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mrpt::slam::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 43 of file CObservationStereoImages.h.

#include <mrpt/slam/CObservationStereoImages.h>

Inheritance diagram for mrpt::slam::CObservationStereoImages:
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 ()
 
 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 (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...
 
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 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

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 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
 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 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...
 
TCamera leftCamera
 Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. More...
 
TCamera rightCamera
 
CPose3DQuat cameraPose
 The pose of the LEFT camera, relative to the robot. More...
 
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

A typedef for the associated smart pointer

Definition at line 46 of file CObservationStereoImages.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationStereoImages::CObservationStereoImages ( )

Default Constructor.

mrpt::slam::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.

mrpt::slam::CObservationStereoImages::~CObservationStereoImages ( )

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationStereoImages::_GetBaseClass ( )
staticprotected
bool mrpt::slam::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.

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

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CObservationStereoImagesPtr mrpt::slam::CObservationStereoImages::Create ( )
static
static mrpt::utils::CObject* mrpt::slam::CObservationStereoImages::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::slam::CObservationStereoImages::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.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

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
void mrpt::slam::CObservationStereoImages::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 114 of file CObservationStereoImages.h.

void mrpt::slam::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().

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 46 of file CObservationStereoImages.h.

void mrpt::slam::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.

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::CObservationStereoImages::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 121 of file CObservationStereoImages.h.

References mrpt::poses::CPose3DQuat.

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

Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.

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.

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

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

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::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

mrpt::utils::CLASSINIT mrpt::slam::CObservationStereoImages::_init_CObservationStereoImages
staticprotected

Definition at line 46 of file CObservationStereoImages.h.

CPose3DQuat mrpt::slam::CObservationStereoImages::cameraPose

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

Definition at line 87 of file CObservationStereoImages.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::CObservationStereoImages::classCObservationStereoImages
static

Definition at line 46 of file CObservationStereoImages.h.

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

Definition at line 38 of file CSerializable.h.

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

Definition at line 46 of file CObservationStereoImages.h.

bool mrpt::slam::CObservationStereoImages::hasImageDisparity

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

Definition at line 78 of file CObservationStereoImages.h.

bool mrpt::slam::CObservationStereoImages::hasImageRight

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

Definition at line 79 of file CObservationStereoImages.h.

mrpt::utils::CImage mrpt::slam::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 CObservationStereoImages.h.

mrpt::utils::CImage mrpt::slam::CObservationStereoImages::imageLeft

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

See Also
areImagesRectified()

Definition at line 69 of file CObservationStereoImages.h.

mrpt::utils::CImage mrpt::slam::CObservationStereoImages::imageRight

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

See Also
areImagesRectified()

Definition at line 72 of file CObservationStereoImages.h.

TCamera mrpt::slam::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 CObservationStereoImages.h.

TCamera mrpt::slam::CObservationStereoImages::rightCamera

Definition at line 85 of file CObservationStereoImages.h.

CPose3DQuat mrpt::slam::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 CObservationStereoImages.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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