9#ifndef CObservationStereoImagesFeatures_H
10#define CObservationStereoImagesFeatures_H
26 std::pair<mrpt::utils::TPixelCoordf,mrpt::utils::TPixelCoordf>
pixels;
#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...
A partial specialization of CArrayNumeric for double numbers.
A numeric matrix of compile-time fixed size.
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched i...
~CObservationStereoImagesFeatures()
Destructor.
std::vector< TStereoImageFeatures > theFeatures
Vectors of image feature pairs (with ID).
mrpt::poses::CPose3DQuat cameraPoseOnRobot
The pose of the LEFT camera, relative to the robot.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form.
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...
mrpt::poses::CPose3DQuat rightCameraPose
The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and...
CObservationStereoImagesFeatures(const mrpt::utils::TCamera &cLeft, const mrpt::utils::TCamera &cRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
Other constructor providing members initialization.
void setSensorPose(const mrpt::poses::CPose3DQuat &newSensorPose)
A general method to change the sensor pose on the robot in a CPose3DQuat form.
void saveFeaturesToTextFile(const std::string &filename)
A method for storing the set of observed features in a text file in the format: ID ul vl ur vr be...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
void getSensorPose(mrpt::poses::CPose3DQuat &out_sensorPose) const
CObservationStereoImagesFeatures(const mrpt::math::CMatrixDouble33 &iPLeft, const mrpt::math::CMatrixDouble33 &iPRight, const mrpt::math::CArrayDouble< 5 > &dPLeft, const mrpt::math::CArrayDouble< 5 > &dPRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
Other constructor providing members initialization.
CObservationStereoImagesFeatures()
Default Constructor.
mrpt::utils::TCamera cameraLeft
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
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.
std::pair< mrpt::utils::TPixelCoordf, mrpt::utils::TPixelCoordf > pixels