#include <mrpt/slam/CObservationImage.h>
Public Member Functions | |
CObservationImage (void *iplImage=NULL) | |
Constructor. | |
void | getRectifiedImage (CMRPTImage &out_img) |
Computes the rectified image, using the embeded distortion parameters. | |
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. | |
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 camera on the robot. | |
CMatrix | intrinsicParams |
See the tutorial for a discussion of these parameters. | |
CMatrix | distortionParams |
CMRPTImage | image |
double | focalLength_meters |
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size). |
The next figure illustrate the coordinates reference systems involved in this class:
Definition at line 55 of file CObservationImage.h.
mrpt::slam::CObservationImage::CObservationImage | ( | void * | iplImage = NULL |
) |
Constructor.
iplImage | An OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image. |
void mrpt::slam::CObservationImage::getRectifiedImage | ( | CMRPTImage & | out_img | ) |
Computes the rectified image, using the embeded distortion parameters.
void mrpt::slam::CObservationImage::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 101 of file CObservationImage.h.
float mrpt::slam::CObservationImage::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::CObservationImage::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 108 of file CObservationImage.h.
Definition at line 73 of file CObservationImage.h.
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).
(Added in version 2 of object's streaming)
Definition at line 79 of file CObservationImage.h.
Definition at line 74 of file CObservationImage.h.
See the tutorial for a discussion of these parameters.
Definition at line 73 of file CObservationImage.h.
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