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mrpt::obs::CObservationStereoImages Class Reference

Detailed Description

Observation class for either a pair of left+right or left+disparity images from a stereo camera.

To find whether the observation contains a right image and/or a disparity image, see the fields hasImageDisparity and hasImageRight, respectively.

This figure illustrates the coordinate frames involved in this class:

  <center>

Note
The images stored in this class can be raw or undistorted images. In the latter case, the "distortion" params of the corresponding "leftCamera" and "rightCamera" fields should be all zeros.
See also
CObservation

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

#include <mrpt/obs/CObservationStereoImages.h>

Inheritance diagram for mrpt::obs::CObservationStereoImages:
Inheritance graph

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CObservationStereoImages ()
 Default Constructor. More...
 
 CObservationStereoImages (void *iplImageLeft, void *iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false)
 Constructor from "IplImage*" images, which could be NULL. More...
 
 ~CObservationStereoImages ()
 Destructor. 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...
 
void swap (CObservationStereoImages &o)
 Do an efficient swap of all data members of this object with "o". 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...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 

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
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

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...
 

RTTI stuff


typedef CObservationStereoImagesPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationStereoImages
 
static mrpt::utils::TRuntimeClassId classCObservationStereoImages
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationStereoImagesPtr Create ()
 

Main observation data members

mrpt::utils::CImage imageLeft
 Image from the left camera (this image will be ALWAYS present) More...
 
mrpt::utils::CImage imageRight
 Image from the right camera, only contains a valid image if hasImageRight == true. More...
 
mrpt::utils::CImage imageDisparity
 Disparity image, only contains a valid image if hasImageDisparity == true. More...
 
bool hasImageDisparity
 Whether imageDisparity actually contains data (Default upon construction: false) More...
 
bool hasImageRight
 Whether imageRight actually contains data (Default upon construction: true) More...
 
mrpt::utils::TCamera leftCamera
 Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. More...
 
mrpt::utils::TCamera rightCamera
 
mrpt::poses::CPose3DQuat cameraPose
 The pose of the LEFT camera, relative to the robot. More...
 
mrpt::poses::CPose3DQuat rightCameraPose
 The pose of the right camera, relative to the left one: Note that 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 yaw=pitch=roll=0, where BL is the BASELINE. More...
 
void getStereoCameraParams (mrpt::utils::TStereoCamera &out_params) const
 Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose. More...
 
void setStereoCameraParams (const mrpt::utils::TStereoCamera &in_params)
 Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure. More...
 
bool areImagesRectified () const
 This method only checks whether ALL the distortion parameters in leftCamera are set to zero, which is the convention in MRPT to denote that this pair of stereo images has been rectified. More...
 

Member Typedef Documentation

◆ SmartPtr

typedef CObservationStereoImagesPtr mrpt::obs::CObservationStereoImages::SmartPtr

A typedef for the associated smart pointer

Definition at line 44 of file obs/CObservationStereoImages.h.

Constructor & Destructor Documentation

◆ CObservationStereoImages() [1/2]

mrpt::obs::CObservationStereoImages::CObservationStereoImages ( )

Default Constructor.

◆ CObservationStereoImages() [2/2]

mrpt::obs::CObservationStereoImages::CObservationStereoImages ( void *  iplImageLeft,
void *  iplImageRight,
void *  iplImageDisparity = NULL,
bool  ownMemory = false 
)

Constructor from "IplImage*" images, which could be NULL.

The fields hasImageDisparity and hasImageRight will be set to true/false depending on them being !=NULL. Note that the IplImage's will be COPIED, so it's still the caller's reponsibility to free the original images, unless ownMemory is set to true: in that case the IplImage pointers are copied and those IplImage's will be automatically freed by this object.

◆ ~CObservationStereoImages()

mrpt::obs::CObservationStereoImages::~CObservationStereoImages ( )

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

◆ areImagesRectified()

bool mrpt::obs::CObservationStereoImages::areImagesRectified ( ) const

This method only checks whether ALL the distortion parameters in leftCamera are set to zero, which is the convention in MRPT to denote that this pair of stereo images has been rectified.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

◆ Create()

static CObservationStereoImagesPtr mrpt::obs::CObservationStereoImages::Create ( )
static

◆ CreateObject()

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

◆ duplicate()

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

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

◆ getDescriptionAsText()

void mrpt::obs::CObservationStereoImages::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::CObservationStereoImages::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

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::CObservationStereoImages::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 111 of file obs/CObservationStereoImages.h.

