Abstract class for 3D Landmarks. More...

#include <ALandmark.h>

Inheritance diagram for isae::ALandmark:

[legend]

Collaboration diagram for isae::ALandmark:

Public Member Functions
	ALandmark ()

	ALandmark (Eigen::Affine3d T_w_l, std::vector< std::shared_ptr< isae::AFeature >> features)

	~ALandmark ()

virtual void	init (Eigen::Affine3d T_w_l, std::vector< std::shared_ptr< isae::AFeature >> features)
	Virtual Function to properly initialize a landmark. More...

void	addFeature (std::shared_ptr< AFeature > feature)

std::vector< std::weak_ptr< AFeature > >	getFeatures ()

void	removeExpiredFeatures ()
	Remove features that are not linked to anything. More...

void	removeFeature (std::shared_ptr< AFeature > f)

bool	fuseWithLandmark (std::shared_ptr< ALandmark > landmark)
	Fuse this landmark with another one, the feature sets are merged. More...

void	setPose (Eigen::Affine3d T_w_l)

void	setPosition (Eigen::Vector3d t_w_l)
	Set only the translation of the landmark pose. More...

Eigen::Affine3d	getPose () const

std::vector< Eigen::Vector3d >	getModelPoints ()

std::shared_ptr< AModel3d >	getModel () const

cv::Mat	getDescriptor () const

void	setDescriptor (cv::Mat descriptor)

bool	isInitialized () const

void	setUninitialized ()

void	setInMap ()

bool	isInMap ()

bool	sanityCheck ()
	Check if the landmark is valid in terms of reprojection error and number of features. More...

virtual double	chi2err (std::shared_ptr< AFeature > f)
	Compute the chi2 error for a given feature. More...

double	avgChi2err ()
	Compute the average chi2 error for all features associated to the landmark. More...

bool	isOutlier () const

void	setOutlier ()

void	setInlier ()

bool	isResurected () const

void	setResurected ()

bool	hasPrior () const

void	setPrior ()

bool	isMarg () const

void	setMarg ()

Public Attributes
int	_id
	Unique id for the landmark, used for bookeeping. More...

std::string	_label
	Label for the landmark. More...

Static Public Attributes
static int	_landmark_count = 0
	Static counter for landmarks, used for unique id generation. More...

Protected Attributes
bool	_initialized = false
	Flag to check if the landmark is initialized. More...

bool	_in_map = false
	Flag to check if the landmark is in the map. More...

bool	_outlier = false
	Flag to check if the landmark is an outlier. More...

bool	_is_resurected = false
	Flag to check if the landmark has been resurected. More...

bool	_has_prior = false
	Flag to check if the landmark has a prior. More...

bool	_is_marg = false
	Flag to check if the landmark is marginalised. More...

Eigen::Affine3d	_T_w_l
	Landmark pose in world frame. More...

cv::Mat	_descriptor
	Descriptor of the landmark, used for matching. More...

std::shared_ptr< AModel3d >	_model
	3D model of the landmark More...

std::vector< std::weak_ptr< AFeature > >	_features
	Features associated to the landmark. More...

std::mutex	_lmk_mtx

Detailed Description

Abstract class for 3D Landmarks.

It contains a 6DoF pose and a 3D model for a general formulation. It also contains a set of features that are associated to the landmark.

Constructor & Destructor Documentation

◆ ALandmark() [1/2]

isae::ALandmark::ALandmark ( )

inline

◆ ALandmark() [2/2]

isae::ALandmark::ALandmark	(	Eigen::Affine3d	T_w_l,
		std::vector< std::shared_ptr< isae::AFeature >>	features
	)

◆ ~ALandmark()

isae::ALandmark::~ALandmark ( )

inline

Member Function Documentation

◆ addFeature()

void isae::ALandmark::addFeature ( std::shared_ptr< AFeature > feature )

◆ avgChi2err()

double isae::ALandmark::avgChi2err ( )

Compute the average chi2 error for all features associated to the landmark.

◆ chi2err()

double isae::ALandmark::chi2err ( std::shared_ptr< AFeature > f )

virtual

Compute the chi2 error for a given feature.

Reimplemented in isae::Line3D.

◆ fuseWithLandmark()

bool isae::ALandmark::fuseWithLandmark ( std::shared_ptr< ALandmark > landmark )

Fuse this landmark with another one, the feature sets are merged.

If there is a wrong behavior in the association, it returns false

◆ getDescriptor()

cv::Mat isae::ALandmark::getDescriptor ( ) const

inline

◆ getFeatures()

std::vector<std::weak_ptr<AFeature> > isae::ALandmark::getFeatures ( )

inline

◆ getModel()

std::shared_ptr<AModel3d> isae::ALandmark::getModel ( ) const

inline

◆ getModelPoints()

std::vector<Eigen::Vector3d> isae::ALandmark::getModelPoints ( )

inline

◆ getPose()

Eigen::Affine3d isae::ALandmark::getPose ( ) const

inline

◆ hasPrior()

bool isae::ALandmark::hasPrior ( ) const

inline

◆ init()

void isae::ALandmark::init	(	Eigen::Affine3d	T_w_l,
		std::vector< std::shared_ptr< isae::AFeature >>	features
	)

virtual

Virtual Function to properly initialize a landmark.

