Detailed Description

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.

See also: CObservation

Definition at line 36 of file CObservationStereoImagesFeatures.h.

#include <mrpt/obs/CObservationStereoImagesFeatures.h>

Inheritance diagram for mrpt::obs::CObservationStereoImagesFeatures:

Public Member Functions
	CObservationStereoImagesFeatures ()=default

	CObservationStereoImagesFeatures (const mrpt::img::TCamera &cLeft, const mrpt::img::TCamera &cRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
	Other constructor providing members initialization. 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 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 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) 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=nullptr) 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...

std::string	getDescriptionAsTextValue () const
	Return by value version of getDescriptionAsText(std::ostream&) 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...

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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
mrpt::img::TCamera	cameraLeft

mrpt::img::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...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp {mrpt::system::now()}
	The associated UTC time-stamp. 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
using	Ptr = std::shared_ptr< mrpt::obs ::CObservationStereoImagesFeatures >

using	ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationStereoImagesFeatures >

using	UniquePtr = std::unique_ptr< mrpt::obs ::CObservationStereoImagesFeatures >

using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationStereoImagesFeatures >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::obs" "::" "CObservationStereoImagesFeatures"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::obs::CObservationStereoImagesFeatures::ConstPtr = std::shared_ptr<const mrpt::obs :: CObservationStereoImagesFeatures >

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ ConstUniquePtr

using mrpt::obs::CObservationStereoImagesFeatures::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CObservationStereoImagesFeatures >

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ Ptr

using mrpt::obs::CObservationStereoImagesFeatures::Ptr = std::shared_ptr< mrpt::obs :: CObservationStereoImagesFeatures >

A type for the associated smart pointer

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ UniquePtr

using mrpt::obs::CObservationStereoImagesFeatures::UniquePtr = std::unique_ptr< mrpt::obs :: CObservationStereoImagesFeatures >

Definition at line 38 of file CObservationStereoImagesFeatures.h.

Constructor & Destructor Documentation

◆ CObservationStereoImagesFeatures() [1/2]

mrpt::obs::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( )

default

◆ CObservationStereoImagesFeatures() [2/2]

mrpt::obs::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures	(	const mrpt::img::TCamera &	cLeft,
		const mrpt::img::TCamera &	cRight,
		const mrpt::poses::CPose3DQuat &	rCPose,
		const mrpt::poses::CPose3DQuat &	cPORobot
	)

Other constructor providing members initialization.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationStereoImagesFeatures::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CObservationStereoImagesFeatures::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CObservationStereoImagesFeatures::Create ( Args &&... args )

inlinestatic

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CObservationStereoImagesFeatures::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CObservationStereoImagesFeatures::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CObservationStereoImagesFeatures::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getClassName()

static constexpr auto mrpt::obs::CObservationStereoImagesFeatures::getClassName ( )

inlinestatic

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ getDescriptionAsText()

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

overridevirtual

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 100 of file CObservationStereoImagesFeatures.cpp.

References mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::inMatlabFormat().

Here is the call graph for this function:

◆ getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const

inherited

Return by value version of getDescriptionAsText(std::ostream&)

Definition at line 59 of file CObservation.cpp.

◆ 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::CObservationVelodyneScan, mrpt::obs::CObservationGPS, and mrpt::obs::CObservationRotatingScan.

Definition at line 71 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationStereoImagesFeatures::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CObservationStereoImagesFeatures::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/3]

void mrpt::obs::CObservationStereoImagesFeatures::getSensorPose ( mrpt::poses::CPose3D & out_sensorPose ) const

inlineoverridevirtual

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 81 of file CObservationStereoImagesFeatures.h.

References cameraPoseOnRobot.

◆ getSensorPose() [2/3]

void mrpt::obs::CObservationStereoImagesFeatures::getSensorPose ( mrpt::poses::CPose3DQuat & out_sensorPose ) const

inline

Definition at line 86 of file CObservationStereoImagesFeatures.h.

References cameraPoseOnRobot.

◆ getSensorPose() [3/3]

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 24 of file CObservation.cpp.

