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 38 of file obs/CObservationStereoImagesFeatures.h.
#include <mrpt/obs/CObservationStereoImagesFeatures.h>
Public Member Functions | |
CObservationStereoImagesFeatures () | |
Default Constructor. More... | |
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. More... | |
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. More... | |
~CObservationStereoImagesFeatures () | |
Destructor. More... | |
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. More... | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. More... | |
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. More... | |
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. More... | |
void | setSensorPose (const mrpt::poses::CPose3DQuat &newSensorPose) |
A general method to change the sensor pose on the robot in a CPose3DQuat form. 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::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. More... | |
mrpt::poses::CPose3DQuat | cameraPoseOnRobot |
The pose of the LEFT camera, relative to the robot. More... | |
std::vector< TStereoImageFeatures > | theFeatures |
Vectors of image feature pairs (with ID). 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 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 MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
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. 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... | |
A typedef for the associated smart pointer
Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.
mrpt::obs::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures | ( | ) |
Default Constructor.
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.
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.
mrpt::obs::CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures | ( | ) |
Destructor.
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staticprotected |
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Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
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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.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 65 of file obs/CObservation.h.
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Reimplemented from mrpt::obs::CObservation.
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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.
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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.
Implements mrpt::obs::CObservation.
Definition at line 92 of file obs/CObservationStereoImagesFeatures.h.
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inline |
Definition at line 94 of file obs/CObservationStereoImagesFeatures.h.
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inlineinherited |
Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
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inlineinherited |
This method is equivalent to:
theMap | The map where this observation is to be inserted: the map will be updated. |
robotPose | The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg) |
Definition at line 83 of file obs/CObservation.h.
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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.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 125 of file obs/CObservation.h.
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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.
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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.
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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.
Implements mrpt::obs::CObservation.
Definition at line 102 of file obs/CObservationStereoImagesFeatures.h.
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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 108 of file obs/CObservationStereoImagesFeatures.h.
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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.
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 129 of file obs/CObservation.h.
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protected |
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staticprotected |
Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.
mrpt::utils::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraLeft |
Definition at line 74 of file obs/CObservationStereoImagesFeatures.h.
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.
mrpt::utils::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraRight |
Definition at line 74 of file obs/CObservationStereoImagesFeatures.h.
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staticinherited |
Definition at line 50 of file obs/CObservation.h.
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Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.
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Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.
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.
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inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
std::vector<TStereoImageFeatures> mrpt::obs::CObservationStereoImagesFeatures::theFeatures |
Vectors of image feature pairs (with ID).
Definition at line 89 of file obs/CObservationStereoImagesFeatures.h.
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inherited |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 59 of file obs/CObservation.h.
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