9 #ifndef CObservationImage_H
10 #define CObservationImage_H
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class.
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class.
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that encapsules an image from a camera,...
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::poses::CPose3D cameraPose
The pose of the camera on the robot.
mrpt::utils::CImage image
The image captured by the camera, that is, the main piece of information of this observation.
mrpt::utils::TCamera cameraParams
Intrinsic and distortion parameters of the camera.
void getRectifiedImage(mrpt::utils::CImage &out_img) const
Computes the rectified (un-distorted) image, using the embeded distortion parameters.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
CObservationImage(void *iplImage=NULL)
Constructor.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A class for storing images as grayscale or RGB bitmaps.
Structure to hold the parameters of a pinhole camera model.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.