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:

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Collaboration diagram for mrpt::slam::CObservationImage:

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List of all members.

Public Member Functions
	CObservationImage (void *iplImage=NULL)
	Constructor.
void	getRectifiedImage (CImage &out_img) const
	Computes the rectified (un-distorted) image, using the embeded distortion parameters.
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.
TCamera	cameraParams
	Intrinsic and distortion parameters of the camera.
CImage	image
	The image captured by the camera, that is, the main piece of information of this observation.

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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:

See also:

CObservation, CObservationStereoImages

Definition at line 56 of file CObservationImage.h.

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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.

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Member Function Documentation

void mrpt::slam::CObservationImage::getRectifiedImage

(

CImage &

out_img

)

const

Computes the rectified (un-distorted) 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 87 of file CObservationImage.h.

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 94 of file CObservationImage.h.

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Member Data Documentation

TCamera mrpt::slam::CObservationImage::cameraParams

Intrinsic and distortion parameters of the camera.

See the tutorial for a discussion of these parameters.

Definition at line 75 of file CObservationImage.h.

CPose3D mrpt::slam::CObservationImage::cameraPose

The pose of the camera on the robot.

Definition at line 70 of file CObservationImage.h.

CImage mrpt::slam::CObservationImage::image

The image captured by the camera, that is, the main piece of information of this observation.

Definition at line 77 of file CObservationImage.h.