Landmark.h

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/*
Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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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.
 
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#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 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());
    }
    // Use constructor with size=0 instead.
    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());
}
 
}
 
#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_ */