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CObservationStereoImages.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationStereoImages_H
#define CObservationStereoImages_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/poses/CPose2D.h>
//#include <mrpt/slam/CLandmark.h>
//#include <mrpt/slam/CLandmarksMap.h>
//#include <mrpt/vision/CCamModel.h>

namespace mrpt
{
namespace slam
{
        using namespace mrpt::utils;
        //using namespace mrpt::vision;
        //class CLandmarksMap;

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationStereoImages , CObservation,OBS_IMPEXP )

        /** Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera.
             The next figure illustrate the coordinates reference systems involved in this class:<br>
                 <center>
                 <img src="CObservationStereoImages_figRefSystem.png">
                 </center>
         *
         <br>
         <b>NOTE:</b> The images stored in this class are supposed to be UNDISTORTED images already.<br>
         * \sa CObservation
         */
        class OBS_IMPEXP CObservationStereoImages : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationStereoImages )

                /** If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin.
                  */
                //class CAuxMapWrapper
                //{
                //      CLandmarksMap   *auxMap;
                //public:
                //      CAuxMapWrapper() : auxMap(NULL)  { }
                //      CAuxMapWrapper(const CAuxMapWrapper &o) : auxMap(NULL) {  }
                //      CAuxMapWrapper & operator =(const CAuxMapWrapper &o) { clear(); return *this; }

                //      ~CAuxMapWrapper() { clear(); }

                //      CLandmarksMap * get() { return auxMap; }
                //      const CLandmarksMap * get() const { return auxMap; }

                //      void set(CLandmarksMap  *m);

                //      void clear();
                //};
                //mutable CAuxMapWrapper        m_auxMap;


         public:
                /** Default Constructor.
                 *
                 */
                CObservationStereoImages( );

                /** Constructor.
                 * \param iplImageLeft An OpenCV "IplImage*" object with the image to be loaded in the member "imageLeft", or NULL (default) for an empty image.
                 * \param iplImageRight An OpenCV "IplImage*" object with the image to be loaded in the member "imageRight", or NULL (default) for an empty image.
                 *
                 */
                CObservationStereoImages( void *iplImageLeft, void *iplImageRight );

                /** Destructor
                 */
                ~CObservationStereoImages(  );

                 /** The pose of the LEFT camera, relative to the robot.
                  */
                CPose3DQuat     cameraPose;

                 /** Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.
                   * See the <a href="http://www.mrpt.org/Camera_Parameters">tutorial</a> for a discussion of these parameters.
                  */
                TCamera         leftCamera, rightCamera;

                /** The pair of images.
                  */
                CImage          imageLeft, imageRight;

                /** 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.
                  */
                CPose3DQuat     rightCameraPose;

                /** This method build the map in "m_auxMap", only the first time this is called.
                  */
//              const CLandmarksMap * buildAuxiliaryMap( CLandmark::TLandmarkID fID, const CLandmarksMap::TInsertionOptions *insOpts = NULL) const;

                /** 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.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = cameraPose; }


                /** 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.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D &newSensorPose ) { cameraPose = newSensorPose; }

                //void getRectifiedImages(


        }; // End of class def.


        } // End of namespace
} // End of namespace

#endif

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