00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationImage_H 00029 #define CObservationImage_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/utils/CImage.h> 00033 #include <mrpt/utils/TCamera.h> 00034 #include <mrpt/math/CMatrix.h> 00035 #include <mrpt/slam/CObservation.h> 00036 #include <mrpt/poses/CPose3D.h> 00037 #include <mrpt/poses/CPose2D.h> 00038 00039 namespace mrpt 00040 { 00041 namespace slam 00042 { 00043 using namespace mrpt::utils; 00044 using namespace mrpt::math; 00045 00046 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationImage , CObservation,OBS_IMPEXP ) 00047 00048 /** Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. 00049 The next figure illustrate the coordinates reference systems involved in this class:<br> 00050 <center> 00051 <img src="CObservationImage_figRefSystem.png"> 00052 </center> 00053 * 00054 * \sa CObservation, CObservationStereoImages 00055 */ 00056 class OBS_IMPEXP CObservationImage : public CObservation 00057 { 00058 // This must be added to any CSerializable derived class: 00059 DEFINE_SERIALIZABLE( CObservationImage ) 00060 00061 public: 00062 /** Constructor. 00063 * \param iplImage An OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image. 00064 * 00065 */ 00066 CObservationImage( void *iplImage = NULL ); 00067 00068 /** The pose of the camera on the robot 00069 */ 00070 CPose3D cameraPose; 00071 00072 /** Intrinsic and distortion parameters of the camera. 00073 * See the <a href="http://www.mrpt.org/Camera_Parameters">tutorial</a> for a discussion of these parameters. 00074 */ 00075 TCamera cameraParams; 00076 00077 CImage image; //!< The image captured by the camera, that is, the main piece of information of this observation. 00078 00079 /** Computes the rectified (un-distorted) image, using the embeded distortion parameters. 00080 */ 00081 void getRectifiedImage( CImage &out_img ) const; 00082 00083 /** A general method to retrieve the sensor pose on the robot. 00084 * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases. 00085 * \sa setSensorPose 00086 */ 00087 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = cameraPose; } 00088 00089 00090 /** A general method to change the sensor pose on the robot. 00091 * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. 00092 * \sa getSensorPose 00093 */ 00094 void setSensorPose( const CPose3D &newSensorPose ) { cameraPose = newSensorPose; } 00095 00096 }; // End of class def. 00097 00098 00099 } // End of namespace 00100 } // End of namespace 00101 00102 #endif
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