Class CObservationStereoImagesFeatures

Inheritance Relationships

Base Type

Class Documentation

class CObservationStereoImagesFeatures : public mrpt::obs::CObservation

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

Public Functions

CObservationStereoImagesFeatures() = default
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.

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.

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 void getSensorPose(mrpt::poses::CPose3DQuat &out_sensorPose) const
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

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

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

inline 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

Public Members

mrpt::img::TCamera cameraLeft
mrpt::img::TCamera cameraRight
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).