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CObservationStereoImages.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CObservationStereoImages_H
00029 #define CObservationStereoImages_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/utils/CImage.h>
00033 #include <mrpt/slam/CObservation.h>
00034 #include <mrpt/poses/CPose3D.h>
00035 #include <mrpt/poses/CPose3DQuat.h>
00036 #include <mrpt/poses/CPose2D.h>
00037 //#include <mrpt/slam/CLandmark.h>
00038 //#include <mrpt/slam/CLandmarksMap.h>
00039 //#include <mrpt/vision/CCamModel.h>
00040 
00041 namespace mrpt
00042 {
00043 namespace slam
00044 {
00045         using namespace mrpt::utils;
00046 
00047         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationStereoImages , CObservation,OBS_IMPEXP )
00048 
00049         /** Observation class for either a pair of left+right or left+disparity images from a stereo camera.
00050           *
00051           *  To find whether the observation contains a right image and/or a disparity image, see the
00052           *   fields hasImageDisparity and hasImageRight, respectively.
00053           *
00054           *   This figure illustrates the coordinate frames involved in this class:
00055           *
00056           *      <center>
00057           *   <img src="CObservationStereoImages_figRefSystem.png">
00058           *  </center>
00059           *
00060           * \note The images stored in this class can be raw or undistorted images. In the latter case, the "distortion" params of the corresponding "leftCamera" and "rightCamera" fields should be all zeros.
00061           * \sa CObservation
00062           */
00063         class OBS_IMPEXP CObservationStereoImages : public CObservation
00064         {
00065                 // This must be added to any CSerializable derived class:
00066                 DEFINE_SERIALIZABLE( CObservationStereoImages )
00067 
00068          public:
00069                 /** Default Constructor */
00070                 CObservationStereoImages( );
00071 
00072                 /** Constructor from "IplImage*" images, which could be NULL.
00073                   *  The fields hasImageDisparity and hasImageRight will be set to true/false depending on them being !=NULL.
00074                   * Note that the IplImage's will be COPIED, so it's still the caller's reponsibility to free the original images,
00075                   *  unless ownMemory is set to true: in that case the IplImage pointers are copied and those IplImage's will be automatically freed by this object.
00076                   *
00077                   */
00078                 CObservationStereoImages( void *iplImageLeft, void *iplImageRight, void *iplImageDisparity = NULL, bool ownMemory = false );
00079 
00080                 /** Destructor
00081                  */
00082                 ~CObservationStereoImages(  );
00083 
00084 
00085                 /** @name Main observation data members
00086                     @{ */
00087 
00088                 /** Image from the left camera (this image will be ALWAYS present) */
00089                 mrpt::utils::CImage     imageLeft;
00090 
00091                 /** Image from the right camera, only contains a valid image if hasImageRight == true. */
00092                 mrpt::utils::CImage     imageRight;
00093 
00094                 /** Disparity image, only contains a valid image if hasImageDisparity == true.
00095                   *  The relation between the actual disparity and pixels and each value in this image is... ???????????  */
00096                 mrpt::utils::CImage imageDisparity;
00097 
00098                 bool   hasImageDisparity; //!< Whether imageDisparity actually contains data (Default upon construction: false)
00099                 bool   hasImageRight;        //!< Whether imageRight actually contains data  (Default upon construction: true)
00100 
00101                 /** Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.
00102                   * See the <a href="http://www.mrpt.org/Camera_Parameters">tutorial</a> for a discussion of these parameters.
00103                   */
00104                 TCamera         leftCamera, rightCamera;
00105 
00106                 CPose3DQuat     cameraPose;             //!< The pose of the LEFT camera, relative to the robot.
00107 
00108                 /** The pose of the right camera, relative to the left one:
00109                   *  Note that using the conventional reference coordinates for the left
00110                   *   camera (x points to the right, y down), the "right" camera is situated
00111                   *   at position (BL, 0, 0) with yaw=pitch=roll=0, where BL is the BASELINE.
00112                   */
00113                 CPose3DQuat     rightCameraPose;
00114 
00115                 /** @} */
00116 
00117 
00118                 /** A general method to retrieve the sensor pose on the robot.
00119                   *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
00120                   * \sa setSensorPose
00121                   */
00122                 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = cameraPose; }
00123 
00124 
00125                 /** A general method to change the sensor pose on the robot.
00126                   *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
00127                   * \sa getSensorPose
00128                   */
00129                 void setSensorPose( const CPose3D &newSensorPose ) { cameraPose = newSensorPose; }
00130 
00131                 void swap( CObservationStereoImages &o); //!< Do an efficient swap of all data members of this object with "o".
00132 
00133         }; // End of class def.
00134 
00135         } // End of namespace
00136 } // End of namespace
00137 
00138 #endif



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