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 35 of file obs/CObservationImage.h.

#include <mrpt/obs/CObservationImage.h>

Inheritance diagram for mrpt::obs::CObservationImage:

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 (mrpt::utils::CImage &out_img) const
	Computes the rectified (un-distorted) image, using the embeded distortion parameters. 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...

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)

Public Attributes
mrpt::poses::CPose3D	cameraPose
	The pose of the camera on the robot. More...

mrpt::utils::TCamera	cameraParams
	Intrinsic and distortion parameters of the camera. More...

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

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 CObservationImagePtr	Ptr

typedef CObservationImagePtr	ConstPtr

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::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CObservationImagePtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CObservationImagePtr mrpt::obs::CObservationImage::ConstPtr

Definition at line 38 of file obs/CObservationImage.h.

◆ Ptr

typedef CObservationImagePtr mrpt::obs::CObservationImage::Ptr

A typedef for the associated smart pointer

Definition at line 38 of file obs/CObservationImage.h.

Constructor & Destructor Documentation

◆ CObservationImage()

CObservationImage::CObservationImage ( void * iplImage = NULL )

Constructor.

Parameters

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

Definition at line 30 of file CObservationImage.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create()

static CObservationImagePtr mrpt::obs::CObservationImage::Create ( )

static

◆ CreateObject()

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

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservationImage::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 CObservationImage::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 141 of file CObservationImage.cpp.

References mrpt::format(), and mrpt::obs::CObservation::getDescriptionAsText().

◆ 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.

◆ getRectifiedImage()

void CObservationImage::getRectifiedImage ( mrpt::utils::CImage & out_img ) const

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

Definition at line 136 of file CObservationImage.cpp.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ getSensorPose() [1/2]

void mrpt::obs::CObservationImage::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 65 of file obs/CObservationImage.h.

Referenced by mrpt::maps::CColouredPointsMap::colourFromObservation().

◆ getSensorPose() [2/2]

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.

◆ 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::CObservationImage::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ operator delete() [2/3]

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

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ operator delete() [3/3]

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

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ operator delete[]()

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

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ operator new() [1/3]

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

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 38 of file obs/CObservationImage.h.

◆ operator new() [3/3]

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

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ operator new[]()

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

inline

Definition at line 38 of file obs/CObservationImage.h.

◆ readFromStream()

void 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

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 55 of file CObservationImage.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ setSensorPose() [1/2]

void mrpt::obs::CObservationImage::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 66 of file obs/CObservationImage.h.

◆ setSensorPose() [2/2]

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.

◆ 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 50 of file CObservation.cpp.

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

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

◆ 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 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

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 39 of file CObservationImage.cpp.

References version.

Member Data Documentation

◆ _init_CObservationImage

mrpt::utils::CLASSINIT mrpt::obs::CObservationImage::_init_CObservationImage

staticprotected

Definition at line 38 of file obs/CObservationImage.h.

◆ cameraParams

mrpt::utils::TCamera mrpt::obs::CObservationImage::cameraParams

Intrinsic and distortion parameters of the camera.

See the tutorial for a discussion of these parameters.

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

Referenced by mrpt::maps::CColouredPointsMap::colourFromObservation(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation().

◆ cameraPose

mrpt::poses::CPose3D mrpt::obs::CObservationImage::cameraPose

The pose of the camera on the robot.

Definition at line 51 of file obs/CObservationImage.h.

◆ 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.

◆ classCObservationImage

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationImage::classCObservationImage

static

Definition at line 38 of file obs/CObservationImage.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::CObservationImage::classinfo

static

Definition at line 38 of file obs/CObservationImage.h.

◆ image

mrpt::utils::CImage mrpt::obs::CObservationImage::image

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

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

Referenced by mrpt::maps::CColouredPointsMap::colourFromObservation(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation().

◆ 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.

◆ 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.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Data common to any observation

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CObservationImage()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ getRectifiedImage()

◆ GetRuntimeClass()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ insertObservationInto()

◆ load()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CObservationImage

◆ cameraParams

◆ cameraPose

◆ classCObject

◆ classCObservation

◆ classCObservationImage

◆ classCSerializable

◆ classinfo

◆ image

◆ sensorLabel

◆ timestamp