MRPT logo

mrpt::slam::CLandmark Class Reference

The class for storing "landmarks" (visual or laser-scan-extracted features,. More...

#include <mrpt/slam/CLandmark.h>

Inheritance diagram for mrpt::slam::CLandmark:

mrpt::utils::CSerializable

List of all members.

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:
  • type = vlColor
    • descriptor1 = 1x3 matrix with RGB components in the range [0,255]
    • descriptor2 = Empty.

std::vector< float > descriptor2

Static Protected Attributes

static TLandmarkID m_counterIDs
 Auxiliary variable.


Detailed Description

The class for storing "landmarks" (visual or laser-scan-extracted features,.

..)

See also:
CLandmarksMap

Definition at line 48 of file CLandmark.h.


Member Typedef Documentation

The type for the IDs of landmarks.

Definition at line 56 of file CLandmark.h.


Member Enumeration Documentation

The types of visual landmarks in a CLandmarkVisual class.

See also:
descriptor
Enumerator:
vlColor  Visual landmarks:.
vlSIFT 
glOccupancy  Generic landmarks:.
glPanoramicDescriptor 
glBeacon 

Definition at line 61 of file CLandmark.h.


Constructor & Destructor Documentation

mrpt::slam::CLandmark::CLandmark (  ) 

Default constructor.

virtual mrpt::slam::CLandmark::~CLandmark (  )  [virtual]

Virtual destructor.


Member Function Documentation

unsigned int mrpt::slam::CLandmark::getDescriptorAsBeaconID (  )  const

Gets descriptor1[0]-[3] as being a beacon ID.

See also:
setDescriptorFromBeaconID

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.

See also:
getDescriptorAsBeaconID

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.

See also:
getDescriptorAsMatrix

void mrpt::slam::CLandmark::setPose ( CPointPDFGaussian p  ) 

Sets the pose from an object:.


Member Data Documentation

std::vector<unsigned char> mrpt::slam::CLandmark::descriptor1

The vector containing the feature descriptor, landmark type dependent:

  • type = vlColor
    • descriptor1 = 1x3 matrix with RGB components in the range [0,255]
    • descriptor2 = Empty.

  • type = vlSIFT
    • descriptor1 = 1xN matrix with the SIFT descriptor (typ N=128)
    • descriptor2 = [0]=Orientation in radians, [1]=Scale

  • type = glOccupancy
    • descriptor1 = Empty
    • descriptor2 = 1x2 matrix with the angular direction (theta) and distance (d) from the range scan.

  • type = glPanoramicDescriptor
    • descriptor1 = [0] is the number of rows R, [1] is the number of columns C
    • descriptor2 = An RxC matrix, stored row by row (first row first), containing the "panoramic descriptor"

  • type = glBeacon
    • descriptor1 = 1x4 vector: [0]-[3] is the beacon ID. Use in this way: (*((unsigned int*) &descriptor1[0])
    • descriptor2 = Not used

Definition at line 156 of file CLandmark.h.

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:

  • 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 124 of file CLandmark.h.

Auxiliary variable.

Definition at line 170 of file CLandmark.h.

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.

Its probabilistic 3D location.

Definition at line 77 of file CLandmark.h.

Definition at line 77 of file CLandmark.h.

Definition at line 77 of file CLandmark.h.

The number of times that this landmark has been seen.

Definition at line 132 of file CLandmark.h.

The last time that this landmark was observed.

Definition at line 128 of file CLandmark.h.

The type of this landmark.

Definition at line 113 of file CLandmark.h.




Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN:exported at Mon Jan 12 13:00:16 UTC 2009