mrpt::slam::CObservationStereoImages Class Reference

Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera. More...

#include <mrpt/slam/CObservationStereoImages.h>

Inheritance diagram for mrpt::slam::CObservationStereoImages:

[legend]

Collaboration diagram for mrpt::slam::CObservationStereoImages:

[legend]

List of all members.

Public Member Functions
	CObservationStereoImages ()
	If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin.
	CObservationStereoImages (void *iplImageLeft, void *iplImageRight)
	Constructor.
	~CObservationStereoImages ()
	Destructor.
void	getSensorPose (CPose3D &out_sensorPose) const
	This method build the map in "m_auxMap", only the first time this is called.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
Public Attributes
CPose3DQuat	cameraPose
	The pose of the LEFT camera, relative to the robot.
TCamera	leftCamera
	Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.
TCamera	rightCamera
CImage	imageLeft
	The pair of images.
CImage	imageRight
CPose3DQuat	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.

---

Detailed Description

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:

NOTE: The images stored in this class are supposed to be UNDISTORTED images already.

See also:

CObservation

Definition at line 61 of file CObservationStereoImages.h.

---

Constructor & Destructor Documentation

mrpt::slam::CObservationStereoImages::CObservationStereoImages

(

)

If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin.

Default Constructor.

mrpt::slam::CObservationStereoImages::CObservationStereoImages	(	void *	iplImageLeft,
		void *	iplImageRight
	)

Constructor.

Parameters:

	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.

---

Member Function Documentation

void mrpt::slam::CObservationStereoImages::getSensorPose

(

CPose3D &

out_sensorPose

)

const [inline, virtual]

This method build the map in "m_auxMap", only the first time this is called.

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 133 of file CObservationStereoImages.h.

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.

See also:

getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 140 of file CObservationStereoImages.h.

---

Member Data Documentation

CPose3DQuat mrpt::slam::CObservationStereoImages::cameraPose

The pose of the LEFT camera, relative to the robot.

Definition at line 107 of file CObservationStereoImages.h.

CImage mrpt::slam::CObservationStereoImages::imageLeft

The pair of images.

Definition at line 116 of file CObservationStereoImages.h.

CImage mrpt::slam::CObservationStereoImages::imageRight

Definition at line 116 of file CObservationStereoImages.h.

TCamera mrpt::slam::CObservationStereoImages::leftCamera

Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.

See the tutorial for a discussion of these parameters.

Definition at line 112 of file CObservationStereoImages.h.

TCamera mrpt::slam::CObservationStereoImages::rightCamera

Definition at line 112 of file CObservationStereoImages.h.

CPose3DQuat mrpt::slam::CObservationStereoImages::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.

Definition at line 123 of file CObservationStereoImages.h.