mrpt::obs::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 41 of file obs/CObservationStereoImages.h.

#include <mrpt/obs/CObservationStereoImages.h>

Inheritance diagram for mrpt::obs::CObservationStereoImages:

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 (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
	A general method to change the sensor pose on the robot. More...
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	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 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...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
CObject *	clone () 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...
RTTI classes and functions
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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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...

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...

RTTI stuff
typedef CObservationStereoImagesPtr	Ptr
typedef CObservationStereoImagesPtr	ConstPtr
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::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
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) 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...
mrpt::utils::TCamera	leftCamera
	Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. More...
mrpt::utils::TCamera	rightCamera
mrpt::poses::CPose3DQuat	cameraPose
	The pose of the LEFT camera, relative to the robot. More...
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. 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

ConstPtr

typedef CObservationStereoImagesPtr mrpt::obs::CObservationStereoImages::ConstPtr

Definition at line 44 of file obs/CObservationStereoImages.h.

Ptr

typedef CObservationStereoImagesPtr mrpt::obs::CObservationStereoImages::Ptr

A typedef for the associated smart pointer

Definition at line 44 of file obs/CObservationStereoImages.h.

Constructor & Destructor Documentation

CObservationStereoImages() [1/2]

CObservationStereoImages::CObservationStereoImages

(

)

Default Constructor.

Definition at line 48 of file CObservationStereoImages.cpp.

CObservationStereoImages() [2/2]

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.

Definition at line 30 of file CObservationStereoImages.cpp.

~CObservationStereoImages()

CObservationStereoImages::~CObservationStereoImages

(

)

Destructor.

Definition at line 57 of file CObservationStereoImages.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationStereoImages::_GetBaseClass ( )

staticprotected

areImagesRectified()

bool 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.

Definition at line 230 of file CObservationStereoImages.cpp.

References mrpt::utils::TCamera::dist, and leftCamera.

clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static CObservationStereoImagesPtr mrpt::obs::CObservationStereoImages::Create ( )

static

CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservationStereoImages::CreateObject ( )

static

duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservationStereoImages::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

getDescriptionAsText()

void CObservationStereoImages::getDescriptionAsText ( std::ostream &  o ) const

virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

Definition at line 254 of file CObservationStereoImages.cpp.

References cameraPose, mrpt::utils::TStereoCamera::dumpAsText(), mrpt::format(), mrpt::utils::CImage::getChannelsOrder(), mrpt::obs::CObservation::getDescriptionAsText(), mrpt::utils::CImage::getExternalStorageFile(), mrpt::utils::CImage::getHeight(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal(), getStereoCameraParams(), mrpt::utils::CImage::getWidth(), hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, mrpt::utils::CImage::isExternallyStored(), mrpt::utils::CImage::isOriginTopLeft(), and mrpt::utils::TStereoCamera::rightCameraPose.

getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

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.

See also

getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 58 of file obs/CObservation.h.

GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

getSensorPose() [1/2]

void 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

Definition at line 38 of file CObservation.cpp.

getSensorPose() [2/2]

void mrpt::obs::CObservationStereoImages::getSensorPose ( mrpt::poses::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::obs::CObservation.

Definition at line 111 of file obs/CObservationStereoImages.h.

getStereoCameraParams()

void CObservationStereoImages::getStereoCameraParams

(

mrpt::utils::TStereoCamera &

out_params

)

const

Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose.

See also

areImagesRectified()

Definition at line 212 of file CObservationStereoImages.cpp.

References mrpt::utils::TStereoCamera::leftCamera, leftCamera, mrpt::utils::TStereoCamera::rightCamera, rightCamera, mrpt::utils::TStereoCamera::rightCameraPose, and rightCameraPose.

Referenced by getDescriptionAsText(), and mrpt::vision::CStereoRectifyMap::setFromCamParams().

getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 56 of file obs/CObservation.h.

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = NULL  ) const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

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)

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: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 77 of file obs/CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

load()

virtual void mrpt::obs::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::obs::CObservation3DRangeScan.

Definition at line 119 of file obs/CObservation.h.

operator delete() [1/3]

void mrpt::obs::CObservationStereoImages::operator delete ( void *  ptr ) throw ( )

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

operator delete() [2/3]

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

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

operator delete() [3/3]

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

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

operator delete[]()

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

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

operator new() [1/3]

void* mrpt::obs::CObservationStereoImages::operator new ( size_t  size )

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

operator new() [2/3]

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

inlinestatic

Definition at line 44 of file obs/CObservationStereoImages.h.

operator new() [3/3]

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

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

operator new[]()

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

inline

Definition at line 44 of file obs/CObservationStereoImages.h.

readFromStream()

void 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

in	The input binary stream where the object data must read from.
version	The 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::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 92 of file CObservationStereoImages.cpp.

