Landmark.h

/*
Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_
 
#include <rtabmap/core/rtabmap_core_export.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT Landmark
{
public:
  Landmark() :
    id_(0),
    size_(0.0f)
  {}
 
  Landmark(const int & id, const float & size, const Transform & pose, const cv::Mat & covariance) :
    id_(id),
    size_(size),
    pose_(pose),
    covariance_(covariance)
  {
    UASSERT(id_>0);
    UASSERT(!pose_.isNull());
    UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
    UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
    UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
    UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
    UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
    UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
    UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
  }
 
  RTABMAP_DEPRECATED Landmark(const int & id, const Transform & pose, const cv::Mat & covariance);
 
  virtual ~Landmark() {}
 
  const int & id() const {return id_;}
  const float & size() const {return size_;}
  const Transform & pose() const {return pose_;}
  const cv::Mat & covariance() const {return covariance_;}
 
private:
  int id_;
  float size_;
  Transform pose_;
  cv::Mat covariance_;
};
 
typedef std::map<int, Landmark> Landmarks;
 
inline Landmark::Landmark(const int & id, const Transform & pose, const cv::Mat & covariance) :
  id_(id),
  size_(0.0f),
  pose_(pose),
  covariance_(covariance)
{
  UASSERT(id_>0);
  UASSERT(!pose_.isNull());
  UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
  UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
  UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
  UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
  UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
  UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
  UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
}
 
} // namespace rtabmap
 
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_ */