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Public Member Functions

mrpt::slam::CObservationStereoImages Class Reference


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:

CObservationStereoImages_figRefSystem.png
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 63 of file CObservationStereoImages.h.

#include <mrpt/slam/CObservationStereoImages.h>

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

List of all members.

Public Member Functions

 CObservationStereoImages ()
 Default Constructor.
 CObservationStereoImages (void *iplImageLeft, void *iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false)
 Constructor from "IplImage*" images, which could be NULL.
 ~CObservationStereoImages ()
 Destructor.
void getSensorPose (CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
void setSensorPose (const CPose3D &newSensorPose)
 A general method to change the sensor pose on the robot.
void swap (CObservationStereoImages &o)
 Do an efficient swap of all data members of this object with "o".

Public Attributes

Main observation data members
mrpt::utils::CImage imageLeft
 Image from the left camera (this image will be ALWAYS present)
mrpt::utils::CImage imageRight
 Image from the right camera, only contains a valid image if hasImageRight == true.
mrpt::utils::CImage imageDisparity
 Disparity image, only contains a valid image if hasImageDisparity == true.
bool hasImageDisparity
 Whether imageDisparity actually contains data (Default upon construction: false)
bool hasImageRight
 Whether imageRight actually contains data (Default upon construction: true)
TCamera leftCamera
 Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.
TCamera rightCamera
CPose3DQuat cameraPose
 The pose of the LEFT camera, relative to the robot.
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.

RTTI stuff

typedef CObservationStereoImagesPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationStereoImages
static mrpt::utils::TRuntimeClassId classCObservationStereoImages
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 CObservationStereoImagesPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 66 of file CObservationStereoImages.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationStereoImages::CObservationStereoImages ( )

Default Constructor.

mrpt::slam::CObservationStereoImages::CObservationStereoImages ( void *  iplImageLeft,
void *  iplImageRight,
void *  iplImageDisparity = NULL,
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 !=NULL. 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.

mrpt::slam::CObservationStereoImages::~CObservationStereoImages ( )

Destructor.


Member Function Documentation

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

Reimplemented from mrpt::slam::CObservation.

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

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

Implements mrpt::utils::CObject.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

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

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::slam::CObservation.

Definition at line 122 of file CObservationStereoImages.h.

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

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::slam::CObservation.

Definition at line 129 of file CObservationStereoImages.h.

void mrpt::slam::CObservationStereoImages::swap ( CObservationStereoImages o)

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


Member Data Documentation

Definition at line 66 of file CObservationStereoImages.h.

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

Definition at line 106 of file CObservationStereoImages.h.

Definition at line 66 of file CObservationStereoImages.h.

Definition at line 66 of file CObservationStereoImages.h.

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

Definition at line 98 of file CObservationStereoImages.h.

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

Definition at line 99 of file CObservationStereoImages.h.

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 96 of file CObservationStereoImages.h.

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

Definition at line 89 of file CObservationStereoImages.h.

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

Definition at line 92 of file CObservationStereoImages.h.

Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.

See the tutorial for a discussion of these parameters.

Definition at line 104 of file CObservationStereoImages.h.

Definition at line 104 of file CObservationStereoImages.h.

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 113 of file CObservationStereoImages.h.




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