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mrpt::slam::CObservationImage Class Reference

Detailed Description

Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.

The next figure illustrate the coordinates reference systems involved in this class:

See Also
CObservation, CObservationStereoImages

Definition at line 38 of file CObservationImage.h.

#include <mrpt/slam/CObservationImage.h>

Inheritance diagram for mrpt::slam::CObservationImage:
Inheritance graph
[legend]

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 ()
 
 CObservationImage (void *iplImage=NULL)
 Constructor. More...
 
void getRectifiedImage (CImage &out_img) const
 Computes the rectified (un-distorted) image, using the embeded distortion parameters. More...
 
void getSensorPose (CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const CPose3D &newSensorPose)
 A general method to change the sensor pose on the robot. More...
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const 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...
 
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...
 
CObjectclone () const
 Cloning interface for smart pointers. 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...
 

Static Public Member Functions

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

Public Attributes

CPose3D cameraPose
 The pose of the camera on the robot. More...
 
TCamera cameraParams
 Intrinsic and distortion parameters of the camera. More...
 
CImage image
 The image captured by the camera, that is, the main piece of information of this observation. More...
 
Data common to any observation
mrpt::system::TTimeStamp timestamp
 The associated time-stamp. More...
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor. More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCObservation
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

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
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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...
 

RTTI stuff

typedef CObservationImagePtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationImage
 
static mrpt::utils::TRuntimeClassId classCObservationImage
 
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. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationImagePtr Create ()
 

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 41 of file CObservationImage.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationImage::CObservationImage ( void *  iplImage = NULL)

Constructor.

Parameters
iplImageAn OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CObservationImagePtr mrpt::slam::CObservationImage::Create ( )
static
static mrpt::utils::CObject* mrpt::slam::CObservationImage::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::slam::CObservationImage::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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.

void mrpt::slam::CObservationImage::getRectifiedImage ( CImage out_img) const

Computes the rectified (un-distorted) image, using the embeded distortion parameters.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationImage::getSensorPose ( 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::slam::CObservation.

Definition at line 69 of file CObservationImage.h.

void mrpt::slam::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
template<class METRICMAP >
bool mrpt::slam::CObservation::insertObservationInto ( METRICMAP *  theMap,
const 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 93 of file CObservation.h.

virtual void mrpt::slam::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::slam::CObservation3DRangeScan.

Definition at line 130 of file CObservation.h.

void mrpt::slam::CObservationImage::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 41 of file CObservationImage.h.

void mrpt::slam::CObservationImage::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 41 of file CObservationImage.h.

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

Definition at line 41 of file CObservationImage.h.

void mrpt::slam::CObservationImage::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 41 of file CObservationImage.h.

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

Definition at line 41 of file CObservationImage.h.

static void* mrpt::slam::CObservationImage::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 41 of file CObservationImage.h.

void* mrpt::slam::CObservationImage::operator new ( size_t  size)
inline

Definition at line 41 of file CObservationImage.h.

void* mrpt::slam::CObservationImage::operator new[] ( size_t  size)
inline

Definition at line 41 of file CObservationImage.h.

void mrpt::slam::CObservationImage::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.

void mrpt::slam::CObservationImage::setSensorPose ( const 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::slam::CObservation.

Definition at line 76 of file CObservationImage.h.

void mrpt::slam::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
void mrpt::slam::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.

virtual void mrpt::slam::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::slam::CObservation3DRangeScan.

Definition at line 134 of file CObservation.h.

void mrpt::slam::CObservationImage::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

mrpt::utils::CLASSINIT mrpt::slam::CObservationImage::_init_CObservationImage
staticprotected

Definition at line 41 of file CObservationImage.h.

TCamera mrpt::slam::CObservationImage::cameraParams

Intrinsic and distortion parameters of the camera.

See the tutorial for a discussion of these parameters.

Definition at line 57 of file CObservationImage.h.

CPose3D mrpt::slam::CObservationImage::cameraPose

The pose of the camera on the robot.

Definition at line 52 of file CObservationImage.h.

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

Definition at line 124 of file CObject.h.

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

Definition at line 55 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationImage::classCObservationImage
static

Definition at line 41 of file CObservationImage.h.

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

Definition at line 38 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::classinfo
static

Definition at line 41 of file CObservationImage.h.

CImage mrpt::slam::CObservationImage::image

The image captured by the camera, that is, the main piece of information of this observation.

Definition at line 59 of file CObservationImage.h.

std::string mrpt::slam::CObservation::sensorLabel
inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 71 of file CObservation.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp
inherited

The associated time-stamp.

Definition at line 67 of file CObservation.h.




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