rtabmap::Landmark Class Reference

Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. More...

#include <Landmark.h>

Public Member Functions
	Landmark ()
	Default-constructs an invalid landmark (id == 0).
	Landmark (const int &id, const float &size, const Transform &pose, const cv::Mat &covariance)
	Constructs a landmark with size, pose, and covariance.
RTABMAP_DEPRECATED	Landmark (const int &id, const Transform &pose, const cv::Mat &covariance)
	Deprecated; use the constructor with explicit size (0 if unknown).
const int &	id () const
const float &	size () const
const Transform &	pose () const
const cv::Mat &	covariance () const

Detailed Description

Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.

Stores a positive landmark id(), optional physical size() (m), world pose(), and a 6×6 pose covariance matrix (x, y, z, roll, pitch, yaw).

Used in Landmarks maps on SensorData and in memory during SLAM. Graph constraints to landmarks use Link::kLandmark with a negative landmark id on the link (to is typically -id()).

Covariance diagonal entries must be finite and strictly positive. Use a large value (e.g. 9999) on angular axes when orientation uncertainty is unknown.

See also

SensorData::setLandmarks()

Signature::addLandmark()

Definition at line 56 of file Landmark.h.

Constructor & Destructor Documentation

Landmark() [1/3]

rtabmap::Landmark::Landmark ( )

inline

Default-constructs an invalid landmark (id == 0).

Definition at line 60 of file Landmark.h.

Landmark() [2/3]

rtabmap::Landmark::Landmark ( const int &  id, const float &  size, const Transform &  pose, const cv::Mat &  covariance  )

inline

Constructs a landmark with size, pose, and covariance.

Parameters

id	Positive landmark identifier.
size	Physical size of the marker (m); 0 if unknown.
pose	Landmark pose in the base frame (typically the robot frame).
covariance	6×6 CV_64FC1 covariance (diagonal entries must be > 0).

Definition at line 72 of file Landmark.h.

Landmark() [3/3]

rtabmap::Landmark::Landmark ( const int &  id, const Transform &  pose, const cv::Mat &  covariance  )

inline

Deprecated; use the constructor with explicit size (0 if unknown).

Definition at line 115 of file Landmark.h.

~Landmark()

virtual rtabmap::Landmark::~Landmark ( )

inlinevirtual

Definition at line 94 of file Landmark.h.

Member Function Documentation

id()

const int & rtabmap::Landmark::id ( ) const

inline

Returns

Positive landmark id (map key in Landmarks).

Definition at line 97 of file Landmark.h.

size()

const float & rtabmap::Landmark::size ( ) const

inline

Returns

Marker size in metres (0 if unknown).

Definition at line 99 of file Landmark.h.

pose()

const Transform & rtabmap::Landmark::pose ( ) const

inline

Returns

Landmark pose in the map frame.

Definition at line 101 of file Landmark.h.

covariance()

const cv::Mat & rtabmap::Landmark::covariance ( ) const

inline

Returns

6×6 pose covariance (CV_64FC1).

Definition at line 103 of file Landmark.h.

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

• corelib/include/rtabmap/core/Landmark.h