class mrpt::obs::CObservationStereoImagesFeatures

Overview

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:
    // typedefs

    typedef std::shared_ptr<mrpt::obs ::CObservationStereoImagesFeatures> Ptr;
    typedef std::shared_ptr<const mrpt::obs ::CObservationStereoImagesFeatures> ConstPtr;
    typedef std::unique_ptr<mrpt::obs ::CObservationStereoImagesFeatures> UniquePtr;
    typedef std::unique_ptr<const mrpt::obs ::CObservationStereoImagesFeatures> ConstUniquePtr;

    // fields

    static constexpr const char* className = "mrpt::obs" "::" "CObservationStereoImagesFeatures";
    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

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

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

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    void saveFeaturesToTextFile(const std::string& filename);
    virtual mrpt::poses::CPose3D getSensorPose() 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:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CObservation> Ptr;
    typedef std::shared_ptr<const CObservation> ConstPtr;

    // fields

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

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    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 mrpt::poses::CPose3D getSensorPose() const = 0;
    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    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;

Typedefs

typedef std::shared_ptr<mrpt::obs ::CObservationStereoImagesFeatures> Ptr

A type for the associated smart pointer.

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

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

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

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 mrpt::poses::CPose3D getSensorPose() 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 A general method to retrieve the sensor pose on the robot, returning it by value.

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