9 #ifndef CObservationStereoImages_H 10 #define CObservationStereoImages_H 58 CObservationStereoImages(
void *iplImageLeft,
void *iplImageRight,
void *iplImageDisparity = NULL,
bool ownMemory = false );
62 ~CObservationStereoImages( );
69 mrpt::utils::CImage imageLeft;
72 mrpt::utils::CImage imageRight;
76 mrpt::utils::CImage imageDisparity;
78 bool hasImageDisparity;
85 mrpt::utils::TCamera leftCamera, rightCamera;
87 mrpt::poses::CPose3DQuat cameraPose;
94 mrpt::poses::CPose3DQuat rightCameraPose;
97 void getStereoCameraParams(
mrpt::utils::TStereoCamera &out_params) const;
100 void setStereoCameraParams(const
mrpt::utils::TStereoCamera &in_params);
105 bool areImagesRectified() const;
111 void getSensorPose(
mrpt::poses::CPose3D &out_sensorPose ) const
MRPT_OVERRIDE { out_sensorPose = cameraPose; }
113 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#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...
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class...
Observation class for either a pair of left+right or left+disparity images from a stereo camera...
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)