42 std::vector<
mrpt::vision::CFeaturePtr> features;
44 mrpt::math::TPoint3D pose_mean;
45 mrpt::math::TPoint3D normal;
46 float pose_cov_11,pose_cov_22,pose_cov_33,pose_cov_12,pose_cov_13,pose_cov_23;
59 uint32_t seenTimesCount;
63 void getPose(
mrpt::poses::CPointPDFGaussian &p ) const;
79 {
ASSERT_( !features.empty() );
ASSERT_(features[0].present())
return features[0]->type; }
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
void createOneFeature()
Creates one feature in the vector "features", calling the appropriate constructor of the smart pointe...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
mrpt::maps::CLandmark CLandmark
Backward compatible typedef.
CPoint3D mean
The mean value.
int64_t TLandmarkID
The type for the IDs of landmarks.
#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...
class BASE_IMPEXP CSerializable
mrpt::math::CMatrixDouble33 cov
The 3x3 covariance matrix.
CMatrixTemplateNumeric< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).
A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...
static TLandmarkID m_counterIDs
Auxiliary variable.
TFeatureType
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The class for storing "landmarks" (visual or laser-scan-extracted features,...)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::vision::TFeatureType getType() const
Gets the type of the first feature in its feature vector.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A gaussian distribution for 3D points.