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<a href="_c_landmark_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CLandmark_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CLandmark_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_matrix_8h.html">mrpt/math/CMatrix.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="os_8h.html">mrpt/system/os.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_point_p_d_f_gaussian_8h.html">mrpt/poses/CPointPDFGaussian.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_feature_8h.html">mrpt/vision/CFeature.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** \ingroup mrpt_vision_grp */</span>
<a name="l00043"></a>00043 <span class="keyword">namespace </span>slam
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>mrpt::vision;
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html#a72b75c4fe8a5d35bdb6068154c5ae427">00049</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html" title="The class for storing "landmarks" (visual or laser-scan-extracted features,...)">CLandmark</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> )
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">/** The class for storing "landmarks" (visual or laser-scan-extracted features,...)</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * The descriptors for each kind of descriptor are stored in the vector "features", which</span>
<a name="l00054"></a>00054 <span class="comment"> * will typically consists of only 1 element, or 2 elements for landmarks obtained from stereo images.</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> * \sa CLandmarksMap</span>
<a name="l00057"></a>00057 <span class="comment"> * \ingroup mrpt_vision_grp</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a>00059 class <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html" title="The class for storing "landmarks" (visual or laser-scan-extracted features,...)">CLandmark</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a14718a8e9bc56f3855a7c732673fb013">00062</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html" title="The class for storing "landmarks" (visual or laser-scan-extracted features,...)">CLandmark</a> )
<a name="l00063"></a>00063
<a name="l00064"></a>00064 public:
<a name="l00065"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">00065</a> typedef int64_t <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9" title="The type for the IDs of landmarks.">TLandmarkID</a>; <span class="comment">//!< The type for the IDs of landmarks.</span>
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#aaf60c0d04f3df38a017333012e8c8666">00067</a> std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a>> features; <span class="comment">//!< The set of features from which the landmark comes.</span>
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#adcda0db4f987dd2ad21caf2bd4e2e0e3">00069</a> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> pose_mean; <span class="comment">//!< The mean of the landmark 3D position.</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a2f2cf7f4f2c6b06063593c848b53f032">00070</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> normal; <span class="comment">//!< The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable</span>
<a name="l00071"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#aeb5e1fb51c23a3cf57a0affb4a704257">00071</a> <span class="comment"></span> <span class="keywordtype">float</span> pose_cov_11,pose_cov_22,pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** An ID for the landmark (see details next...)</span>
<a name="l00074"></a>00074 <span class="comment"> * This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is</span>
<a name="l00075"></a>00075 <span class="comment"> * to provide a way for easily establishing correspondences between landmarks detected</span>
<a name="l00076"></a>00076 <span class="comment"> * in sequential image frames. Thus, the management of this field should be:</span>
<a name="l00077"></a>00077 <span class="comment"> * - 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).</span>
<a name="l00078"></a>00078 <span class="comment"> * - 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.</span>
<a name="l00079"></a>00079 <span class="comment"> *</span>
<a name="l00080"></a>00080 <span class="comment"> * Note that this field is never fill out automatically, it must be set by the programmer if used.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#aa1d301b53ca660ad01bf8fa2023f8a89">00082</a> TLandmarkID ID;
<a name="l00083"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#ab950992ba42aaf426263a6362d520501">00083</a> mrpt::system::<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> timestampLastSeen; <span class="comment">//!< The last time that this landmark was observed.</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a408088894d0ec9b3f62a95156baf45de">00084</a> <span class="comment"></span> uint32_t seenTimesCount; <span class="comment">//!< The number of times that this landmark has been seen.</span>
<a name="l00085"></a>00085 <span class="comment"></span><span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Returns the pose as an object:</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keywordtype">void</span> getPose( <a class="code" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html" title="A gaussian distribution for 3D points.">CPointPDFGaussian</a> &p ) const;
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a942d5314992466299ab50a7cdec1d106">00090</a> <span class="keywordtype">void</span> getPose( <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> &p, <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> &COV )<span class="keyword"> const </span>{
<a name="l00091"></a>00091 <a class="code" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html" title="A gaussian distribution for 3D points.">CPointPDFGaussian</a> pdf;
<a name="l00092"></a>00092 getPose(pdf);
<a name="l00093"></a>00093 p = pdf.<a class="code" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#aefcb9bd895c4e21208159e1a73b6a897" title="The mean value.">mean</a>;
<a name="l00094"></a>00094 COV = <a class="code" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6" title="Declares a matrix of double numbers (non serializable).">CMatrixDouble</a>(pdf.<a class="code" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a663896d54dbbf9e87e2765dd454d5291" title="The 3x3 covariance matrix.">cov</a>);
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Sets the pose from an object:</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 <span class="keywordtype">void</span> setPose( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html" title="A gaussian distribution for 3D points.">CPointPDFGaussian</a> &p );
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Gets the type of the first feature in its feature vector. The vector must not be empty.</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a73fd329cc12ba97ed0c479293fef870d">00103</a> <a class="code" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19" title="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.">TFeatureType</a> getType()<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword"> </span>{ <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>( !features.empty() ); <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(features[0].present()) <span class="keywordflow">return</span> features[0]->type; }
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** 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.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a6f1e37377de17622d969f95a322dd998">00108</a> <span class="keywordtype">void</span> createOneFeature()
<a name="l00109"></a>00109 { features.assign(1, <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a>( <span class="keyword">new</span> <a class="code" href="classmrpt_1_1vision_1_1_c_feature.html" title="A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...">CFeature</a>() ) ); }
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Default constructor</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html" title="The class for storing "landmarks" (visual or laser-scan-extracted features,...)">CLandmark</a>();
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Virtual destructor</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html" title="The class for storing "landmarks" (visual or laser-scan-extracted features,...)">CLandmark</a>();
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Auxiliary variable</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a><a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a6fd3002f1ef743c4d343e895a462ab5c">00122</a> <span class="keyword">static</span> <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9" title="The type for the IDs of landmarks.">TLandmarkID</a> <a class="code" href="classmrpt_1_1slam_1_1_c_landmark.html#a6fd3002f1ef743c4d343e895a462ab5c" title="Auxiliary variable.">m_counterIDs</a>;
<a name="l00123"></a>00123
<a name="l00124"></a>00124 }; <span class="comment">// End of class definition</span>
<a name="l00125"></a>00125
<a name="l00126"></a>00126 } <span class="comment">// End of namespace</span>
<a name="l00127"></a>00127 } <span class="comment">// End of namespace</span>
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="preprocessor">#endif</span>
</pre></div></div>
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