◆ isInitialized()

bool isae::ALandmark::isInitialized ( ) const

inline

◆ isInMap()

bool isae::ALandmark::isInMap ( )

inline

◆ isMarg()

bool isae::ALandmark::isMarg ( ) const

inline

◆ isOutlier()

bool isae::ALandmark::isOutlier ( ) const

inline

◆ isResurected()

bool isae::ALandmark::isResurected ( ) const

inline

◆ removeExpiredFeatures()

void isae::ALandmark::removeExpiredFeatures ( )

Remove features that are not linked to anything.

◆ removeFeature()

void isae::ALandmark::removeFeature ( std::shared_ptr< AFeature > f )

◆ sanityCheck()

bool isae::ALandmark::sanityCheck ( )

Check if the landmark is valid in terms of reprojection error and number of features.

◆ setDescriptor()

void isae::ALandmark::setDescriptor ( cv::Mat descriptor )

inline

◆ setInlier()

void isae::ALandmark::setInlier ( )

inline

◆ setInMap()

void isae::ALandmark::setInMap ( )

inline

◆ setMarg()

void isae::ALandmark::setMarg ( )

inline

◆ setOutlier()

void isae::ALandmark::setOutlier ( )

inline

◆ setPose()

void isae::ALandmark::setPose ( Eigen::Affine3d T_w_l )

inline

◆ setPosition()

void isae::ALandmark::setPosition ( Eigen::Vector3d t_w_l )

inline

Set only the translation of the landmark pose.

◆ setPrior()

void isae::ALandmark::setPrior ( )

inline

◆ setResurected()

void isae::ALandmark::setResurected ( )

inline

◆ setUninitialized()

void isae::ALandmark::setUninitialized ( )

inline

Member Data Documentation

◆ _descriptor

cv::Mat isae::ALandmark::_descriptor

protected

Descriptor of the landmark, used for matching.

◆ _features

std::vector<std::weak_ptr<AFeature> > isae::ALandmark::_features

protected

Features associated to the landmark.

◆ _has_prior

bool isae::ALandmark::_has_prior = false

protected

Flag to check if the landmark has a prior.

◆ _id

int isae::ALandmark::_id

Unique id for the landmark, used for bookeeping.

◆ _in_map

bool isae::ALandmark::_in_map = false

protected

Flag to check if the landmark is in the map.

◆ _initialized

bool isae::ALandmark::_initialized = false

protected

Flag to check if the landmark is initialized.

◆ _is_marg

bool isae::ALandmark::_is_marg = false

protected

Flag to check if the landmark is marginalised.

◆ _is_resurected

bool isae::ALandmark::_is_resurected = false

protected

Flag to check if the landmark has been resurected.

◆ _label

std::string isae::ALandmark::_label

Label for the landmark.

◆ _landmark_count

int isae::ALandmark::_landmark_count = 0

static

Static counter for landmarks, used for unique id generation.

◆ _lmk_mtx

std::mutex isae::ALandmark::_lmk_mtx

mutableprotected

◆ _model

std::shared_ptr<AModel3d> isae::ALandmark::_model

protected

3D model of the landmark

◆ _outlier

bool isae::ALandmark::_outlier = false

protected

Flag to check if the landmark is an outlier.

◆ _T_w_l

Eigen::Affine3d isae::ALandmark::_T_w_l

protected

Landmark pose in world frame.

The documentation for this class was generated from the following files:

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/landmarks/ALandmark.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/landmarks/ALandmark.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ALandmark() [1/2]

◆ ALandmark() [2/2]

◆ ~ALandmark()

Member Function Documentation

◆ addFeature()

◆ avgChi2err()

◆ chi2err()

◆ fuseWithLandmark()

◆ getDescriptor()

◆ getFeatures()

◆ getModel()

◆ getModelPoints()

◆ getPose()

◆ hasPrior()

◆ init()

◆ isInitialized()

◆ isInMap()

◆ isMarg()

◆ isOutlier()

◆ isResurected()

◆ removeExpiredFeatures()

◆ removeFeature()

◆ sanityCheck()

◆ setDescriptor()

◆ setInlier()

◆ setInMap()

◆ setMarg()

◆ setOutlier()

◆ setPose()

◆ setPosition()

◆ setPrior()

◆ setResurected()

◆ setUninitialized()

Member Data Documentation

◆ _descriptor

◆ _features

◆ _has_prior

◆ _id

◆ _in_map

◆ _initialized

◆ _is_marg

◆ _is_resurected

◆ _label

◆ _landmark_count

◆ _lmk_mtx

◆ _model

◆ _outlier

◆ _T_w_l