#include <mrpt/slam/CObservationStereoImages.h>
Classes | |
class | CAuxMapWrapper |
If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin. More... | |
Public Member Functions | |
CObservationStereoImages () | |
Default Constructor. | |
CObservationStereoImages (void *iplImageLeft, void *iplImageRight) | |
Constructor. | |
~CObservationStereoImages () | |
Destructor. | |
float | likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. | |
const CLandmarksMap * | buildAuxiliaryMap (CLandmark::TLandmarkID fID, const CLandmarksMap::TInsertionOptions *insOpts=NULL) const |
This method build the map in "m_auxMap", only the first time this is called. | |
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 LEFT camera, relative to the robot. | |
CMatrix | intrinsicParams |
The A matrix, see also:. | |
CMRPTImage | imageLeft |
The pair of RECTIFIED images. | |
CMRPTImage | imageRight |
CPose3D | rightCameraPose |
The pose of the right camera, relative to the left one: Note that using the conventional reference coordinates for the left camera (x points to the right, y down), the "right" camera is situated at position (BL, 0, 0) with yaw=pitch=roll=0, where BL is the BASELINE. | |
double | focalLength_meters |
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size). | |
Private Attributes | |
CAuxMapWrapper | m_auxMap |
The next figure illustrate the coordinates reference systems involved in this class:
NOTE: The images stored in this class are supposed to be UNDISTORTED images already.
Definition at line 59 of file CObservationStereoImages.h.
mrpt::slam::CObservationStereoImages::CObservationStereoImages | ( | ) |
Default Constructor.
mrpt::slam::CObservationStereoImages::CObservationStereoImages | ( | void * | iplImageLeft, | |
void * | iplImageRight | |||
) |
Constructor.
iplImageLeft | An OpenCV "IplImage*" object with the image to be loaded in the member "imageLeft", or NULL (default) for an empty image. | |
iplImageRight | An OpenCV "IplImage*" object with the image to be loaded in the member "imageRight", or NULL (default) for an empty image. |
mrpt::slam::CObservationStereoImages::~CObservationStereoImages | ( | ) |
Destructor.
const CLandmarksMap* mrpt::slam::CObservationStereoImages::buildAuxiliaryMap | ( | CLandmark::TLandmarkID | fID, | |
const CLandmarksMap::TInsertionOptions * | insOpts = NULL | |||
) | const |
This method build the map in "m_auxMap", only the first time this is called.
void mrpt::slam::CObservationStereoImages::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.
Implements mrpt::slam::CObservation.
Definition at line 149 of file CObservationStereoImages.h.
float mrpt::slam::CObservationStereoImages::likelihoodWith | ( | const CObservation * | anotherObs, | |
const CPosePDF * | anotherObsPose = NULL | |||
) | const [virtual] |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
The operator may be asymmetric.
anotherObs | The other observation to compute likelihood with. | |
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. |
std::exception | On any error, as another observation being of an invalid class. |
Implements mrpt::slam::CObservation.
void mrpt::slam::CObservationStereoImages::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.
Implements mrpt::slam::CObservation.
Definition at line 156 of file CObservationStereoImages.h.
The pose of the LEFT camera, relative to the robot.
Definition at line 106 of file CObservationStereoImages.h.
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).
(Added in version 3 of object's streaming)
Definition at line 127 of file CObservationStereoImages.h.
Definition at line 115 of file CObservationStereoImages.h.
The A matrix, see also:.
Definition at line 111 of file CObservationStereoImages.h.
CAuxMapWrapper mrpt::slam::CObservationStereoImages::m_auxMap [mutable, private] |
Definition at line 84 of file CObservationStereoImages.h.
The pose of the right camera, relative to the left one: Note that using the conventional reference coordinates for the left camera (x points to the right, y down), the "right" camera is situated at position (BL, 0, 0) with yaw=pitch=roll=0, where BL is the BASELINE.
Definition at line 122 of file CObservationStereoImages.h.
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