00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationImage_H 00029 #define CObservationImage_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/utils/CImage.h> 00033 #include <mrpt/math/CMatrix.h> 00034 #include <mrpt/slam/CObservation.h> 00035 #include <mrpt/poses/CPose3D.h> 00036 #include <mrpt/poses/CPose2D.h> 00037 00038 namespace mrpt 00039 { 00040 namespace slam 00041 { 00042 using namespace mrpt::utils; 00043 using namespace mrpt::math; 00044 00045 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationImage , CObservation ) 00046 00047 /** Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. 00048 The next figure illustrate the coordinates reference systems involved in this class:<br> 00049 <center> 00050 <img src="CObservationImage_figRefSystem.png"> 00051 </center> 00052 * 00053 * \sa CObservation 00054 */ 00055 class MRPTDLLIMPEXP CObservationImage : public CObservation 00056 { 00057 // This must be added to any CSerializable derived class: 00058 DEFINE_SERIALIZABLE( CObservationImage ) 00059 00060 public: 00061 /** Constructor. 00062 * \param iplImage An OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image. 00063 * 00064 */ 00065 CObservationImage( void *iplImage = NULL ); 00066 00067 /** The pose of the camera on the robot 00068 */ 00069 CPose3D cameraPose; 00070 00071 /** See the <a href="http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters">tutorial</a> for a discussion of these parameters. 00072 */ 00073 CMatrix intrinsicParams, distortionParams; 00074 CImage image; 00075 00076 /** The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size). 00077 * (Added in version 2 of object's streaming) 00078 */ 00079 double focalLength_meters; 00080 00081 /** Computes the rectified image, using the embeded distortion parameters. 00082 */ 00083 void getRectifiedImage( CImage &out_img ); 00084 00085 /** Implements the virtual method in charge of finding the likelihood between this 00086 * and another observation, probably only of the same derived class. The operator 00087 * may be asymmetric. 00088 * 00089 * \param anotherObs The other observation to compute likelihood with. 00090 * \param anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown. 00091 * 00092 * \return Returns a likelihood measurement, in the range [0,1]. 00093 * \exception std::exception On any error, as another observation being of an invalid class. 00094 */ 00095 float likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const; 00096 00097 /** A general method to retrieve the sensor pose on the robot. 00098 * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases. 00099 * \sa setSensorPose 00100 */ 00101 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = cameraPose; } 00102 00103 00104 /** A general method to change the sensor pose on the robot. 00105 * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. 00106 * \sa getSensorPose 00107 */ 00108 void setSensorPose( const CPose3D &newSensorPose ) { cameraPose = newSensorPose; } 00109 00110 }; // End of class def. 00111 00112 00113 } // End of namespace 00114 } // End of namespace 00115 00116 #endif
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