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mrpt::obs::CObservationImage Class Reference

Detailed Description

Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.

The next figure illustrate the coordinates reference systems involved in this class:

See also
CObservation, CObservationStereoImages

Definition at line 35 of file obs/CObservationImage.h.

#include <mrpt/obs/CObservationImage.h>

Inheritance diagram for mrpt::obs::CObservationImage:
Inheritance graph

Public Member Functions

 CObservationImage (void *iplImage=NULL)
 Constructor. More...
 
void getRectifiedImage (mrpt::utils::CImage &out_img) const
 Computes the rectified (un-distorted) image, using the embeded distortion parameters. More...
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
 A general method to change the sensor pose on the robot. More...
 
void getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
 Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
 This method is equivalent to: More...
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot. More...
 
Delayed-load manual control methods.
virtual void load () const
 Makes sure all images and other fields which may be externally stored are loaded in memory. More...
 
virtual void unload ()
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
 

Public Attributes

mrpt::poses::CPose3D cameraPose
 The pose of the camera on the robot. More...
 
mrpt::utils::TCamera cameraParams
 Intrinsic and distortion parameters of the camera. More...
 
mrpt::utils::CImage image
 The image captured by the camera, that is, the main piece of information of this observation. More...
 

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCObservation
 

Protected Member Functions

void swap (CObservation &o)
 Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef CObservationImagePtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationImage
 
static mrpt::utils::TRuntimeClassId classCObservationImage
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationImagePtr Create ()
 

Data common to any observation

mrpt::system::TTimeStamp timestamp
 The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. More...
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor. More...
 
mrpt::system::TTimeStamp getTimeStamp () const
 Returns CObservation::timestamp for all kind of observations. More...
 
virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp () const
 By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 38 of file obs/CObservationImage.h.

Constructor & Destructor Documentation

◆ CObservationImage()

mrpt::obs::CObservationImage::CObservationImage ( void *  iplImage = NULL)

Constructor.

Parameters
iplImageAn OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationImage::_GetBaseClass ( )
staticprotected

◆ Create()

static CObservationImagePtr mrpt::obs::CObservationImage::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::obs::CObservationImage::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::obs::CObservationImage::duplicate ( ) const
virtual

◆ getDescriptionAsText()

void mrpt::obs::CObservationImage::getDescriptionAsText ( std::ostream &  o) const
virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note
If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.
This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const
inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also
getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 65 of file obs/CObservation.h.

◆ getRectifiedImage()

void mrpt::obs::CObservationImage::getRectifiedImage ( mrpt::utils::CImage out_img) const

Computes the rectified (un-distorted) image, using the embeded distortion parameters.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationImage::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::obs::CObservation.

◆ getSensorPose() [1/2]

void mrpt::obs::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
setSensorPose

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationImage::getSensorPose ( mrpt::poses::CPose3D out_sensorPose) const
inlinevirtual

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 65 of file obs/CObservationImage.h.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const
inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also
getOriginalReceivedTimeStamp()

Definition at line 63 of file obs/CObservation.h.

◆ insertObservationInto()

template<class METRICMAP >
bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap,
const mrpt::poses::CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See also
CMetricMap, CMetricMap::insertObservation

Definition at line 83 of file obs/CObservation.h.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const
inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also
unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 125 of file obs/CObservation.h.

◆ readFromStream()

void mrpt::obs::CObservationImage::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ setSensorPose() [1/2]

void mrpt::obs::CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose)
inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
getSensorPose

◆ setSensorPose() [2/2]

void mrpt::obs::CObservationImage::setSensorPose ( const mrpt::poses::CPose3D newSensorPose)
inlinevirtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 66 of file obs/CObservationImage.h.

◆ swap()

void mrpt::obs::CObservation::swap ( CObservation o)
protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

◆ unload()

virtual void mrpt::obs::CObservation::unload ( )
inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also
load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 129 of file obs/CObservation.h.

◆ writeToStream()

void mrpt::obs::CObservationImage::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CObservationImage

mrpt::utils::CLASSINIT mrpt::obs::CObservationImage::_init_CObservationImage
staticprotected

Definition at line 38 of file obs/CObservationImage.h.

◆ cameraParams

mrpt::utils::TCamera mrpt::obs::CObservationImage::cameraParams

Intrinsic and distortion parameters of the camera.

See the tutorial for a discussion of these parameters.

Definition at line 56 of file obs/CObservationImage.h.

◆ cameraPose

mrpt::poses::CPose3D mrpt::obs::CObservationImage::cameraPose

The pose of the camera on the robot.

Definition at line 51 of file obs/CObservationImage.h.

◆ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation
staticinherited

Definition at line 50 of file obs/CObservation.h.

◆ classCObservationImage

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationImage::classCObservationImage
static

Definition at line 38 of file obs/CObservationImage.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationImage::classinfo
static

Definition at line 38 of file obs/CObservationImage.h.

◆ image

mrpt::utils::CImage mrpt::obs::CObservationImage::image

The image captured by the camera, that is, the main piece of information of this observation.

Definition at line 58 of file obs/CObservationImage.h.

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel
inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 60 of file obs/CObservation.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp
inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also
getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 59 of file obs/CObservation.h.




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