void setStereoCameraParams(const mrpt::img::TStereoCamera &in_params)
Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::img::TCamera rightCamera
void load() const override
Makes sure all images and other fields which may be externally stored are loaded in memory.
bool areImagesRectified() const
This method only checks whether ALL the distortion parameters in leftCamera are set to zero,...
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
mrpt::img::CImage imageRight
Image from the right camera, only contains a valid image if hasImageRight == true.
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.
mrpt::img::TCamera leftCamera
Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.
mrpt::img::CImage imageLeft
Image from the left camera (this image will be ALWAYS present)
Structure to hold the parameters of a pinhole stereo camera model.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
DECLARE_MEXPLUS_FROM(mrpt::img::TCamera) namespace std
void swap(CObservationStereoImages &o)
Do an efficient swap of all data members of this object with "o".
CObservationStereoImages()=default
Parameters for the Brown-Conrady camera lens distortion model.
void getStereoCameraParams(mrpt::img::TStereoCamera &out_params) const
Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPos...
mrpt::img::CImage imageDisparity
Disparity image, only contains a valid image if hasImageDisparity == true.
A class for storing images as grayscale or RGB bitmaps.
mrpt::poses::CPose3DQuat cameraPose
The pose of the LEFT camera, relative to the robot.
Declares a class that represents any robot's observation.
bool hasImageRight
Whether imageRight actually contains data (Default upon construction: true)
bool hasImageDisparity
Whether imageDisparity actually contains data (Default upon construction: false)
mrpt::poses::CPose3DQuat rightCameraPose
The pose of the right camera, relative to the left one: Note that using the conventional reference co...
#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.
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