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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::slam::CObservationStereoImages Class Reference<div class="ingroups"><a class="el" href="group__mrpt__obs__grp.html">[mrpt-obs]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CObservationStereoImages" --><!-- doxytag: inherits="mrpt::slam::CObservation" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Observation class for either a pair of left+right or left+disparity images from a stereo camera. </p>
<p>To find whether the observation contains a right image and/or a disparity image, see the fields hasImageDisparity and hasImageRight, respectively.</p>
<p>This figure illustrates the coordinate frames involved in this class:</p>
<center> <div class="image">
<img src="CObservationStereoImages_figRefSystem.png" alt="CObservationStereoImages_figRefSystem.png"/>
</div>
</center><dl class="note"><dt><b>Note:</b></dt><dd>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. </dd></dl>
<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>
</div>
<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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<div class="center"><img src="classmrpt_1_1slam_1_1_c_observation_stereo_images__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_observation_stereo_images_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_observation_stereo_images_inherit__map" id="mrpt_1_1slam_1_1_c_observation_stereo_images_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation." alt="" coords="46,155,217,181"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="49,80,213,107"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="64,5,199,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_observation_stereo_images-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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">Default Constructor. <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#a4e44f481615cb5185d70641a6a6cf82c">CObservationStereoImages</a> (void *iplImageLeft, void *iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from "IplImage*" images, which could be NULL. <a href="#a4e44f481615cb5185d70641a6a6cf82c"></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">A general method to retrieve the sensor pose on the robot. <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 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#a4b879229f6eca8ba19251667b5549912">swap</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Do an efficient swap of all data members of this object with "o". <a href="#a4b879229f6eca8ba19251667b5549912"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class METRICMAP > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">bool </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a4dadc9d2618ea3701084e8cce4671564">insertObservationInto</a> (METRICMAP *theMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> *robotPose=NULL) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method is equivalent to: <a href="#a4dadc9d2618ea3701084e8cce4671564"></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.html#ac795d3df57b998131638f5ead0c1f337">getSensorPose</a> (<a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">mrpt::math::TPose3D</a> &out_sensorPose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A general method to retrieve the sensor pose on the robot. <a href="#ac795d3df57b998131638f5ead0c1f337"></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.html#ab79a75c6ddf65c8d99f97cbfeb38e9b8">setSensorPose</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">mrpt::math::TPose3D</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="#ab79a75c6ddf65c8d99f97cbfeb38e9b8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Delayed-load manual control methods.</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ae8925420b61a2aa460886e09d123a495">load</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes sure all images and other fields which may be externally stored are loaded in memory. <a href="#ae8925420b61a2aa460886e09d123a495"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ab0bf2ed10a730838b5357c5da0126711">unload</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). <a href="#ab0bf2ed10a730838b5357c5da0126711"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Main observation data members</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a9e8567f23546da8605799096ed8f5487">imageLeft</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Image from the left camera (this image will be ALWAYS present) <a href="#a9e8567f23546da8605799096ed8f5487"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#af0eeb3434265fe85c61856dcfa60f9d6">imageRight</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Image from the right camera, only contains a valid image if hasImageRight == true. <a href="#af0eeb3434265fe85c61856dcfa60f9d6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#ad10ff91904be9f49c7a922bebf389e96">imageDisparity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Disparity image, only contains a valid image if hasImageDisparity == true. <a href="#ad10ff91904be9f49c7a922bebf389e96"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#aeff9035963ac021276b9895adca8a973">hasImageDisparity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether imageDisparity actually contains data (Default upon construction: false) <a href="#aeff9035963ac021276b9895adca8a973"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a93504f1da0ae45583ff957e16dec062d">hasImageRight</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether imageRight actually contains data (Default upon construction: true) <a href="#a93504f1da0ae45583ff957e16dec062d"></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_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_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>
<tr><td colspan="2"><div class="groupHeader">Data common to any observation</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ade9177f41827da9121847104e5b0ecd2">timestamp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The associated time-stamp. <a href="#ade9177f41827da9121847104e5b0ecd2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a7d451b2c59c2722f512227318df62579">sensorLabel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An arbitrary label that can be used to identify the sensor. <a href="#a7d451b2c59c2722f512227318df62579"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></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.html#a34c88a99e7e81d3727701c1307dda162">swap</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Swap with another observation, ONLY the data defined here in the base class <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. <a href="#a34c88a99e7e81d3727701c1307dda162"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ac18f1c87c3720fec30ed793f21b1dcc8">classCObservation</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_ptr.html">CObservationStereoImagesPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a1fb1b5e069fd046a24fd555b6c4f955f">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a388ef20153cbb8910b2899cf84e06ea6">_init_CObservationStereoImages</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#ae92987eb2cb99a79507c0bbe0aca6da4">classCObservationStereoImages</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a4a7186b36f14bc804b0933717177ff7a">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a997940384d16d0dab7a3f1c1b27dfe2b">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a9f87447475465fdf276ec5628d0afed7">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a9f87447475465fdf276ec5628d0afed7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#abb628a6fcb83bb9803bb4f72dffe1f1c">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#abb628a6fcb83bb9803bb4f72dffe1f1c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#aac4c095d80c8ea632a2508004916af03">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_ptr.html">CObservationStereoImagesPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#afa265ba64cf10a63ee20020e88959711">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a1fb1b5e069fd046a24fd555b6c4f955f"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::SmartPtr" ref="a1fb1b5e069fd046a24fd555b6c4f955f" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_ptr.html">CObservationStereoImagesPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a1fb1b5e069fd046a24fd555b6c4f955f">mrpt::slam::CObservationStereoImages::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00067">67</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<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>
