Class CObservationImage

Inheritance Relationships

Base Type

Class Documentation

class CObservationImage : public mrpt::obs::CObservation

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:

See also

CObservation, CObservationStereoImages

Delayed-load (lazy-load) manual control methods.

virtual void load_impl() const override

Makes sure the image, which may be externally stored, are loaded in memory.

See also

unload

virtual void unload() const override

Unload image, for the case of it being stored in lazy-load mode (otherwise, the method has no effect).

See also

load

Public Functions

CObservationImage() = default

Constructor.

Parameters:

iplImage – An OpenCV “IplImage*” object with the image to be loaded in the member “image”, or nullptr (default) for an empty image.

void getUndistortedImage(mrpt::img::CImage &out_img) const

Computes the un-distorted image, using the embedded camera intrinsic & distortion parameters.

inline virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override

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

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

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

virtual void getDescriptionAsText(std::ostream &o) const override

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

Note

This is the text that appears in RawLogViewer when selecting an object in the dataset

Public Members

mrpt::poses::CPose3D cameraPose

The pose of the camera on the robot

mrpt::img::TCamera cameraParams

Intrinsic and distortion parameters of the camera. See the tutorial for a discussion of these parameters.

mrpt::img::CImage image

The image captured by the camera, that is, the main piece of information of this observation.