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mrpt::slam::CObservationStereoImagesFeatures Class Reference


Detailed Description

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

Definition at line 59 of file CObservationStereoImagesFeatures.h.

#include <mrpt/slam/CObservationStereoImagesFeatures.h>

Inheritance diagram for mrpt::slam::CObservationStereoImagesFeatures:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CObservationStereoImagesFeatures ()
 Default Constructor.
 CObservationStereoImagesFeatures (const CMatrixDouble33 &iPLeft, const CMatrixDouble33 &iPRight, const CArrayDouble< 5 > &dPLeft, const CArrayDouble< 5 > &dPRight, const CPose3DQuat &rCPose, const CPose3DQuat &cPORobot)
 Other constructor providing members initialization.
 CObservationStereoImagesFeatures (const TCamera &cLeft, const TCamera &cRight, const CPose3DQuat &rCPose, const CPose3DQuat &cPORobot)
 Other constructor providing members initialization.
 ~CObservationStereoImagesFeatures ()
 Destructor.
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.
void getSensorPose (CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot in CPose3D form.
void getSensorPose (CPose3DQuat &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot in CPose3DQuat form.
void setSensorPose (const CPose3D &newSensorPose)
 A general method to change the sensor pose on the robot in a CPose3D form.
void setSensorPose (const CPose3DQuat &newSensorPose)
 A general method to change the sensor pose on the robot in a CPose3DQuat form.

Public Attributes

TCamera cameraLeft
TCamera cameraRight
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.
CPose3DQuat cameraPoseOnRobot
 The pose of the LEFT camera, relative to the robot.
std::vector< TStereoImageFeaturestheFeatures
 Vectors of image feature pairs (with ID).

RTTI stuff

typedef
CObservationStereoImagesFeaturesPtr 
SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationStereoImagesFeatures
static mrpt::utils::TRuntimeClassId classCObservationStereoImagesFeatures
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static
CObservationStereoImagesFeaturesPtr 
Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 62 of file CObservationStereoImagesFeatures.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( )

Default Constructor.

mrpt::slam::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( const CMatrixDouble33 iPLeft,
const CMatrixDouble33 iPRight,
const CArrayDouble< 5 > &  dPLeft,
const CArrayDouble< 5 > &  dPRight,
const CPose3DQuat rCPose,
const CPose3DQuat cPORobot 
)

Other constructor providing members initialization.

mrpt::slam::CObservationStereoImagesFeatures::CObservationStereoImagesFeatures ( const TCamera cLeft,
const TCamera cRight,
const CPose3DQuat rCPose,
const CPose3DQuat cPORobot 
)

Other constructor providing members initialization.

mrpt::slam::CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures ( )

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationStereoImagesFeatures::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

static CObservationStereoImagesFeaturesPtr mrpt::slam::CObservationStereoImagesFeatures::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationStereoImagesFeatures::CreateObject ( ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CObservationStereoImagesFeatures::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationStereoImagesFeatures::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationStereoImagesFeatures::getSensorPose ( CPose3DQuat out_sensorPose) const [inline]

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

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

See also:
setSensorPose

Definition at line 122 of file CObservationStereoImagesFeatures.h.

void mrpt::slam::CObservationStereoImagesFeatures::getSensorPose ( CPose3D out_sensorPose) const [inline, virtual]

A general method to retrieve the sensor pose on the robot in CPose3D form.

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

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 116 of file CObservationStereoImagesFeatures.h.

References mrpt::poses::CPose3D.

void mrpt::slam::CObservationStereoImagesFeatures::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.

void mrpt::slam::CObservationStereoImagesFeatures::setSensorPose ( const CPose3DQuat newSensorPose) [inline]

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

Definition at line 134 of file CObservationStereoImagesFeatures.h.

void mrpt::slam::CObservationStereoImagesFeatures::setSensorPose ( const CPose3D newSensorPose) [inline, virtual]

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

Implements mrpt::slam::CObservation.

Definition at line 128 of file CObservationStereoImagesFeatures.h.

References mrpt::poses::CPose3DQuat.


Member Data Documentation

Definition at line 62 of file CObservationStereoImagesFeatures.h.

Definition at line 95 of file CObservationStereoImagesFeatures.h.

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

Definition at line 106 of file CObservationStereoImagesFeatures.h.

Definition at line 95 of file CObservationStereoImagesFeatures.h.

Definition at line 62 of file CObservationStereoImagesFeatures.h.

Definition at line 62 of file CObservationStereoImagesFeatures.h.

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.

Definition at line 102 of file CObservationStereoImagesFeatures.h.

Vectors of image feature pairs (with ID).

Definition at line 110 of file CObservationStereoImagesFeatures.h.




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