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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.
<a href="classrtabmap_1_1Landmark.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Landmark_8h_source.html">Landmark.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6ba2b53d996e0fa62a8023917e515a06" id="r_a6ba2b53d996e0fa62a8023917e515a06"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a6ba2b53d996e0fa62a8023917e515a06">Landmark</a> ()</td></tr>
<tr class="memdesc:a6ba2b53d996e0fa62a8023917e515a06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default-constructs an invalid landmark (<code>id == 0</code>). <br /></td></tr>
<tr class="separator:a6ba2b53d996e0fa62a8023917e515a06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fda87c27ac931dcf9815921b53c1f19" id="r_a1fda87c27ac931dcf9815921b53c1f19"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a1fda87c27ac931dcf9815921b53c1f19">Landmark</a> (const int &amp;<a class="el" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a>, const float &amp;<a class="el" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a>, const cv::Mat &amp;<a class="el" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a>)</td></tr>
<tr class="memdesc:a1fda87c27ac931dcf9815921b53c1f19"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a landmark with size, pose, and covariance. <br /></td></tr>
<tr class="separator:a1fda87c27ac931dcf9815921b53c1f19"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92311f7550e395fea804c5438e9085ff" id="r_a92311f7550e395fea804c5438e9085ff"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a92311f7550e395fea804c5438e9085ff">Landmark</a> (const int &amp;<a class="el" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a>, const cv::Mat &amp;<a class="el" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a>)</td></tr>
<tr class="memdesc:a92311f7550e395fea804c5438e9085ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deprecated; use the constructor with explicit <code>size</code> (<code>0</code> if unknown). <br /></td></tr>
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<tr class="memitem:acba351c01c619a0d78e52e7bfca94111" id="r_acba351c01c619a0d78e52e7bfca94111"><td class="memItemLeft" align="right" valign="top">const float &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size</a> () const</td></tr>
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<tr class="memitem:ac6bfc77e153b0877c4c1cc3d97327a88" id="r_ac6bfc77e153b0877c4c1cc3d97327a88"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a> () const</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. </p>
<p>Stores a positive landmark <a class="el" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id()</a>, optional physical <a class="el" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size()</a> (m), world <a class="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 <a class="el" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> maps on <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> and in memory during SLAM. Graph constraints to landmarks use <a class="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>-<a class="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>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14" title="Sets landmarks.">SensorData::setLandmarks()</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1Signature.html#a71621ac6411f778342c23fbc4e695a12" title="Adds a landmark observation to this signature.">Signature::addLandmark()</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00056">56</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p>Default-constructs an invalid landmark (<code>id == 0</code>). </p>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00060">60</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<td class="paramtype">const int &amp;&#160;</td>
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<p>Constructs a landmark with size, pose, and covariance. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">id</td><td>Positive landmark identifier. </td></tr>
<tr><td class="paramname">size</td><td>Physical size of the marker (m); <code>0</code> if unknown. </td></tr>
<tr><td class="paramname">pose</td><td><a class="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><td class="paramname">covariance</td><td>6×6 <code>CV_64FC1</code> covariance (diagonal entries must be &gt; 0). </td></tr>
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<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00072">72</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<p>Deprecated; use the constructor with explicit <code>size</code> (<code>0</code> if unknown). </p>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00115">115</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00094">94</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a2b5a5cbdb313813e3bb473a05b1145e2">&#9670;&#160;</a></span>id()</h2>
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<dl class="section return"><dt>Returns</dt><dd>Positive landmark id (map key in <a class="el" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00097">97</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Marker size in metres (<code>0</code> if unknown). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00099">99</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd><a class="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>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00101">101</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1c1e20cccc5f659743ba48c8afe1a8a0">&#9670;&#160;</a></span>covariance()</h2>
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<td class="memname">const cv::Mat &amp; rtabmap::Landmark::covariance </td>
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<dl class="section return"><dt>Returns</dt><dd>6×6 pose covariance (<code>CV_64FC1</code>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00103">103</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Landmark_8h_source.html">Landmark.h</a></li>
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