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mrpt::slam::CObservationStereoImages Class Reference

Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera. More...

#include <mrpt/slam/CObservationStereoImages.h>

Inheritance diagram for mrpt::slam::CObservationStereoImages:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

Classes

class  CAuxMapWrapper
 If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin. More...

Public Member Functions

 CObservationStereoImages ()
 Default Constructor.
 CObservationStereoImages (void *iplImageLeft, void *iplImageRight)
 Constructor.
 ~CObservationStereoImages ()
 Destructor.
float likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const
 Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
const CLandmarksMapbuildAuxiliaryMap (CLandmark::TLandmarkID fID, const CLandmarksMap::TInsertionOptions *insOpts=NULL) const
 This method build the map in "m_auxMap", only the first time this is called.
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.

Public Attributes

CPose3D cameraPose
 The pose of the LEFT camera, relative to the robot.
CMatrix intrinsicParams
 The A matrix, see also:.
CMatrix distortionParams
CImage imageLeft
 The pair of RECTIFIED images.
CImage imageRight
CPose3D 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.
double focalLength_meters
 The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).

Private Attributes

CAuxMapWrapper m_auxMap


Detailed Description

Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera.

The next figure illustrate the coordinates reference systems involved in this class:

CObservationStereoImages_figRefSystem.png


NOTE: The images stored in this class are supposed to be UNDISTORTED images already.

See also:
CObservation

Definition at line 59 of file CObservationStereoImages.h.


Constructor & Destructor Documentation

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

Default Constructor.

mrpt::slam::CObservationStereoImages::CObservationStereoImages ( void *  iplImageLeft,
void *  iplImageRight 
)

Constructor.

Parameters:
iplImageLeft An OpenCV "IplImage*" object with the image to be loaded in the member "imageLeft", or NULL (default) for an empty image.
iplImageRight An OpenCV "IplImage*" object with the image to be loaded in the member "imageRight", or NULL (default) for an empty image.

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

Destructor.


Member Function Documentation

const CLandmarksMap* mrpt::slam::CObservationStereoImages::buildAuxiliaryMap ( CLandmark::TLandmarkID  fID,
const CLandmarksMap::TInsertionOptions insOpts = NULL 
) const

This method build the map in "m_auxMap", only the first time this is called.

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 150 of file CObservationStereoImages.h.

float mrpt::slam::CObservationStereoImages::likelihoodWith ( const CObservation anotherObs,
const CPosePDF anotherObsPose = NULL 
) const [virtual]

Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters:
anotherObs The other observation to compute likelihood with.
anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
std::exception On any error, as another observation being of an invalid class.

Implements mrpt::slam::CObservation.

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 157 of file CObservationStereoImages.h.


Member Data Documentation

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

Definition at line 106 of file CObservationStereoImages.h.

Definition at line 112 of file CObservationStereoImages.h.

The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).

(Added in version 3 of object's streaming)

Definition at line 128 of file CObservationStereoImages.h.

The pair of RECTIFIED images.

Definition at line 116 of file CObservationStereoImages.h.

Definition at line 116 of file CObservationStereoImages.h.

The A matrix, see also:.

See also:
vision::vision::buildIntrinsicParamsMatrix

Definition at line 111 of file CObservationStereoImages.h.

Definition at line 84 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 123 of file CObservationStereoImages.h.




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