References mrpt::poses::CPose3D::asTPose().

Here is the call graph for this function:

◆ getTimeStamp()

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

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 66 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		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 nullptr (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 99 of file CObservation.h.

◆ 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, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationImage, and mrpt::obs::CObservationPointCloud.

Definition at line 157 of file CObservation.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation().

Here is the caller graph for this function:

◆ saveFeaturesToTextFile()

void 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.

Definition at line 37 of file CObservationStereoImagesFeatures.cpp.

References ASSERT_, and mrpt::format().

Here is the call graph for this function:

◆ serializeFrom() [1/2]

void CObservationStereoImagesFeatures::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 72 of file CObservationStereoImagesFeatures.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

Here is the call graph for this function:

◆ serializeGetVersion()

uint8_t CObservationStereoImagesFeatures::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 50 of file CObservationStereoImagesFeatures.cpp.

◆ serializeTo() [1/2]

void CObservationStereoImagesFeatures::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file CObservationStereoImagesFeatures.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

Here is the call graph for this function:

◆ setSensorPose() [1/3]

void mrpt::obs::CObservationStereoImagesFeatures::setSensorPose ( const mrpt::poses::CPose3D & newSensorPose )

inlineoverridevirtual

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.

See also: getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 99 of file CObservationStereoImagesFeatures.h.

References cameraPoseOnRobot.

◆ setSensorPose() [2/3]

void mrpt::obs::CObservationStereoImagesFeatures::setSensorPose ( const mrpt::poses::CPose3DQuat & newSensorPose )

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.

See also: getSensorPose

Definition at line 111 of file CObservationStereoImagesFeatures.h.

References cameraPoseOnRobot.

◆ setSensorPose() [3/3]

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 31 of file CObservation.cpp.

◆ swap()

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 36 of file CObservation.cpp.

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

Referenced by mrpt::obs::CObservationStereoImages::swap().

Here is the caller graph for this function:

◆ 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, and mrpt::obs::CObservationPointCloud.

Definition at line 164 of file CObservation.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ cameraLeft

mrpt::img::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraLeft

Definition at line 61 of file CObservationStereoImagesFeatures.h.

◆ cameraPoseOnRobot

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImagesFeatures::cameraPoseOnRobot

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

Definition at line 74 of file CObservationStereoImagesFeatures.h.

Referenced by getSensorPose(), and setSensorPose().

◆ cameraRight

mrpt::img::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraRight

Definition at line 61 of file CObservationStereoImagesFeatures.h.

◆ className

constexpr const char* mrpt::obs::CObservationStereoImagesFeatures::className = "mrpt::obs" "::" "CObservationStereoImagesFeatures"

static

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ rightCameraPose

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 70 of file CObservationStereoImagesFeatures.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationStereoImagesFeatures::runtimeClassId

staticprotected

Definition at line 38 of file CObservationStereoImagesFeatures.h.

◆ sensorLabel

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

inherited

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

Definition at line 62 of file CObservation.h.

◆ theFeatures

std::vector<TStereoImageFeatures> mrpt::obs::CObservationStereoImagesFeatures::theFeatures

Vectors of image feature pairs (with ID).

Definition at line 78 of file CObservationStereoImagesFeatures.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp {mrpt::system::now()}

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 60 of file CObservation.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Data common to any observation

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CObservationStereoImagesFeatures() [1/2]

◆ CObservationStereoImagesFeatures() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getDescriptionAsText()

◆ getDescriptionAsTextValue()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/3]

◆ getSensorPose() [2/3]

◆ getSensorPose() [3/3]

◆ getTimeStamp()

◆ insertObservationInto()

◆ load()

◆ saveFeaturesToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setSensorPose() [1/3]

◆ setSensorPose() [2/3]

◆ setSensorPose() [3/3]

◆ swap()

◆ unload()

◆ writeToMatlab()

Member Data Documentation

◆ cameraLeft

◆ cameraPoseOnRobot

◆ cameraRight

◆ className

◆ rightCameraPose

◆ runtimeClassId

◆ sensorLabel

◆ theFeatures

◆ timestamp