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:

 <center>

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

Definition at line 43 of file CObservationStereoImages.h.

#include <mrpt/obs/CObservationStereoImages.h>

Inheritance diagram for mrpt::obs::CObservationStereoImages:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CObservationStereoImages ()
	Default Constructor. More...

	CObservationStereoImages (void iplImageLeft, void iplImageRight, void *iplImageDisparity=nullptr, bool ownMemory=false)
	Constructor from "IplImage*" images, which could be NULL. More...

	~CObservationStereoImages ()
	Destructor. More...

void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...

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	swap (CObservationStereoImages &o)
	Do an efficient swap of all data members of this object with "o". 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...

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
mrpt::utils::CObject::Ptr	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)

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
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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. 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< CObservationStereoImages >

using	ConstPtr = std::shared_ptr< const CObservationStereoImages >

static mrpt::utils::CLASSINIT	_init_CObservationStereoImages

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CObservationStereoImages"

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

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

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

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

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

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

Main observation data members
mrpt::utils::CImage	imageLeft
	Image from the left camera (this image will be ALWAYS present) More...

mrpt::utils::CImage	imageRight
	Image from the right camera, only contains a valid image if hasImageRight == true. More...

mrpt::utils::CImage	imageDisparity
	Disparity image, only contains a valid image if hasImageDisparity == true. More...

bool	hasImageDisparity
	Whether imageDisparity actually contains data (Default upon construction: false) More...

bool	hasImageRight
	Whether imageRight actually contains data (Default upon construction: true) More...

mrpt::utils::TCamera	leftCamera
	Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. More...

mrpt::utils::TCamera	rightCamera

mrpt::poses::CPose3DQuat	cameraPose
	The pose of the LEFT camera, relative to the robot. More...

mrpt::poses::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. More...

void	getStereoCameraParams (mrpt::utils::TStereoCamera &out_params) const
	Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose. More...

void	setStereoCameraParams (const mrpt::utils::TStereoCamera &in_params)
	Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure. More...

bool	areImagesRectified () const
	This method only checks whether ALL the distortion parameters in leftCamera are set to zero, which is the convention in MRPT to denote that this pair of stereo images has been rectified. More...

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 45 of file CObservationStereoImages.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 45 of file CObservationStereoImages.h.

Constructor & Destructor Documentation

◆ CObservationStereoImages() [1/2]

CObservationStereoImages::CObservationStereoImages ( )

Default Constructor.

Definition at line 53 of file CObservationStereoImages.cpp.

◆ CObservationStereoImages() [2/2]

CObservationStereoImages::CObservationStereoImages	(	void *	iplImageLeft,
		void *	iplImageRight,
		void *	iplImageDisparity = `nullptr`,
		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 !=nullptr. 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.

Definition at line 30 of file CObservationStereoImages.cpp.

◆ ~CObservationStereoImages()

CObservationStereoImages::~CObservationStereoImages ( )

Destructor.

Definition at line 61 of file CObservationStereoImages.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ areImagesRectified()

bool CObservationStereoImages::areImagesRectified ( ) const

This method only checks whether ALL the distortion parameters in leftCamera are set to zero, which is the convention in MRPT to denote that this pair of stereo images has been rectified.

Definition at line 242 of file CObservationStereoImages.cpp.

References mrpt::utils::TCamera::dist, and leftCamera.

◆ clone()

virtual mrpt::utils::CObject* mrpt::obs::CObservationStereoImages::clone ( ) const

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 45 of file CObservationStereoImages.h.

◆ CreateObject()

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

static

◆ getDescriptionAsText()

void CObservationStereoImages::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 266 of file CObservationStereoImages.cpp.

References cameraPose, mrpt::utils::TStereoCamera::dumpAsText(), mrpt::format(), mrpt::utils::CImage::getChannelsOrder(), mrpt::obs::CObservation::getDescriptionAsText(), mrpt::utils::CImage::getExternalStorageFile(), mrpt::utils::CImage::getHeight(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal(), getStereoCameraParams(), mrpt::utils::CImage::getWidth(), hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, mrpt::utils::CImage::isExternallyStored(), mrpt::utils::CImage::isOriginTopLeft(), and mrpt::utils::TStereoCamera::rightCameraPose.

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◆ 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 69 of file CObservation.h.

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

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::obs::CObservationStereoImages::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/2]

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 31 of file CObservation.cpp.

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationStereoImages::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 132 of file CObservationStereoImages.h.

References cameraPose.

◆ getStereoCameraParams()

void CObservationStereoImages::getStereoCameraParams ( mrpt::utils::TStereoCamera & out_params ) const

Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose.

See also: areImagesRectified()

Definition at line 219 of file CObservationStereoImages.cpp.

References mrpt::utils::TStereoCamera::leftCamera, leftCamera, mrpt::utils::TStereoCamera::rightCamera, rightCamera, mrpt::utils::TStereoCamera::rightCameraPose, and rightCameraPose.

Referenced by getDescriptionAsText(), and mrpt::vision::CStereoRectifyMap::setFromCamParams().

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◆ getTimeStamp()

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

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 64 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 96 of file CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

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◆ 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 151 of file CObservation.h.

◆ operator delete() [1/3]

void mrpt::obs::CObservationStereoImages::operator delete ( void * ptr )

inlinenoexcept

Definition at line 45 of file CObservationStereoImages.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservationStereoImages::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 45 of file CObservationStereoImages.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 45 of file CObservationStereoImages.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 45 of file CObservationStereoImages.h.

◆ operator new() [1/3]

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

inline

Definition at line 45 of file CObservationStereoImages.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 45 of file CObservationStereoImages.h.