◆ getStereoCameraParams()

void mrpt::obs::CObservationStereoImages::getStereoCameraParams ( mrpt::utils::TStereoCamera out_params) const

Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose.

See also
areImagesRectified()

Referenced by mrpt::vision::CStereoRectifyMap::setFromCamParams().

◆ 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.

◆ operator delete() [1/3]

void mrpt::obs::CObservationStereoImages::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservationStereoImages::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator delete() [3/3]

void mrpt::obs::CObservationStereoImages::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator delete[]()

void mrpt::obs::CObservationStereoImages::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator new() [1/3]

void* mrpt::obs::CObservationStereoImages::operator new ( size_t  size)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator new() [2/3]

void* mrpt::obs::CObservationStereoImages::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator new() [3/3]

static void* mrpt::obs::CObservationStereoImages::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ operator new[]()

void* mrpt::obs::CObservationStereoImages::operator new[] ( size_t  size)
inline

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ readFromStream()

void mrpt::obs::CObservationStereoImages::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ 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::CObservationStereoImages::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 112 of file obs/CObservationStereoImages.h.

◆ setStereoCameraParams()

void mrpt::obs::CObservationStereoImages::setStereoCameraParams ( const mrpt::utils::TStereoCamera in_params)

Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.

◆ swap() [1/2]

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.

◆ swap() [2/2]

void mrpt::obs::CObservationStereoImages::swap ( CObservationStereoImages o)

Do an efficient swap of all data members of this object with "o".

◆ 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.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void mrpt::obs::CObservationStereoImages::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CObservationStereoImages

mrpt::utils::CLASSINIT mrpt::obs::CObservationStereoImages::_init_CObservationStereoImages
staticprotected

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ cameraPose

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImages::cameraPose

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

Definition at line 87 of file obs/CObservationStereoImages.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

◆ classCObservation

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

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

◆ classCObservationStereoImages

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationStereoImages::classCObservationStereoImages
static

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

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

Definition at line 44 of file obs/CObservationStereoImages.h.

◆ hasImageDisparity

bool mrpt::obs::CObservationStereoImages::hasImageDisparity

Whether imageDisparity actually contains data (Default upon construction: false)

Definition at line 78 of file obs/CObservationStereoImages.h.

◆ hasImageRight

bool mrpt::obs::CObservationStereoImages::hasImageRight

Whether imageRight actually contains data (Default upon construction: true)

Definition at line 79 of file obs/CObservationStereoImages.h.

◆ imageDisparity

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageDisparity

Disparity image, only contains a valid image if hasImageDisparity == true.

The relation between the actual disparity and pixels and each value in this image is... ???????????

Definition at line 76 of file obs/CObservationStereoImages.h.

◆ imageLeft

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageLeft

Image from the left camera (this image will be ALWAYS present)

See also
areImagesRectified()

Definition at line 69 of file obs/CObservationStereoImages.h.

◆ imageRight

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageRight

Image from the right camera, only contains a valid image if hasImageRight == true.

See also
areImagesRectified()

Definition at line 72 of file obs/CObservationStereoImages.h.

◆ leftCamera

mrpt::utils::TCamera mrpt::obs::CObservationStereoImages::leftCamera

Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.

See the tutorial for a discussion of these parameters.

See also
areImagesRectified(), getStereoCameraParams()

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

◆ rightCamera

mrpt::utils::TCamera mrpt::obs::CObservationStereoImages::rightCamera

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

◆ rightCameraPose

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImages::rightCameraPose

The pose of the right camera, relative to the left one: Note that 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 yaw=pitch=roll=0, where BL is the BASELINE.

Definition at line 94 of file obs/CObservationStereoImages.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.

mrpt::maps::CMetricMap::insertObservation
bool insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
Insert the observation information into this map.



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