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:
Definition at line 35 of file obs/CObservationImage.h.
#include <mrpt/obs/CObservationImage.h>
Public Member Functions | |
CObservationImage (void *iplImage=NULL) | |
Constructor. More... | |
void | getRectifiedImage (mrpt::utils::CImage &out_img) const |
Computes the rectified (un-distorted) image, using the embeded distortion parameters. More... | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. More... | |
void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. More... | |
void | getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More... | |
template<class METRICMAP > | |
bool | insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) 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... | |
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... | |
Public Attributes | |
mrpt::poses::CPose3D | cameraPose |
The pose of the camera on the robot. More... | |
mrpt::utils::TCamera | cameraParams |
Intrinsic and distortion parameters of the camera. More... | |
mrpt::utils::CImage | image |
The image captured by the camera, that is, the main piece of information of this observation. More... | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCObservation |
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. More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef CObservationImagePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationImage |
static mrpt::utils::TRuntimeClassId | classCObservationImage |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CObservationImagePtr | Create () |
Data common to any observation | |
mrpt::system::TTimeStamp | timestamp |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. 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... | |
A typedef for the associated smart pointer
Definition at line 38 of file obs/CObservationImage.h.
mrpt::obs::CObservationImage::CObservationImage | ( | void * | iplImage = NULL | ) |
Constructor.
iplImage | An OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image. |
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Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
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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.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 65 of file obs/CObservation.h.
void mrpt::obs::CObservationImage::getRectifiedImage | ( | mrpt::utils::CImage & | out_img | ) | const |
Computes the rectified (un-distorted) image, using the embeded distortion parameters.
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Reimplemented from mrpt::obs::CObservation.
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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.
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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.
Implements mrpt::obs::CObservation.
Definition at line 65 of file obs/CObservationImage.h.
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inlineinherited |
Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
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inlineinherited |
This method is equivalent to:
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) |
Definition at line 83 of file obs/CObservation.h.
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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.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 125 of file obs/CObservation.h.
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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.
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inlinevirtual |
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.
Implements mrpt::obs::CObservation.
Definition at line 66 of file obs/CObservationImage.h.
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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.
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 129 of file obs/CObservation.h.
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Definition at line 38 of file obs/CObservationImage.h.
mrpt::utils::TCamera mrpt::obs::CObservationImage::cameraParams |
Intrinsic and distortion parameters of the camera.
See the tutorial for a discussion of these parameters.
Definition at line 56 of file obs/CObservationImage.h.
mrpt::poses::CPose3D mrpt::obs::CObservationImage::cameraPose |
The pose of the camera on the robot.
Definition at line 51 of file obs/CObservationImage.h.
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Definition at line 50 of file obs/CObservation.h.
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Definition at line 38 of file obs/CObservationImage.h.
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Definition at line 38 of file obs/CObservationImage.h.
mrpt::utils::CImage mrpt::obs::CObservationImage::image |
The image captured by the camera, that is, the main piece of information of this observation.
Definition at line 58 of file obs/CObservationImage.h.
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inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
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inherited |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 59 of file obs/CObservation.h.
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