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mrpt::obs::CObservationStereoImagesFeatures Class Reference

Detailed Description

Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them.

NOTE: The image features stored in this class are NOT supposed to be UNDISTORTED, but the TCamera members must provide their distortion params. A zero-vector of distortion params means a set of UNDISTORTED pixels.

See also
CObservation

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

#include <mrpt/obs/CObservationStereoImagesFeatures.h>

Inheritance diagram for mrpt::obs::CObservationStereoImagesFeatures:
Inheritance graph

Public Member Functions

 CObservationStereoImagesFeatures ()
 Default Constructor.
 
 CObservationStereoImagesFeatures (const mrpt::math::CMatrixDouble33 &iPLeft, const mrpt::math::CMatrixDouble33 &iPRight, const mrpt::math::CArrayDouble< 5 > &dPLeft, const mrpt::math::CArrayDouble< 5 > &dPRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
 Other constructor providing members initialization.
 
 CObservationStereoImagesFeatures (const mrpt::utils::TCamera &cLeft, const mrpt::utils::TCamera &cRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
 Other constructor providing members initialization.
 
 ~CObservationStereoImagesFeatures ()
 Destructor.
 
void saveFeaturesToTextFile (const std::string &filename)
 A method for storing the set of observed features in a text file in the format:
ID ul vl ur vr
being (ul,vl) and (ur,vr) the "x" and "y" coordinates for the left and right feature, respectively.
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
 A general method to retrieve the sensor pose on the robot.
 
void getSensorPose (mrpt::poses::CPose3DQuat &out_sensorPose) const
 
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.
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
 A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form.
 
void setSensorPose (const mrpt::poses::CPose3DQuat &newSensorPose)
 A general method to change the sensor pose on the robot in a CPose3DQuat form.
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
 This method is equivalent to:
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot.
 
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.
 
virtual void unload ()
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
 

Public Attributes

mrpt::utils::TCamera cameraLeft
 
mrpt::utils::TCamera cameraRight
 
mrpt::poses::CPose3DQuat rightCameraPose
 The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and using the conventional reference coordinates for the left camera ("x" points to the right, "y" down), the "right" camera is situated at position (BL, 0, 0) with q = [1 0 0 0], where BL is the BASELINE.
 
mrpt::poses::CPose3DQuat cameraPoseOnRobot
 The pose of the LEFT camera, relative to the robot.
 
std::vector< TStereoImageFeaturestheFeatures
 Vectors of image feature pairs (with ID).
 

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.
 
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 CObservationStereoImagesFeaturesPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationStereoImagesFeatures
 
static mrpt::utils::TRuntimeClassId classCObservationStereoImagesFeatures
 
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 CObservationStereoImagesFeaturesPtr 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.
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor.
 
mrpt::system::TTimeStamp getTimeStamp () const
 Returns CObservation::timestamp for all kind of observations.
 
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.
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

Constructor & Destructor Documentation

◆ CObservationStereoImagesFeatures() [1/3]

mrpt::obs::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( )

Default Constructor.

◆ CObservationStereoImagesFeatures() [2/3]

mrpt::obs::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( const mrpt::math::CMatrixDouble33 iPLeft,
const mrpt::math::CMatrixDouble33 iPRight,
const mrpt::math::CArrayDouble< 5 > &  dPLeft,
const mrpt::math::CArrayDouble< 5 > &  dPRight,
const mrpt::poses::CPose3DQuat rCPose,
const mrpt::poses::CPose3DQuat cPORobot 
)

Other constructor providing members initialization.

◆ CObservationStereoImagesFeatures() [3/3]

mrpt::obs::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( const mrpt::utils::TCamera cLeft,
const mrpt::utils::TCamera cRight,
const mrpt::poses::CPose3DQuat rCPose,
const mrpt::poses::CPose3DQuat cPORobot 
)

Other constructor providing members initialization.

◆ ~CObservationStereoImagesFeatures()

mrpt::obs::CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures ( )

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

◆ Create()

static CObservationStereoImagesFeaturesPtr mrpt::obs::CObservationStereoImagesFeatures::Create ( )
static

◆ CreateObject()

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

◆ duplicate()

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

◆ getDescriptionAsText()

void mrpt::obs::CObservationStereoImagesFeatures::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.

◆ GetRuntimeClass()

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

Reimplemented from mrpt::obs::CObservation.

◆ getSensorPose() [1/3]

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() [2/3]

void mrpt::obs::CObservationStereoImagesFeatures::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 92 of file obs/CObservationStereoImagesFeatures.h.

◆ getSensorPose() [3/3]

void mrpt::obs::CObservationStereoImagesFeatures::getSensorPose ( mrpt::poses::CPose3DQuat out_sensorPose) const
inline

Definition at line 94 of file obs/CObservationStereoImagesFeatures.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::CObservationStereoImagesFeatures::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ saveFeaturesToTextFile()

void mrpt::obs::CObservationStereoImagesFeatures::saveFeaturesToTextFile ( const std::string &  filename)

A method for storing the set of observed features in a text file in the format:
ID ul vl ur vr
being (ul,vl) and (ur,vr) the "x" and "y" coordinates for the left and right feature, respectively.

◆ setSensorPose() [1/3]

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() [2/3]

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

A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form.

Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.

See also
getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 102 of file obs/CObservationStereoImagesFeatures.h.

◆ setSensorPose() [3/3]

void mrpt::obs::CObservationStereoImagesFeatures::setSensorPose ( const mrpt::poses::CPose3DQuat newSensorPose)
inline

A general method to change the sensor pose on the robot in a CPose3DQuat form.

Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.

See also
getSensorPose

Definition at line 108 of file obs/CObservationStereoImagesFeatures.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::CObservationStereoImagesFeatures::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CObservationStereoImagesFeatures

mrpt::utils::CLASSINIT mrpt::obs::CObservationStereoImagesFeatures::_init_CObservationStereoImagesFeatures
staticprotected

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

◆ cameraLeft

mrpt::utils::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraLeft

Definition at line 74 of file obs/CObservationStereoImagesFeatures.h.

◆ cameraPoseOnRobot

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImagesFeatures::cameraPoseOnRobot

The pose of the LEFT camera, relative to the robot.

Definition at line 85 of file obs/CObservationStereoImagesFeatures.h.

◆ cameraRight

mrpt::utils::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraRight

Definition at line 74 of file obs/CObservationStereoImagesFeatures.h.

◆ classCObservation

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

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

◆ classCObservationStereoImagesFeatures

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationStereoImagesFeatures::classCObservationStereoImagesFeatures
static

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

◆ classinfo

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

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

◆ rightCameraPose

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImagesFeatures::rightCameraPose

The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and using the conventional reference coordinates for the left camera ("x" points to the right, "y" down), the "right" camera is situated at position (BL, 0, 0) with q = [1 0 0 0], where BL is the BASELINE.

Definition at line 81 of file obs/CObservationStereoImagesFeatures.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.

◆ theFeatures

std::vector<TStereoImageFeatures> mrpt::obs::CObservationStereoImagesFeatures::theFeatures

Vectors of image feature pairs (with ID).

Definition at line 89 of file obs/CObservationStereoImagesFeatures.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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