mrpt::poses::CPose3D cameraPose
The pose of the camera on the robot.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void load() const override
Makes sure all images and other fields which may be externally stored are loaded in memory.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
mrpt::img::CImage image
The image captured by the camera, that is, the main piece of information of this observation.
This namespace contains representation of robot actions and observations.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) 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).
DECLARE_MEXPLUS_FROM(mrpt::img::TCamera) namespace std
void getUndistortedImage(mrpt::img::CImage &out_img) const
Computes the un-distorted image, using the embeded camera intrinsic & distortion parameters.
CObservationImage()=default
Constructor.
Parameters for the Brown-Conrady camera lens distortion model.
A class for storing images as grayscale or RGB bitmaps.
Declares a class that represents any robot's observation.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
Declares a class derived from "CObservation" that encapsules an image from a camera,...
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class.
mrpt::img::TCamera cameraParams
Intrinsic and distortion parameters of the camera.
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