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9 #ifndef CObservationStereoImages_H
10 #define CObservationStereoImages_H
Structure to hold the parameters of a pinhole stereo camera model.
~CObservationStereoImages()
Destructor.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::utils::CImage imageLeft
Image from the left camera (this image will be ALWAYS present)
bool areImagesRectified() const
This method only checks whether ALL the distortion parameters in leftCamera are set to zero,...
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
A class for storing images as grayscale or RGB bitmaps.
void setStereoCameraParams(const mrpt::utils::TStereoCamera &in_params)
Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.
mrpt::utils::CImage imageRight
Image from the right camera, only contains a valid image if hasImageRight == true.
CObservationStereoImages()
Default Constructor.
mrpt::utils::CImage imageDisparity
Disparity image, only contains a valid image if hasImageDisparity == true.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
mrpt::utils::TCamera rightCamera
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
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".
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Structure to hold the parameters of a pinhole camera model.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::poses::CPose3DQuat cameraPose
The pose of the LEFT camera, relative to the robot.
Declares a class that represents any robot's observation.
bool hasImageRight
Whether imageRight actually contains data (Default upon construction: true)
void getStereoCameraParams(mrpt::utils::TStereoCamera &out_params) const
Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPos...
bool hasImageDisparity
Whether imageDisparity actually contains data (Default upon construction: false)
mrpt::poses::CPose3DQuat rightCameraPose
The pose of the right camera, relative to the left one: Note that using the conventional reference co...
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
CObservationStereoImages(void *iplImageLeft, void *iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false)
Constructor from "IplImage*" images, which could be NULL.
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