◆ operator new() [3/3]

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

inlinenoexcept

Definition at line 45 of file CObservationStereoImages.h.

◆ operator new[]()

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

inline

Definition at line 45 of file CObservationStereoImages.h.

◆ readFromStream()

void CObservationStereoImages::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

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 90 of file CObservationStereoImages.cpp.

References cameraPose, mrpt::utils::TCamera::focalLengthMeters, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, mrpt::utils::TCamera::intrinsicParams, INVALID_TIMESTAMP, leftCamera, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, rightCamera, rightCameraPose, mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

◆ setSensorPose() [1/2]

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 38 of file CObservation.cpp.

◆ setSensorPose() [2/2]

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

inlineoverridevirtual

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 136 of file CObservationStereoImages.h.

References cameraPose.

◆ setStereoCameraParams()

void CObservationStereoImages::setStereoCameraParams ( const mrpt::utils::TStereoCamera & in_params )

Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.

Definition at line 229 of file CObservationStereoImages.cpp.

References mrpt::utils::TStereoCamera::leftCamera, leftCamera, mrpt::utils::TStereoCamera::rightCamera, rightCamera, mrpt::utils::TStereoCamera::rightCameraPose, and rightCameraPose.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), and mrpt::vision::CStereoRectifyMap::rectify().

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◆ swap() [1/2]

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 43 of file CObservation.cpp.

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

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

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◆ swap() [2/2]

void CObservationStereoImages::swap ( CObservationStereoImages & o )

Do an efficient swap of all data members of this object with "o".

Definition at line 248 of file CObservationStereoImages.cpp.

References cameraPose, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, leftCamera, rightCamera, rightCameraPose, mrpt::obs::CObservation::swap(), and mrpt::utils::CImage::swap().

Referenced by mrpt::hwdrivers::CStereoGrabber_SVS::getStereoObservation().

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◆ 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 156 of file 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 nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void CObservationStereoImages::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

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 nullptr, 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 65 of file CObservationStereoImages.cpp.

References cameraPose, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, leftCamera, rightCamera, rightCameraPose, mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Member Data Documentation

◆ _init_CObservationStereoImages

mrpt::utils::CLASSINIT mrpt::obs::CObservationStereoImages::_init_CObservationStereoImages

staticprotected

Definition at line 45 of file CObservationStereoImages.h.

◆ cameraPose

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImages::cameraPose

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

Definition at line 103 of file CObservationStereoImages.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getSensorPose(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), setSensorPose(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

◆ className

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

static

Definition at line 45 of file CObservationStereoImages.h.

◆ hasImageDisparity

bool mrpt::obs::CObservationStereoImages::hasImageDisparity

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

Definition at line 89 of file CObservationStereoImages.h.

Referenced by getDescriptionAsText(), readFromStream(), swap(), and writeToStream().

◆ hasImageRight

bool mrpt::obs::CObservationStereoImages::hasImageRight

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

Definition at line 92 of file CObservationStereoImages.h.

Referenced by getDescriptionAsText(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), swap(), and writeToStream().

◆ imageDisparity

mrpt::utils::CImage mrpt::obs::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 85 of file CObservationStereoImages.h.

Referenced by getDescriptionAsText(), readFromStream(), swap(), and writeToStream().

◆ imageLeft

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageLeft

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

See also: areImagesRectified()

Definition at line 75 of file CObservationStereoImages.h.

Referenced by mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), getDescriptionAsText(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

◆ imageRight

mrpt::utils::CImage mrpt::obs::CObservationStereoImages::imageRight

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

See also: areImagesRectified()

Definition at line 79 of file CObservationStereoImages.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

◆ leftCamera

mrpt::utils::TCamera mrpt::obs::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.

See also: areImagesRectified(), getStereoCameraParams()

Definition at line 100 of file CObservationStereoImages.h.

Referenced by areImagesRectified(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getStereoCameraParams(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), setStereoCameraParams(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

◆ rightCamera

mrpt::utils::TCamera mrpt::obs::CObservationStereoImages::rightCamera

Definition at line 100 of file CObservationStereoImages.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getStereoCameraParams(), readFromStream(), setStereoCameraParams(), swap(), and writeToStream().

◆ rightCameraPose

mrpt::poses::CPose3DQuat mrpt::obs::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 111 of file CObservationStereoImages.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), getStereoCameraParams(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), readFromStream(), mrpt::vision::CStereoRectifyMap::rectify(), setStereoCameraParams(), mrpt::vision::StereoObs2BRObs(), swap(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservationStereoImages::runtimeClassId

staticprotected

Definition at line 45 of file CObservationStereoImages.h.

◆ sensorLabel

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

inherited

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

Definition at line 60 of file 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 58 of file CObservation.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Data common to any observation

RTTI stuff

Main observation data members

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CObservationStereoImages() [1/2]

◆ CObservationStereoImages() [2/2]

◆ ~CObservationStereoImages()

Member Function Documentation

◆ _GetBaseClass()

◆ areImagesRectified()

◆ clone()

◆ Create()

◆ CreateObject()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getStereoCameraParams()

◆ 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]

◆ setStereoCameraParams()

◆ swap() [1/2]

◆ swap() [2/2]

◆ unload()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CObservationStereoImages

◆ cameraPose

◆ className

◆ hasImageDisparity

◆ hasImageRight

◆ imageDisparity

◆ imageLeft

◆ imageRight

◆ leftCamera

◆ rightCamera

◆ rightCameraPose

◆ runtimeClassId

◆ sensorLabel

◆ timestamp