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

#include <mrpt/slam/CObservationImage.h>

Inheritance diagram for mrpt::slam::CObservationImage:

[legend]

List of all members.

Public Member Functions
	CObservationImage (void *iplImage=NULL)
	Constructor.
void	getRectifiedImage (CImage &out_img) const
	Computes the rectified (un-distorted) image, using the embeded distortion parameters.
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const CPose3D robotPose=NULL) const
	This method is equivalent to:
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
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).
CObject *	clone () const
	Cloning interface for smart pointers.
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.
virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Public Attributes
CPose3D	cameraPose
	The pose of the camera on the robot.
TCamera	cameraParams
	Intrinsic and distortion parameters of the camera.
CImage	image
	The image captured by the camera, that is, the main piece of information of this observation.
Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp.
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
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.
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation
class	mrpt::utils::CStream
RTTI stuff
typedef CObservationImagePtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CObservationImage
static mrpt::utils::TRuntimeClassId	classCObservationImage
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CObservationImagePtr	Create ()

Member Typedef Documentation

typedef CObservationImagePtr mrpt::slam::CObservationImage::SmartPtr

A typedef for the associated smart pointer

Definition at line 60 of file CObservationImage.h.

Constructor & Destructor Documentation

mrpt::slam::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.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CObservationImagePtr mrpt::slam::CObservationImage::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CObservationImage::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::slam::CObservationImage::duplicate ( ) const [virtual]

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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 151 of file CObject.h.

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

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

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationImage::getSensorPose ( CPose3D & out_sensorPose ) const [inline, virtual]

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 88 of file CObservationImage.h.

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const [inherited]

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: setSensorPose

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const `[inline, inherited]`

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 also:: CMetricMap, CMetricMap::insertObservation

Definition at line 122 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const [inline, virtual, inherited]

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 159 of file CObservation.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::slam::CObservationImage::setSensorPose ( const CPose3D & newSensorPose ) [inline, virtual]

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 95 of file CObservationImage.h.

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose ) [inherited]

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: getSensorPose

void mrpt::slam::CObservation::swap ( CObservation & o ) [protected, inherited]

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

virtual void mrpt::slam::CObservation::unload ( ) [inline, virtual, inherited]

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 163 of file CObservation.h.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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