Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.
The next figure illustrate the coordinates reference systems involved in this class:
Definition at line 56 of file CObservationImage.h.
#include <mrpt/slam/CObservationImage.h>
Public Member Functions | |
CObservationImage (void *iplImage=NULL) | |
Constructor. | |
void | getRectifiedImage (CImage &out_img) const |
Computes the rectified (un-distorted) image, using the embeded distortion parameters. | |
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 camera on the robot. | |
TCamera | cameraParams |
Intrinsic and distortion parameters of the camera. | |
CImage | image |
The image captured by the camera, that is, the main piece of information of this observation. | |
RTTI stuff | |
typedef CObservationImagePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationImage |
static mrpt::utils::TRuntimeClassId | classCObservationImage |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationImagePtr | Create () |
A typedef for the associated smart pointer
Definition at line 59 of file CObservationImage.h.
mrpt::slam::CObservationImage::CObservationImage | ( | void * | iplImage = NULL ) |
Constructor.
iplImage | An OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image. |
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
static CObservationImagePtr mrpt::slam::CObservationImage::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CObservationImage::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CObservationImage::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::slam::CObservationImage::getRectifiedImage | ( | CImage & | out_img ) | const |
Computes the rectified (un-distorted) image, using the embeded distortion parameters.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
void mrpt::slam::CObservationImage::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.
Implements mrpt::slam::CObservation.
Definition at line 87 of file CObservationImage.h.
void mrpt::slam::CObservationImage::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.
Implements mrpt::slam::CObservation.
Definition at line 94 of file CObservationImage.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservationImage::_init_CObservationImage [static, protected] |
Definition at line 59 of file CObservationImage.h.
Intrinsic and distortion parameters of the camera.
See the tutorial for a discussion of these parameters.
Definition at line 75 of file CObservationImage.h.
The pose of the camera on the robot.
Definition at line 70 of file CObservationImage.h.
Definition at line 59 of file CObservationImage.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationImage::classinfo [static] |
Definition at line 59 of file CObservationImage.h.
The image captured by the camera, that is, the main piece of information of this observation.
Definition at line 77 of file CObservationImage.h.
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