class mrpt::obs::CObservationImage

Overview

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:

_images/CObservationImage_figRefSystem.png

See also:

CObservation, CObservationStereoImages

#include <mrpt/obs/CObservationImage.h>

class CObservationImage: public mrpt::obs::CObservation
{
public:
    // fields

    mrpt::poses::CPose3D cameraPose;
    mrpt::img::TCamera cameraParams;
    mrpt::img::CImage image;

    // construction

    CObservationImage();

    // methods

    virtual void load_impl() const;
    virtual void unload() const;
    void getUndistortedImage(mrpt::img::CImage& out_img) const;
    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members

public:
    // fields

    mrpt::system::TTimeStamp timestamp {mrpt::Clock::now()};
    std::string sensorLabel;

    // methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D sensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual std::string asString() const;

Fields

mrpt::poses::CPose3D cameraPose

The pose of the camera on the robot.

mrpt::img::TCamera cameraParams

Intrinsic and distortion parameters of the camera.

See the tutorial for a discussion of these parameters.

mrpt::img::CImage image

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

Construction

CObservationImage()

Constructor.

Parameters:

iplImage

An OpenCV “IplImage*” object with the image to be loaded in the member “image”, or nullptr (default) for an empty image.

Methods

virtual void load_impl() const

Makes sure the image, which may be externally stored, are loaded in memory.

See also:

unload

virtual void unload() const

Unload image, for the case of it being stored in lazy-load mode (othewise, the method has no effect).

See also:

load

void getUndistortedImage(mrpt::img::CImage& out_img) const

Computes the un-distorted image, using the embeded camera intrinsic & distortion parameters.

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

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

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

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

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

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

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