References cameraPose, mrpt::utils::TCamera::focalLengthMeters, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, mrpt::utils::TCamera::intrinsicParams, INVALID_TIMESTAMP, leftCamera, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, rightCamera, rightCameraPose, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation::timestamp, and version.

setSensorPose() [1/2]

void 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

Definition at line 45 of file CObservation.cpp.

setSensorPose() [2/2]

void mrpt::obs::CObservationStereoImages::setSensorPose ( const mrpt::poses::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::obs::CObservation.

Definition at line 112 of file obs/CObservationStereoImages.h.

setStereoCameraParams()

void CObservationStereoImages::setStereoCameraParams

(

const mrpt::utils::TStereoCamera &

in_params

)

Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.

Definition at line 220 of file CObservationStereoImages.cpp.

References mrpt::utils::TStereoCamera::leftCamera, leftCamera, mrpt::utils::TStereoCamera::rightCamera, rightCamera, mrpt::utils::TStereoCamera::rightCameraPose, and rightCameraPose.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), and mrpt::vision::CStereoRectifyMap::rectify().

swap() [1/2]

void 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.

Definition at line 50 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by swap(), and mrpt::obs::CObservation3DRangeScan::swap().

swap() [2/2]

void CObservationStereoImages::swap

(

CObservationStereoImages &

o

)

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

Definition at line 236 of file CObservationStereoImages.cpp.

References cameraPose, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, leftCamera, rightCamera, rightCameraPose, mrpt::obs::CObservation::swap(), and mrpt::utils::CImage::swap().

Referenced by mrpt::hwdrivers::CStereoGrabber_SVS::getStereoObservation().

unload()

virtual void mrpt::obs::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::obs::CObservation3DRangeScan.

Definition at line 123 of file obs/CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

writeToStream()

void 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

out	The output binary stream where object must be dumped.
getVersion	If 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::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 64 of file CObservationStereoImages.cpp.

References cameraPose, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, leftCamera, rightCamera, rightCameraPose, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation::timestamp, and version.

Member Data Documentation

_init_CObservationStereoImages

mrpt::utils::CLASSINIT mrpt::obs::CObservationStereoImages::_init_CObservationStereoImages

staticprotected

Definition at line 44 of file obs/CObservationStereoImages.h.

cameraPose

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.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation

staticinherited

Definition at line 43 of file obs/CObservation.h.

classCObservationStereoImages

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationStereoImages::classCObservationStereoImages

static

Definition at line 44 of file obs/CObservationStereoImages.h.

classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationStereoImages::classinfo

static

Definition at line 44 of file obs/CObservationStereoImages.h.

hasImageDisparity

bool mrpt::obs::CObservationStereoImages::hasImageDisparity

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

Definition at line 78 of file obs/CObservationStereoImages.h.

Referenced by getDescriptionAsText(), readFromStream(), swap(), and writeToStream().

hasImageRight

bool mrpt::obs::CObservationStereoImages::hasImageRight

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

Definition at line 79 of file obs/CObservationStereoImages.h.

Referenced by getDescriptionAsText(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), swap(), and writeToStream().

imageDisparity

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.

Referenced by getDescriptionAsText(), readFromStream(), swap(), and writeToStream().

imageLeft

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageLeft

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

See also

areImagesRectified()

Definition at line 69 of file obs/CObservationStereoImages.h.

Referenced by mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), getDescriptionAsText(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

imageRight

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageRight

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

See also

areImagesRectified()

Definition at line 72 of file obs/CObservationStereoImages.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

leftCamera

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.

See also

areImagesRectified(), getStereoCameraParams()

Definition at line 85 of file obs/CObservationStereoImages.h.

Referenced by areImagesRectified(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getStereoCameraParams(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), setStereoCameraParams(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

rightCamera

mrpt::utils::TCamera mrpt::obs::CObservationStereoImages::rightCamera

Definition at line 85 of file obs/CObservationStereoImages.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getStereoCameraParams(), readFromStream(), setStereoCameraParams(), swap(), and writeToStream().

rightCameraPose

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.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getStereoCameraParams(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), setStereoCameraParams(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

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

Definition at line 53 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 52 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().