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mrpt::slam::CObservationImage Class Reference


Detailed Description

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:

CObservationImage_figRefSystem.png
See also:
CObservation, CObservationStereoImages

Definition at line 56 of file CObservationImage.h.

#include <mrpt/slam/CObservationImage.h>

Inheritance diagram for mrpt::slam::CObservationImage:
Inheritance graph
[legend]

List of all members.

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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CObservationImagePtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 59 of file CObservationImage.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationImage::CObservationImage ( void *  iplImage = NULL)

Constructor.

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

Member Function Documentation

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.

See also:
setSensorPose

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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 94 of file CObservationImage.h.


Member Data Documentation

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.

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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