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>
Definition at line 41 of file obs/CObservationStereoImages.h.
#include <mrpt/obs/CObservationStereoImages.h>
Public Member Functions | |
CObservationStereoImages () | |
Default Constructor. | |
CObservationStereoImages (void *iplImageLeft, void *iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false) | |
Constructor from "IplImage*" images, which could be NULL. | |
~CObservationStereoImages () | |
Destructor. | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. | |
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 | swap (CObservationStereoImages &o) |
Do an efficient swap of all data members of this object with "o". | |
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). | |
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 CObservationStereoImagesPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationStereoImages |
static mrpt::utils::TRuntimeClassId | classCObservationStereoImages |
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 CObservationStereoImagesPtr | Create () |
Main observation data members | |
mrpt::utils::CImage | imageLeft |
Image from the left camera (this image will be ALWAYS present) | |
mrpt::utils::CImage | imageRight |
Image from the right camera, only contains a valid image if hasImageRight == true. | |
mrpt::utils::CImage | imageDisparity |
Disparity image, only contains a valid image if hasImageDisparity == true. | |
bool | hasImageDisparity |
Whether imageDisparity actually contains data (Default upon construction: false) | |
bool | hasImageRight |
Whether imageRight actually contains data (Default upon construction: true) | |
mrpt::utils::TCamera | leftCamera |
Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. | |
mrpt::utils::TCamera | rightCamera |
mrpt::poses::CPose3DQuat | cameraPose |
The pose of the LEFT camera, relative to the robot. | |
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. | |
void | getStereoCameraParams (mrpt::utils::TStereoCamera &out_params) const |
Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose. | |
void | setStereoCameraParams (const mrpt::utils::TStereoCamera &in_params) |
Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure. | |
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. | |
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. | |
A typedef for the associated smart pointer
Definition at line 44 of file obs/CObservationStereoImages.h.
mrpt::obs::CObservationStereoImages::CObservationStereoImages | ( | ) |
Default Constructor.
mrpt::obs::CObservationStereoImages::CObservationStereoImages | ( | void * | iplImageLeft, |
void * | iplImageRight, | ||
void * | iplImageDisparity = NULL , |
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bool | ownMemory = false |
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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.
mrpt::obs::CObservationStereoImages::~CObservationStereoImages | ( | ) |
Destructor.
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staticprotected |
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.
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static |
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static |
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virtual |
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virtual |
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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virtual |
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 111 of file obs/CObservationStereoImages.h.
void mrpt::obs::CObservationStereoImages::getStereoCameraParams | ( | mrpt::utils::TStereoCamera & | out_params | ) | const |
Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose.
Referenced by mrpt::vision::CStereoRectifyMap::setFromCamParams().
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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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protected |
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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.
Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
Implements mrpt::obs::CObservation.
Definition at line 112 of file obs/CObservationStereoImages.h.
void mrpt::obs::CObservationStereoImages::setStereoCameraParams | ( | const mrpt::utils::TStereoCamera & | in_params | ) |
Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.
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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.
void mrpt::obs::CObservationStereoImages::swap | ( | CObservationStereoImages & | o | ) |
Do an efficient swap of all data members of this object with "o".
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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 44 of file obs/CObservationStereoImages.h.
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.
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staticinherited |
Definition at line 50 of file obs/CObservation.h.
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static |
Definition at line 44 of file obs/CObservationStereoImages.h.
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static |
Definition at line 44 of file obs/CObservationStereoImages.h.
bool mrpt::obs::CObservationStereoImages::hasImageDisparity |
Whether imageDisparity actually contains data (Default upon construction: false)
Definition at line 78 of file obs/CObservationStereoImages.h.
bool mrpt::obs::CObservationStereoImages::hasImageRight |
Whether imageRight actually contains data (Default upon construction: true)
Definition at line 79 of file obs/CObservationStereoImages.h.
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.
mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageLeft |
Image from the left camera (this image will be ALWAYS present)
Definition at line 69 of file obs/CObservationStereoImages.h.
mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageRight |
Image from the right camera, only contains a valid image if hasImageRight == true.
Definition at line 72 of file obs/CObservationStereoImages.h.
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.
Definition at line 85 of file obs/CObservationStereoImages.h.
mrpt::utils::TCamera mrpt::obs::CObservationStereoImages::rightCamera |
Definition at line 85 of file obs/CObservationStereoImages.h.
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.
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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.
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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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