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9 #ifndef CObservationStereoImages_H
10 #define CObservationStereoImages_H
58 CObservationStereoImages(
void *iplImageLeft,
void *iplImageRight,
void *iplImageDisparity = NULL,
bool ownMemory =
false );
105 bool areImagesRectified()
const;
113 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
Structure to hold the parameters of a pinhole stereo camera model.
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)
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.
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.
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.
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.
#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)
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.
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