class mrpt::obs::CObservationStereoImagesFeatures

Declares a class derived from “CObservation” that encapsules a pair of cameras and a set of matched image features extracted from them.

NOTE: The image features stored in this class are NOT supposed to be UNDISTORTED, but the TCamera members must provide their distortion params. A zero-vector of distortion params means a set of UNDISTORTED pixels.

See also:

CObservation

#include <mrpt/obs/CObservationStereoImagesFeatures.h>

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

    mrpt::img::TCamera cameraLeft;
    mrpt::img::TCamera cameraRight;
    mrpt::poses::CPose3DQuat rightCameraPose;
    mrpt::poses::CPose3DQuat cameraPoseOnRobot;
    std::vector<TStereoImageFeatures> theFeatures;

    // construction

    CObservationStereoImagesFeatures();
    CObservationStereoImagesFeatures(const mrpt::img::TCamera& cLeft, const mrpt::img::TCamera& cRight, const mrpt::poses::CPose3DQuat& rCPose, const mrpt::poses::CPose3DQuat& cPORobot);

    //
methods

    void saveFeaturesToTextFile(const std::string& filename);
    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    void getSensorPose(mrpt::poses::CPose3DQuat& out_sensorPose) const;
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    void setSensorPose(const mrpt::poses::CPose3DQuat& newSensorPose);
};

Inherited Members

public:
    //
fields

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

    //
methods

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

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) 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::CPose3DQuat rightCameraPose

The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and 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 q = [1 0 0 0], where BL is the BASELINE.

mrpt::poses::CPose3DQuat cameraPoseOnRobot

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

std::vector<TStereoImageFeatures> theFeatures

Vectors of image feature pairs (with ID).

Construction

CObservationStereoImagesFeatures(
    const mrpt::img::TCamera& cLeft,
    const mrpt::img::TCamera& cRight,
    const mrpt::poses::CPose3DQuat& rCPose,
    const mrpt::poses::CPose3DQuat& cPORobot
    )

Other constructor providing members initialization.

Methods

void saveFeaturesToTextFile(const std::string& filename)

A method for storing the set of observed features in a text file in the format:

ID ul vl ur vr

being (ul,vl) and (ur,vr) the “x” and “y” coordinates for the left and right feature, respectively.

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 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

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

A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form.

Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.

See also:

getSensorPose

void setSensorPose(const mrpt::poses::CPose3DQuat& newSensorPose)

A general method to change the sensor pose on the robot in a CPose3DQuat form.

Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.

See also:

getSensorPose