vMapArray Class Reference

Implements a visual landmark 3d map using a simple array of features. More...

#include <vMapArray.h>

Inheritance diagram for vMapArray:

List of all members.

Public Member Functions
	vMapArray ()
	default constructor
	vMapArray (int n, const ConfigFile &config)
	constructor
	vMapArray (const vMapArray &)
	copy constructor
virtual	~vMapArray ()
	destructor
void	addLandmark (const landmark &mark)
	Data functions.
void	changeLandmark (int id, const landmark &mark)
	changes a landmark
void	changeLastReturnedLandmark (const landmark &mark)
	changes a landmark in the kdtree
void	clear ()
	clear the map
vMapArray *	clone () const
	clone method
landmark *	dataAssociation (const matrix &ZT, const matrix &Rt, const pos3d &globalpos, const pose &robotPos, const matrix &H, const matrix &Htrans, const float *desc)
	data association, return a NEW copy of the matched mark in the map, the returned mark must be DELETE
void	drawMarks (IplImage &im, float xorigin, float yorigin, float resolution)
	draw the features in an opencv image
landmark *	getLandmarkByDesc (const float *desc)
	return return a NEW copy of the landmark with descriptor desc, the returned mark must be DELETE
landmark *	getLandmarkById (int number)
	return return a NEW copy of the landmark with id number, the returned mark must be DELETE
void	initialize (int n, const ConfigFile &config)
	initializer
vMapArray &	operator= (const visualMap &)
	assignment operator
int	returnLastReturnedId () const
	return the last returned id
void	saveMap (const char *str)
	saves the map
Private Attributes
landmark *	landmarks
int	lastRetId
unsigned short	nMarksReserved

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Detailed Description

Implements a visual landmark 3d map using a simple array of features.

Definition at line 26 of file vMapArray.h.

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

• include/architecture/slam/mapdata/vMapArray.h
• src/architecture/slam/mapdata/vMapArray.cpp