capture_landmark_external added field type

include/core/capture/capture_landmarks_external.h

@@ -21,41 +21,50 @@
 //--------LICENSE_END--------
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "core/capture/capture_base.h"
 
-namespace wolf {
+namespace wolf
+{
 
 struct LandmarkDetection
 {
     int id;                      // id of landmark
+    int type;                   // type of landmark
     Eigen::VectorXd measure;     // either pose or position
     Eigen::MatrixXd covariance;  // covariance of the measure
-    double quality;              // [0, 1] quality of the detection
+    double          quality;     // [0, 1] quality of the detection
 };
 
 WOLF_PTR_TYPEDEFS(CaptureLandmarksExternal);
 
-//class CaptureLandmarksExternal
+// class CaptureLandmarksExternal
 class CaptureLandmarksExternal : public CaptureBase
 {
-    protected:
-        std::vector<LandmarkDetection> detections_;
-
-    public:
+  protected:
+    std::vector<LandmarkDetection> detections_;
 
-        CaptureLandmarksExternal(const TimeStamp& _ts, 
-                                 SensorBasePtr _sensor_ptr, 
-                                 const std::vector<int>& _ids = {},
-                                 const std::vector<Eigen::VectorXd>& _detections = {}, 
-                                 const std::vector<Eigen::MatrixXd>& _covs = {}, 
-                                 const std::vector<double>& _qualities = {});
+  public:
+    CaptureLandmarksExternal(const TimeStamp&                    _ts,
+                             SensorBasePtr                       _sensor_ptr,
+                             const std::vector<int>&             _ids        = {},
+                             const std::vector<int>&             _types      = {},
+                             const std::vector<Eigen::VectorXd>& _detections = {},
+                             const std::vector<Eigen::MatrixXd>& _covs       = {},
+                             const std::vector<double>&          _qualities  = {});
 
-        ~CaptureLandmarksExternal() override;
+    ~CaptureLandmarksExternal() override;
 
-        std::vector<LandmarkDetection> getDetections() const {return detections_;};
+    std::vector<LandmarkDetection> getDetections() const
+    {
+        return detections_;
+    };
 
-        void addDetection(const int& _id, const Eigen::VectorXd& _detection, const Eigen::MatrixXd& _cov, const double& quality);
+    void addDetection(const int&             _id,
+                      const int&             _type,
+                      const Eigen::VectorXd& _detection,
+                      const Eigen::MatrixXd& _cov,
+                      const double&          quality);
 };
 
-} //namespace wolf
+}  // namespace wolf

src/capture/capture_landmarks_external.cpp

@@ -26,6 +26,7 @@ namespace wolf{
 CaptureLandmarksExternal::CaptureLandmarksExternal(const TimeStamp& _ts, 
                                                    SensorBasePtr _sensor_ptr, 
                                                    const std::vector<int>& _ids,
+                                                   const std::vector<int>& _types,
                                                    const std::vector<Eigen::VectorXd>& _detections, 
                                                    const std::vector<Eigen::MatrixXd>& _covs, 
                                                    const std::vector<double>& _qualities) :
@@ -37,7 +38,7 @@ CaptureLandmarksExternal::CaptureLandmarksExternal(const TimeStamp& _ts,
         throw std::runtime_error("CaptureLandmarksExternal constructor: '_ids', '_detections', '_covs', '_qualities' should have the same size.");
     
     for (auto i = 0; i < _detections.size(); i++)
-        addDetection(_ids.at(i), _detections.at(i), _covs.at(i), _qualities.at(i));
+        addDetection(_ids.at(i), _types.at(i), _detections.at(i), _covs.at(i), _qualities.at(i));
 }
 
 CaptureLandmarksExternal::~CaptureLandmarksExternal()
@@ -45,9 +46,9 @@ CaptureLandmarksExternal::~CaptureLandmarksExternal()
 	//
 }
 
-void CaptureLandmarksExternal::addDetection(const int& _id, const Eigen::VectorXd& _detection, const Eigen::MatrixXd& _cov, const double& _quality)
+void CaptureLandmarksExternal::addDetection(const int& _id, const int& _type, const Eigen::VectorXd& _detection, const Eigen::MatrixXd& _cov, const double& _quality)
 {
-    detections_.push_back(LandmarkDetection{_id, _detection, _cov, _quality});
+    detections_.push_back(LandmarkDetection{_id, _type, _detection, _cov, _quality});
 }
 
 } // namespace wolf