<trclass="memdesc:a1fda87c27ac931dcf9815921b53c1f19"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Constructs a landmark with size, pose, and covariance. <br/></td></tr>
<trclass="memitem:a92311f7550e395fea804c5438e9085ff"id="r_a92311f7550e395fea804c5438e9085ff"><tdclass="memItemLeft"align="right"valign="top">RTABMAP_DEPRECATED </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1Landmark.html#a92311f7550e395fea804c5438e9085ff">Landmark</a> (const int &<aclass="el"href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a>, const <aclass="el"href="classrtabmap_1_1Transform.html">Transform</a>&<aclass="el"href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a>, const cv::Mat &<aclass="el"href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a>)</td></tr>
<trclass="memdesc:a92311f7550e395fea804c5438e9085ff"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Deprecated; use the constructor with explicit <code>size</code> (<code>0</code> if unknown). <br/></td></tr>
<trclass="memitem:a2b5a5cbdb313813e3bb473a05b1145e2"id="r_a2b5a5cbdb313813e3bb473a05b1145e2"><tdclass="memItemLeft"align="right"valign="top">const int & </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a> () const</td></tr>
<divclass="textblock"><p>Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. </p>
<p>Stores a positive landmark <aclass="el"href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id()</a>, optional physical <aclass="el"href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size()</a> (m), world <aclass="el"href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose()</a>, and a 6×6 pose covariance matrix (x, y, z, roll, pitch, yaw).</p>
<p>Used in <aclass="el"href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> maps on <aclass="el"href="classrtabmap_1_1SensorData.html">SensorData</a> and in memory during SLAM. Graph constraints to landmarks use <aclass="el"href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">Link::kLandmark</a> with a <b>negative</b> landmark id on the link (<code>to</code> is typically <code>-<aclass="el"href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id()</a></code>).</p>
<p>Covariance diagonal entries must be finite and strictly positive. Use a large value (e.g. <code>9999</code>) on angular axes when orientation uncertainty is unknown.</p>
<aclass="el"href="classrtabmap_1_1Signature.html#a71621ac6411f778342c23fbc4e695a12"title="Adds a landmark observation to this signature.">Signature::addLandmark()</a></dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00056">56</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
</div><h2class="groupheader">Constructor & Destructor Documentation</h2>
<p>Default-constructs an invalid landmark (<code>id == 0</code>). </p>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00060">60</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
<tr><tdclass="paramname">size</td><td>Physical size of the marker (m); <code>0</code> if unknown. </td></tr>
<tr><tdclass="paramname">pose</td><td><aclass="el"href="classrtabmap_1_1Landmark.html"title="Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.">Landmark</a> pose in the base frame (typically the robot frame). </td></tr>
<tr><tdclass="paramname">covariance</td><td>6×6 <code>CV_64FC1</code> covariance (diagonal entries must be > 0). </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00072">72</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
<p>Deprecated; use the constructor with explicit <code>size</code> (<code>0</code> if unknown). </p>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00115">115</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00094">94</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<h2class="groupheader">Member Function Documentation</h2>
<dlclass="section return"><dt>Returns</dt><dd>Positive landmark id (map key in <aclass="el"href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a>). </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00097">97</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Marker size in metres (<code>0</code> if unknown). </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00099">99</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd><aclass="el"href="classrtabmap_1_1Landmark.html"title="Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.">Landmark</a> pose in the map frame. </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00101">101</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="Landmark_8h_source.html#l00103">103</a> of file <aclass="el"href="Landmark_8h_source.html">Landmark.h</a>.</p>
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