mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
430 lines
22 KiB
HTML
430 lines
22 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
||
<head>
|
||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
||
<meta name="generator" content="Doxygen 1.9.8"/>
|
||
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
||
<title>RTAB-Map: rtabmap::Landmark Class Reference</title>
|
||
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||
<script type="text/javascript" src="jquery.js"></script>
|
||
<script type="text/javascript" src="dynsections.js"></script>
|
||
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
||
<script type="text/javascript" src="resize.js"></script>
|
||
<script type="text/javascript" src="navtreedata.js"></script>
|
||
<script type="text/javascript" src="navtree.js"></script>
|
||
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||
<script type="text/javascript" src="search/searchdata.js"></script>
|
||
<script type="text/javascript" src="search/search.js"></script>
|
||
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
||
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
||
<script type="text/javascript" src="../versions.js"></script>
|
||
<script type="text/javascript" src="version-switcher.js"></script>
|
||
</head>
|
||
<body>
|
||
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
||
<div id="titlearea">
|
||
<table cellspacing="0" cellpadding="0">
|
||
<tbody>
|
||
<tr id="projectrow">
|
||
<td id="projectalign">
|
||
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
|
||
</div>
|
||
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
||
</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
<!-- end header part -->
|
||
<!-- Generated by Doxygen 1.9.8 -->
|
||
<script type="text/javascript">
|
||
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
||
/* @license-end */
|
||
</script>
|
||
<script type="text/javascript" src="menudata.js"></script>
|
||
<script type="text/javascript" src="menu.js"></script>
|
||
<script type="text/javascript">
|
||
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
$(function() {
|
||
initMenu('',true,false,'search.php','Search');
|
||
$(document).ready(function() { init_search(); });
|
||
});
|
||
/* @license-end */
|
||
</script>
|
||
<div id="main-nav"></div>
|
||
</div><!-- top -->
|
||
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
||
<div id="nav-tree">
|
||
<div id="nav-tree-contents">
|
||
<div id="nav-sync" class="sync"></div>
|
||
</div>
|
||
</div>
|
||
<div id="splitbar" style="-moz-user-select:none;"
|
||
class="ui-resizable-handle">
|
||
</div>
|
||
</div>
|
||
<script type="text/javascript">
|
||
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||
$(document).ready(function(){initNavTree('classrtabmap_1_1Landmark.html',''); initResizable(); });
|
||
/* @license-end */
|
||
</script>
|
||
<div id="doc-content">
|
||
<!-- window showing the filter options -->
|
||
<div id="MSearchSelectWindow"
|
||
onmouseover="return searchBox.OnSearchSelectShow()"
|
||
onmouseout="return searchBox.OnSearchSelectHide()"
|
||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||
</div>
|
||
|
||
<!-- iframe showing the search results (closed by default) -->
|
||
<div id="MSearchResultsWindow">
|
||
<div id="MSearchResults">
|
||
<div class="SRPage">
|
||
<div id="SRIndex">
|
||
<div id="SRResults"></div>
|
||
<div class="SRStatus" id="Loading">Loading...</div>
|
||
<div class="SRStatus" id="Searching">Searching...</div>
|
||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||
</div>
|
||
</div>
|
||
</div>
|
||
</div>
|
||
|
||
<div class="header">
|
||
<div class="summary">
|
||
<a href="#pub-methods">Public Member Functions</a> |
|
||
<a href="classrtabmap_1_1Landmark-members.html">List of all members</a> </div>
|
||
<div class="headertitle"><div class="title">rtabmap::Landmark Class Reference</div></div>
|
||
</div><!--header-->
|
||
<div class="contents">
|
||
|
||
<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 <<a class="el" href="Landmark_8h_source.html">Landmark.h</a>></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"> </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"> </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"> </td></tr>
|
||
<tr class="memitem:a1fda87c27ac931dcf9815921b53c1f19" id="r_a1fda87c27ac931dcf9815921b53c1f19"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a1fda87c27ac931dcf9815921b53c1f19">Landmark</a> (const int &<a class="el" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a>, const float &<a class="el" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &<a class="el" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a>)</td></tr>
|
||
<tr class="memdesc:a1fda87c27ac931dcf9815921b53c1f19"><td class="mdescLeft"> </td><td class="mdescRight">Constructs a landmark with size, pose, and covariance. <br /></td></tr>
|
||
<tr class="separator:a1fda87c27ac931dcf9815921b53c1f19"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a92311f7550e395fea804c5438e9085ff" id="r_a92311f7550e395fea804c5438e9085ff"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a92311f7550e395fea804c5438e9085ff">Landmark</a> (const int &<a class="el" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &<a class="el" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a>, const cv::Mat &<a class="el" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a>)</td></tr>
|
||
<tr class="memdesc:a92311f7550e395fea804c5438e9085ff"><td class="mdescLeft"> </td><td class="mdescRight">Deprecated; use the constructor with explicit <code>size</code> (<code>0</code> if unknown). <br /></td></tr>
|
||
<tr class="separator:a92311f7550e395fea804c5438e9085ff"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a2b5a5cbdb313813e3bb473a05b1145e2" id="r_a2b5a5cbdb313813e3bb473a05b1145e2"><td class="memItemLeft" align="right" valign="top">const int & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2">id</a> () const</td></tr>
