |
Get the descriptors as a matrix (see setDescriptorFromMatrix). | |
void | setDescriptorFromBeaconID (unsigned int beaconID) |
Sets descriptor1[0]-[3] (and sets it to the proper size) to the given value as being a beacon ID. | |
unsigned int | getDescriptorAsBeaconID () const |
Gets descriptor1[0]-[3] as being a beacon ID. | |
CLandmark () | |
Default constructor. | |
virtual | ~CLandmark () |
Virtual destructor. | |
Public Attributes | |
float | pose_mean_x |
Its probabilistic 3D location. | |
float | pose_mean_y |
float | pose_mean_z |
float | pose_cov_11 |
float | pose_cov_22 |
float | pose_cov_33 |
float | pose_cov_12 |
float | pose_cov_13 |
float | pose_cov_23 |
float | normal_x |
The "normal" to the landmark, i.e. | |
float | normal_y |
float | normal_z |
TLandmarkType | type |
The type of this landmark. | |
TLandmarkID | ID |
An ID for the landmark (see details next. | |
mrpt::system::TTimeStamp | timestampLastSeen |
The last time that this landmark was observed. | |
uint32_t | seenTimesCount |
The number of times that this landmark has been seen. | |
std::vector< unsigned char > | descriptor1 |
The vector containing the feature descriptor, landmark type dependent:
| |
std::vector< float > | descriptor2 |
Static Protected Attributes | |
static TLandmarkID | m_counterIDs |
Auxiliary variable. |
..)
Definition at line 48 of file CLandmark.h.
typedef int64_t mrpt::slam::CLandmark::TLandmarkID |
The types of visual landmarks in a CLandmarkVisual class.
vlColor | Visual landmarks:. |
vlSIFT | |
glOccupancy | Generic landmarks:. |
glPanoramicDescriptor | |
glBeacon |
Definition at line 61 of file CLandmark.h.
mrpt::slam::CLandmark::CLandmark | ( | ) |
Default constructor.
virtual mrpt::slam::CLandmark::~CLandmark | ( | ) | [virtual] |
Virtual destructor.
unsigned int mrpt::slam::CLandmark::getDescriptorAsBeaconID | ( | ) | const |
void mrpt::slam::CLandmark::getDescriptorAsMatrix | ( | CMatrix & | m | ) |
Get the descriptors as a matrix (see setDescriptorFromMatrix).
void mrpt::slam::CLandmark::getPose | ( | CPointPDFGaussian * | p | ) | const |
Returns the pose as an object:.
void mrpt::slam::CLandmark::setDescriptorFromBeaconID | ( | unsigned int | beaconID | ) |
Sets descriptor1[0]-[3] (and sets it to the proper size) to the given value as being a beacon ID.
void mrpt::slam::CLandmark::setDescriptorFromMatrix | ( | CMatrix & | m | ) |
Sets the descriptor1[0] and [1] to the matrix's number of rows and cols, respectively, and store in "descriptor2" its contents, row by row.
void mrpt::slam::CLandmark::setPose | ( | CPointPDFGaussian * | p | ) |
Sets the pose from an object:.
std::vector<unsigned char> mrpt::slam::CLandmark::descriptor1 |
The vector containing the feature descriptor, landmark type dependent:
Definition at line 156 of file CLandmark.h.
std::vector<float> mrpt::slam::CLandmark::descriptor2 |
Definition at line 157 of file CLandmark.h.
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:
Note that this field is never fill out automatically, it must be set by the programmer if used.
Definition at line 124 of file CLandmark.h.
TLandmarkID mrpt::slam::CLandmark::m_counterIDs [static, protected] |
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 82 of file CLandmark.h.
Definition at line 82 of file CLandmark.h.
Definition at line 82 of file CLandmark.h.
Definition at line 78 of file CLandmark.h.
Definition at line 78 of file CLandmark.h.
Definition at line 78 of file CLandmark.h.
Definition at line 78 of file CLandmark.h.
Definition at line 78 of file CLandmark.h.
Definition at line 78 of file CLandmark.h.
Definition at line 77 of file CLandmark.h.
Definition at line 77 of file CLandmark.h.
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