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CLandmark.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CLandmark_H
00029 #define CLandmark_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/math/CMatrix.h>
00033 #include <mrpt/system/os.h>
00034 #include <mrpt/poses/CPointPDFGaussian.h>
00035 #include <mrpt/poses/CPoint3D.h>
00036 #include <mrpt/vision/CFeature.h>
00037 #include <mrpt/math/lightweight_geom_data.h>
00038 
00039 
00040 namespace mrpt
00041 {
00042         namespace slam
00043         {
00044                 using namespace mrpt::poses;
00045                 using namespace mrpt::vision;
00046                 using namespace mrpt::math;
00047 
00048                 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLandmark, mrpt::utils::CSerializable, VISION_IMPEXP )
00049 
00050                 /** The class for storing "landmarks" (visual or laser-scan-extracted features,...)
00051                   *
00052                   *  The descriptors for each kind of descriptor are stored in the vector "features", which
00053                   *   will typically consists of only 1 element, or 2 elements for landmarks obtained from stereo images.
00054                   *
00055                   * \sa CLandmarksMap
00056                   */
00057                 class VISION_IMPEXP CLandmark : public mrpt::utils::CSerializable
00058                 {
00059                         // This must be added to any CSerializable derived class:
00060                         DEFINE_SERIALIZABLE( CLandmark )
00061 
00062                 public:
00063                         typedef int64_t TLandmarkID;                                    //!< The type for the IDs of landmarks.
00064 
00065                         std::vector<CFeaturePtr> features;              //!< The set of features from which the landmark comes.
00066 
00067                         TPoint3D pose_mean;                                     //!< The mean of the landmark 3D position.
00068                         TPoint3D normal;                                        //!< The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable
00069                         float   pose_cov_11,pose_cov_22,pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;
00070 
00071                         /** An ID for the landmark (see details next...)
00072                           *  This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is
00073                           *  to provide a way for easily establishing correspondences between landmarks detected
00074                           *  in sequential image frames. Thus, the management of this field should be:
00075                           *             - 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).
00076                           *             - 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 <b>correspond</b> to the same physical feature, BUT it should not be expected the inverse to be always true.
00077                           *
00078                           * Note that this field is never fill out automatically, it must be set by the programmer if used.
00079                           */
00080                         TLandmarkID                                     ID;
00081                         mrpt::system::TTimeStamp        timestampLastSeen;      //!< The last time that this landmark was observed.
00082                         uint32_t                                        seenTimesCount;         //!< The number of times that this landmark has been seen.
00083 
00084                         /** Returns the pose as an object:
00085                           */
00086                         void    getPose( CPointPDFGaussian &p ) const;
00087 
00088                         void    getPose( CPoint3D &p, CMatrixDouble &COV ) const {
00089                                 CPointPDFGaussian pdf;
00090                                 getPose(pdf);
00091                                 p = pdf.mean;
00092                                 COV = CMatrixDouble(pdf.cov);
00093                         }
00094 
00095                         /** Sets the pose from an object:
00096                           */
00097                         void    setPose( const CPointPDFGaussian &p );
00098 
00099                         /** Gets the type of the first feature in its feature vector. The vector must not be empty.
00100                           */
00101                         TFeatureType getType() const
00102                         { ASSERT_( !features.empty() ); ASSERT_(features[0].present()) return features[0]->type; }
00103 
00104                         /** Creates one feature in the vector "features", calling the appropriate constructor of the smart pointer, so after calling this method "features[0]" is a valid pointer to a CFeature object.
00105                           */
00106                         void createOneFeature()
00107                         { features.assign(1, CFeaturePtr( new CFeature() ) ); }
00108 
00109                         /** Default constructor
00110                           */
00111                         CLandmark();
00112 
00113                         /** Virtual destructor
00114                           */
00115                         virtual ~CLandmark();
00116 
00117                 protected:
00118                         /** Auxiliary variable
00119                           */
00120                         static TLandmarkID              m_counterIDs;
00121 
00122                 }; // End of class definition
00123 
00124         } // End of namespace
00125 } // End of namespace
00126 
00127 #endif



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