|
||
<tr class="separator:a2b5a5cbdb313813e3bb473a05b1145e2"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:acba351c01c619a0d78e52e7bfca94111" id="r_acba351c01c619a0d78e52e7bfca94111"><td class="memItemLeft" align="right" valign="top">const float & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111">size</a> () const</td></tr>
|
||
<tr class="separator:acba351c01c619a0d78e52e7bfca94111"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<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> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88">pose</a> () const</td></tr>
|
||
<tr class="separator:ac6bfc77e153b0877c4c1cc3d97327a88"><td class="memSeparator" colspan="2"> </td></tr>
|
||
<tr class="memitem:a1c1e20cccc5f659743ba48c8afe1a8a0" id="r_a1c1e20cccc5f659743ba48c8afe1a8a0"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0">covariance</a> () const</td></tr>
|
||
<tr class="separator:a1c1e20cccc5f659743ba48c8afe1a8a0"><td class="memSeparator" colspan="2"> </td></tr>
|
||
</table>
|
||
<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 & Destructor Documentation</h2>
|
||
<a id="a6ba2b53d996e0fa62a8023917e515a06" name="a6ba2b53d996e0fa62a8023917e515a06"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a6ba2b53d996e0fa62a8023917e515a06">◆ </a></span>Landmark() <span class="overload">[1/3]</span></h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">rtabmap::Landmark::Landmark </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a1fda87c27ac931dcf9815921b53c1f19" name="a1fda87c27ac931dcf9815921b53c1f19"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a1fda87c27ac931dcf9815921b53c1f19">◆ </a></span>Landmark() <span class="overload">[2/3]</span></h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">rtabmap::Landmark::Landmark </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const int & </td>
|
||
<td class="paramname"><em>id</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const float & </td>
|
||
<td class="paramname"><em>size</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
||
<td class="paramname"><em>pose</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>covariance</em> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<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 > 0). </td></tr>
|
||
</table>
|
||
</dd>
|
||
</dl>
|
||
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a92311f7550e395fea804c5438e9085ff" name="a92311f7550e395fea804c5438e9085ff"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a92311f7550e395fea804c5438e9085ff">◆ </a></span>Landmark() <span class="overload">[3/3]</span></h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">rtabmap::Landmark::Landmark </td>
|
||
<td>(</td>
|
||
<td class="paramtype">const int & </td>
|
||
<td class="paramname"><em>id</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
||
<td class="paramname"><em>pose</em>, </td>
|
||
</tr>
|
||
<tr>
|
||
<td class="paramkey"></td>
|
||
<td></td>
|
||
<td class="paramtype">const cv::Mat & </td>
|
||
<td class="paramname"><em>covariance</em> </td>
|
||
</tr>
|
||
<tr>
|
||
<td></td>
|
||
<td>)</td>
|
||
<td></td><td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ab66a9b376726624620037e53dde4c65d" name="ab66a9b376726624620037e53dde4c65d"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ab66a9b376726624620037e53dde4c65d">◆ </a></span>~Landmark()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">virtual rtabmap::Landmark::~Landmark </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td></td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<h2 class="groupheader">Member Function Documentation</h2>
|
||
<a id="a2b5a5cbdb313813e3bb473a05b1145e2" name="a2b5a5cbdb313813e3bb473a05b1145e2"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a2b5a5cbdb313813e3bb473a05b1145e2">◆ </a></span>id()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const int & rtabmap::Landmark::id </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="acba351c01c619a0d78e52e7bfca94111" name="acba351c01c619a0d78e52e7bfca94111"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#acba351c01c619a0d78e52e7bfca94111">◆ </a></span>size()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const float & rtabmap::Landmark::size </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="ac6bfc77e153b0877c4c1cc3d97327a88" name="ac6bfc77e153b0877c4c1cc3d97327a88"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#ac6bfc77e153b0877c4c1cc3d97327a88">◆ </a></span>pose()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & rtabmap::Landmark::pose </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<a id="a1c1e20cccc5f659743ba48c8afe1a8a0" name="a1c1e20cccc5f659743ba48c8afe1a8a0"></a>
|
||
<h2 class="memtitle"><span class="permalink"><a href="#a1c1e20cccc5f659743ba48c8afe1a8a0">◆ </a></span>covariance()</h2>
|
||
|
||
<div class="memitem">
|
||
<div class="memproto">
|
||
<table class="mlabels">
|
||
<tr>
|
||
<td class="mlabels-left">
|
||
<table class="memname">
|
||
<tr>
|
||
<td class="memname">const cv::Mat & rtabmap::Landmark::covariance </td>
|
||
<td>(</td>
|
||
<td class="paramname"></td><td>)</td>
|
||
<td> const</td>
|
||
</tr>
|
||
</table>
|
||
</td>
|
||
<td class="mlabels-right">
|
||
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
||
</tr>
|
||
</table>
|
||
</div><div class="memdoc">
|
||
<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>
|
||
|
||
</div>
|
||
</div>
|
||
<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>
|
||
</ul>
|
||
</div><!-- contents -->
|
||
</div><!-- doc-content -->
|
||
<!-- start footer part -->
|
||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||
<ul>
|
||
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a></li>
|
||
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
|
||
</ul>
|
||
</div>
|
||
</body>
|
||
</html>
|