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:

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

#include <mrpt/slam/CObservationStereoImages.h>

Inheritance diagram for mrpt::slam::CObservationStereoImages:

[legend]

List of all members.

Public Member Functions
	CObservationStereoImages ()
	Default Constructor.
	CObservationStereoImages (void iplImageLeft, void iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false)
	Constructor from "IplImage*" images, which could be NULL.
	~CObservationStereoImages ()
	Destructor.
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.
void	swap (CObservationStereoImages &o)
	Do an efficient swap of all data members of this object with "o".
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
Main observation data members
mrpt::utils::CImage	imageLeft
	Image from the left camera (this image will be ALWAYS present)
mrpt::utils::CImage	imageRight
	Image from the right camera, only contains a valid image if hasImageRight == true.
mrpt::utils::CImage	imageDisparity
	Disparity image, only contains a valid image if hasImageDisparity == true.
bool	hasImageDisparity
	Whether imageDisparity actually contains data (Default upon construction: false)
bool	hasImageRight
	Whether imageRight actually contains data (Default upon construction: true)
TCamera	leftCamera
	Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.
TCamera	rightCamera
CPose3DQuat	cameraPose
	The pose of the LEFT camera, relative to the robot.
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.
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 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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CObservationStereoImagesPtr	Create ()

Member Typedef Documentation

typedef CObservationStereoImagesPtr mrpt::slam::CObservationStereoImages::SmartPtr

A typedef for the associated smart pointer

Definition at line 67 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 ( ) [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 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 [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.

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::CObservationStereoImages::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 123 of file CObservationStereoImages.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::CObservationStereoImages::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 130 of file CObservationStereoImages.h.

References mrpt::poses::CPose3DQuat.

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.

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 ( ) [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

See also:: CStream

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

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 84 of file CObservation.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationStereoImages::_init_CObservationStereoImages [static, protected]

Definition at line 67 of file CObservationStereoImages.h.

CPose3DQuat mrpt::slam::CObservationStereoImages::cameraPose

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

Definition at line 107 of file CObservationStereoImages.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation [static, inherited]

Definition at line 84 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationStereoImages::classCObservationStereoImages [static]

Definition at line 67 of file CObservationStereoImages.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

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

Definition at line 67 of file CObservationStereoImages.h.

bool mrpt::slam::CObservationStereoImages::hasImageDisparity

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

Definition at line 99 of file CObservationStereoImages.h.

bool mrpt::slam::CObservationStereoImages::hasImageRight

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

Definition at line 100 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 97 of file CObservationStereoImages.h.

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

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

Definition at line 90 of file CObservationStereoImages.h.

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

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

Definition at line 93 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.

Definition at line 105 of file CObservationStereoImages.h.

TCamera mrpt::slam::CObservationStereoImages::rightCamera

Definition at line 105 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 114 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 100 of file CObservation.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp [inherited]

The associated time-stamp.

Definition at line 96 of file CObservation.h.

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation