MRPT logo

mrpt::slam::CObservationImage Class Reference

Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More...

#include <mrpt/slam/CObservationImage.h>

Inheritance diagram for mrpt::slam::CObservationImage:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

Public Member Functions

 CObservationImage (void *iplImage=NULL)
 Constructor.
void getRectifiedImage (CImage &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
CImage image
double focalLength_meters
 The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).


Detailed Description

Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.

The next figure illustrate the coordinates reference systems involved in this class:

CObservationImage_figRefSystem.png

See also:
CObservation

Definition at line 55 of file CObservationImage.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationImage::CObservationImage ( void *  iplImage = NULL  ) 

Constructor.

Parameters:
iplImage An OpenCV "IplImage*" object with the image to be loaded in the member "image", or NULL (default) for an empty image.


Member Function Documentation

void mrpt::slam::CObservationImage::getRectifiedImage ( CImage 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.

See also:
setSensorPose

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.

Parameters:
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.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 108 of file CObservationImage.h.


Member Data Documentation

The pose of the camera on the robot.

Definition at line 69 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.




Page generated by Doxygen 1.5.7.1 for MRPT 0.7.1 SVN: at Mon Aug 17 23:10:56 EDT 2009