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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a>
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<h1>mrpt::slam::CObservationStereoImages Class Reference</h1><!-- doxytag: class="mrpt::slam::CObservationStereoImages" --><!-- doxytag: inherits="mrpt::slam::CObservation" -->
<p>Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_observation_stereo_images_8h_source.html">mrpt/slam/CObservationStereoImages.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CObservationStereoImages:</div>
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Collaboration diagram for mrpt::slam::CObservationStereoImages:</div>
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<p><a href="classmrpt_1_1slam_1_1_c_observation_stereo_images-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a31932bbc04d9fdda30cddcc374910bb1">CObservationStereoImages</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin. <a href="#a31932bbc04d9fdda30cddcc374910bb1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a714199523a56cbfa94016eec4011e430">CObservationStereoImages</a> (void *iplImageLeft, void *iplImageRight)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a714199523a56cbfa94016eec4011e430"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a1c0b8dd995de099e51369eabf29bbd60">~CObservationStereoImages</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a1c0b8dd995de099e51369eabf29bbd60"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#abe28a847de97928ffe6380f0b607da99">getSensorPose</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &out_sensorPose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method build the map in "m_auxMap", only the first time this is called. <a href="#abe28a847de97928ffe6380f0b607da99"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a9e60c7f316e91d17d8987bf01cfd068c">setSensorPose</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newSensorPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A general method to change the sensor pose on the robot. <a href="#a9e60c7f316e91d17d8987bf01cfd068c"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a3ed7ed085a295c91329d80fb27498d43">cameraPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The pose of the LEFT camera, relative to the robot. <a href="#a3ed7ed085a295c91329d80fb27498d43"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a0b333ff02408743c2161d34642d1bcdb">leftCamera</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. <a href="#a0b333ff02408743c2161d34642d1bcdb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#ad71d8033ad1363fdd33f7f910959bff6">rightCamera</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a8dc48656c9307084aa7a87f3354f4f3a">imageLeft</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The pair of images. <a href="#a8dc48656c9307084aa7a87f3354f4f3a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#af16737d6f031ab4855e1ca3ae1c5dd6b">imageRight</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#af4647324f7eca9b1026e0bd45e168618">rightCameraPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#af4647324f7eca9b1026e0bd45e168618"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera. </p>
<p>The next figure illustrate the coordinates reference systems involved in this class:<br/>
</p>
<center> <div align="center">
<img src="CObservationStereoImages_figRefSystem.png" alt="CObservationStereoImages_figRefSystem.png"/>
</div>
</center><p><br/>
<b>NOTE:</b> The images stored in this class are supposed to be UNDISTORTED images already.<br/>
</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00061">61</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a31932bbc04d9fdda30cddcc374910bb1"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::CObservationStereoImages" ref="a31932bbc04d9fdda30cddcc374910bb1" args="()" -->
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<td class="memname">mrpt::slam::CObservationStereoImages::CObservationStereoImages </td>
<td>(</td>
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<p>If buildAuxiliarMap is called before, this will contain the landmarks-map representation of the observation, for the robot located at the origin. </p>
<p>Default Constructor. </p>
</div>
</div>
<a class="anchor" id="a714199523a56cbfa94016eec4011e430"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::CObservationStereoImages" ref="a714199523a56cbfa94016eec4011e430" args="(void *iplImageLeft, void *iplImageRight)" -->
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<td class="memname">mrpt::slam::CObservationStereoImages::CObservationStereoImages </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"> <em>iplImageLeft</em>, </td>
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<td class="paramtype">void * </td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>iplImageLeft</em> </td><td>An OpenCV "IplImage*" object with the image to be loaded in the member "imageLeft", or NULL (default) for an empty image. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>iplImageRight</em> </td><td>An OpenCV "IplImage*" object with the image to be loaded in the member "imageRight", or NULL (default) for an empty image. </td></tr>
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</dd>
</dl>
</div>
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<a class="anchor" id="a1c0b8dd995de099e51369eabf29bbd60"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::~CObservationStereoImages" ref="a1c0b8dd995de099e51369eabf29bbd60" args="()" -->
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<td class="memname">mrpt::slam::CObservationStereoImages::~CObservationStereoImages </td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="abe28a847de97928ffe6380f0b607da99"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::getSensorPose" ref="abe28a847de97928ffe6380f0b607da99" args="(CPose3D &out_sensorPose) const " -->
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<td class="memname">void mrpt::slam::CObservationStereoImages::getSensorPose </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"> <em>out_sensorPose</em></td>
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<td> const<code> [inline, virtual]</code></td>
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<p>This method build the map in "m_auxMap", only the first time this is called. </p>
<p>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. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a9e60c7f316e91d17d8987bf01cfd068c" title="A general method to change the sensor pose on the robot.">setSensorPose</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a518c117b06a29cc82820996ff9a04b85">mrpt::slam::CObservation</a>.</p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00133">133</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<a class="anchor" id="a9e60c7f316e91d17d8987bf01cfd068c"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::setSensorPose" ref="a9e60c7f316e91d17d8987bf01cfd068c" args="(const CPose3D &newSensorPose)" -->
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<td class="memname">void mrpt::slam::CObservationStereoImages::setSensorPose </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"> <em>newSensorPose</em></td>
<td> ) </td>
<td><code> [inline, virtual]</code></td>
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<p>A general method to change the sensor pose on the robot. </p>
<p>Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#abe28a847de97928ffe6380f0b607da99" title="This method build the map in "m_auxMap", only the first time this is called...">getSensorPose</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a5bec6a228248534c4da9a2ccf5bbe891">mrpt::slam::CObservation</a>.</p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00140">140</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
</div>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a3ed7ed085a295c91329d80fb27498d43"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::cameraPose" ref="a3ed7ed085a295c91329d80fb27498d43" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a3ed7ed085a295c91329d80fb27498d43">mrpt::slam::CObservationStereoImages::cameraPose</a></td>
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<p>The pose of the LEFT camera, relative to the robot. </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00107">107</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a8dc48656c9307084aa7a87f3354f4f3a">mrpt::slam::CObservationStereoImages::imageLeft</a></td>
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<p>The pair of images. </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00116">116</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00116">116</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a0b333ff02408743c2161d34642d1bcdb">mrpt::slam::CObservationStereoImages::leftCamera</a></td>
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<p>Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. </p>
<p>See the <a href="http://www.mrpt.org/Camera_Parameters">tutorial</a> for a discussion of these parameters. </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00112">112</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#ad71d8033ad1363fdd33f7f910959bff6">mrpt::slam::CObservationStereoImages::rightCamera</a></td>
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<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00112">112</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#af4647324f7eca9b1026e0bd45e168618">mrpt::slam::CObservationStereoImages::rightCameraPose</a></td>
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<p>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. </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00123">123</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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