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.
Definition at line 59 of file CObservationStereoImagesFeatures.h.
#include <mrpt/slam/CObservationStereoImagesFeatures.h>
Public Member Functions | |
CObservationStereoImagesFeatures () | |
Default Constructor. | |
CObservationStereoImagesFeatures (const CMatrixDouble33 &iPLeft, const CMatrixDouble33 &iPRight, const CArrayDouble< 5 > &dPLeft, const CArrayDouble< 5 > &dPRight, const CPose3DQuat &rCPose, const CPose3DQuat &cPORobot) | |
Other constructor providing members initialization. | |
CObservationStereoImagesFeatures (const TCamera &cLeft, const TCamera &cRight, const CPose3DQuat &rCPose, const 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 (CPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot in CPose3D form. | |
void | getSensorPose (CPose3DQuat &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot in CPose3DQuat form. | |
void | setSensorPose (const CPose3D &newSensorPose) |
A general method to change the sensor pose on the robot in a CPose3D form. | |
void | setSensorPose (const CPose3DQuat &newSensorPose) |
A general method to change the sensor pose on the robot in a CPose3DQuat form. | |
Public Attributes | |
TCamera | cameraLeft |
TCamera | cameraRight |
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. | |
CPose3DQuat | cameraPoseOnRobot |
The pose of the LEFT camera, relative to the robot. | |
std::vector< TStereoImageFeatures > | theFeatures |
Vectors of image feature pairs (with ID). | |
RTTI stuff | |
typedef CObservationStereoImagesFeaturesPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationStereoImagesFeatures |
static mrpt::utils::TRuntimeClassId | classCObservationStereoImagesFeatures |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationStereoImagesFeaturesPtr | Create () |
A typedef for the associated smart pointer
Definition at line 62 of file CObservationStereoImagesFeatures.h.
mrpt::slam::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures | ( | ) |
Default Constructor.
mrpt::slam::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures | ( | const CMatrixDouble33 & | iPLeft, |
const CMatrixDouble33 & | iPRight, | ||
const CArrayDouble< 5 > & | dPLeft, | ||
const CArrayDouble< 5 > & | dPRight, | ||
const CPose3DQuat & | rCPose, | ||
const CPose3DQuat & | cPORobot | ||
) |
Other constructor providing members initialization.
mrpt::slam::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures | ( | const TCamera & | cLeft, |
const TCamera & | cRight, | ||
const CPose3DQuat & | rCPose, | ||
const CPose3DQuat & | cPORobot | ||
) |
Other constructor providing members initialization.
mrpt::slam::CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures | ( | ) |
Destructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationStereoImagesFeatures::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
static CObservationStereoImagesFeaturesPtr mrpt::slam::CObservationStereoImagesFeatures::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CObservationStereoImagesFeatures::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CObservationStereoImagesFeatures::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationStereoImagesFeatures::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
void mrpt::slam::CObservationStereoImagesFeatures::getSensorPose | ( | CPose3DQuat & | out_sensorPose ) | const [inline] |
A general method to retrieve the sensor pose on the robot in CPose3DQuat form.
Note that most sensors will return a full (6D) CPose3DQuat, but see the derived classes for more details or special cases.
Definition at line 122 of file CObservationStereoImagesFeatures.h.
void mrpt::slam::CObservationStereoImagesFeatures::getSensorPose | ( | CPose3D & | out_sensorPose ) | const [inline, virtual] |
A general method to retrieve the sensor pose on the robot in CPose3D form.
Note that most sensors will return a full (6D) CPose3DQuat, but see the derived classes for more details or special cases.
Implements mrpt::slam::CObservation.
Definition at line 116 of file CObservationStereoImagesFeatures.h.
void mrpt::slam::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.
void mrpt::slam::CObservationStereoImagesFeatures::setSensorPose | ( | const 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.
Definition at line 134 of file CObservationStereoImagesFeatures.h.
void mrpt::slam::CObservationStereoImagesFeatures::setSensorPose | ( | const CPose3D & | newSensorPose ) | [inline, virtual] |
A general method to change the sensor pose on the robot in a CPose3D form.
Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.
Implements mrpt::slam::CObservation.
Definition at line 128 of file CObservationStereoImagesFeatures.h.
References mrpt::poses::CPose3DQuat.
mrpt::utils::CLASSINIT mrpt::slam::CObservationStereoImagesFeatures::_init_CObservationStereoImagesFeatures [static, protected] |
Definition at line 62 of file CObservationStereoImagesFeatures.h.
Definition at line 95 of file CObservationStereoImagesFeatures.h.
The pose of the LEFT camera, relative to the robot.
Definition at line 106 of file CObservationStereoImagesFeatures.h.
Definition at line 95 of file CObservationStereoImagesFeatures.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CObservationStereoImagesFeatures::classCObservationStereoImagesFeatures [static] |
Definition at line 62 of file CObservationStereoImagesFeatures.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationStereoImagesFeatures::classinfo [static] |
Definition at line 62 of file CObservationStereoImagesFeatures.h.
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 102 of file CObservationStereoImagesFeatures.h.
Vectors of image feature pairs (with ID).
Definition at line 110 of file CObservationStereoImagesFeatures.h.
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