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<p>Default Constructor. </p>
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<a class="anchor" id="a4e44f481615cb5185d70641a6a6cf82c"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::CObservationStereoImages" ref="a4e44f481615cb5185d70641a6a6cf82c" args="(void *iplImageLeft, void *iplImageRight, void *iplImageDisparity=NULL, bool ownMemory=false)" -->
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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="paramkey"></td>
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<td class="paramtype">void * </td>
<td class="paramname"><em>iplImageRight</em>, </td>
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<p>Constructor from "IplImage*" images, which could be NULL. </p>
<p>The fields hasImageDisparity and hasImageRight will be set to true/false depending on them being !=NULL. Note that the IplImage's will be COPIED, so it's still the caller's reponsibility to free the original images, 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. </p>
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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="a997940384d16d0dab7a3f1c1b27dfe2b"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::_GetBaseClass" ref="a997940384d16d0dab7a3f1c1b27dfe2b" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CObservationStereoImages::_GetBaseClass </td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a2478a6c7dbdb372b36dd1e9b4148aba5">mrpt::slam::CObservation</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="afa265ba64cf10a63ee20020e88959711"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::Create" ref="afa265ba64cf10a63ee20020e88959711" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_observation_stereo_images_ptr.html">CObservationStereoImagesPtr</a> mrpt::slam::CObservationStereoImages::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CObservationStereoImages::CreateObject </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="abb628a6fcb83bb9803bb4f72dffe1f1c"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::duplicate" ref="abb628a6fcb83bb9803bb4f72dffe1f1c" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CObservationStereoImages::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a9f87447475465fdf276ec5628d0afed7"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::GetRuntimeClass" ref="a9f87447475465fdf276ec5628d0afed7" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CObservationStereoImages::GetRuntimeClass </td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#aac55c508d4de5468661de4c19424f124">mrpt::slam::CObservation</a>.</p>
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<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>
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<td class="paramname"><em>out_sensorPose</em></td><td>)</td>
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<p>A general method to retrieve the sensor pose on the robot. </p>
<p>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#l00123">123</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<td class="paramname"><em>out_sensorPose</em></td><td>)</td>
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<p>A general method to retrieve the sensor pose on the robot. </p>
<p>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.html#a5bec6a228248534c4da9a2ccf5bbe891" title="A general method to change the sensor pose on the robot.">setSensorPose</a> </dd></dl>
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<p>This method is equivalent to: </p>
<div class="fragment"><pre class="fragment"> map-><a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation</a>(<span class="keyword">this</span>, robotPose)
</pre></div> <dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">theMap</td><td>The map where this observation is to be inserted: the map will be updated. </td></tr>
<tr><td class="paramname">robotPose</td><td>The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)</td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">CMetricMap::insertObservation</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00122">122</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<a class="anchor" id="ae8925420b61a2aa460886e09d123a495"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::load" ref="ae8925420b61a2aa460886e09d123a495" args="() const " -->
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<p>Makes sure all images and other fields which may be externally stored are loaded in memory. </p>
<p>Note that for all CImages, calling <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ae8925420b61a2aa460886e09d123a495" title="Makes sure all images and other fields which may be externally stored are loaded in memory...">load()</a> is not required since the images will be automatically loaded upon first access, so <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ae8925420b61a2aa460886e09d123a495" title="Makes sure all images and other fields which may be externally stored are loaded in memory...">load()</a> shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ab0bf2ed10a730838b5357c5da0126711" title="Unload all images, for the case they being delayed-load images stored in external files (othewise...">unload</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html#a77311f96ccb874177d0f2120a3a80de8">mrpt::slam::CObservation3DRangeScan</a>.</p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00159">159</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</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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<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="A general method to retrieve the sensor pose on the robot.">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#l00130">130</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
<p>References <a class="el" href="_c_pose3_d_8h_source.html#l00041">mrpt::poses::CPose3DQuat</a>.</p>
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<a class="anchor" id="ab79a75c6ddf65c8d99f97cbfeb38e9b8"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::setSensorPose" ref="ab79a75c6ddf65c8d99f97cbfeb38e9b8" args="(const mrpt::math::TPose3D &newSensorPose)" -->
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<td class="memname">void mrpt::slam::CObservation::setSensorPose </td>
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<td class="paramname"><em>newSensorPose</em></td><td>)</td>
<td><code> [inherited]</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.html#a518c117b06a29cc82820996ff9a04b85" title="A general method to retrieve the sensor pose on the robot.">getSensorPose</a> </dd></dl>
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<a class="anchor" id="a34c88a99e7e81d3727701c1307dda162"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::swap" ref="a34c88a99e7e81d3727701c1307dda162" args="(CObservation &o)" -->
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<p>Swap with another observation, ONLY the data defined here in the base class <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. </p>
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<a class="anchor" id="a4b879229f6eca8ba19251667b5549912"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::swap" ref="a4b879229f6eca8ba19251667b5549912" args="(CObservationStereoImages &o)" -->
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<td class="memname">void mrpt::slam::CObservationStereoImages::swap </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
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<p>Do an efficient swap of all data members of this object with "o". </p>
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<a class="anchor" id="ab0bf2ed10a730838b5357c5da0126711"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::unload" ref="ab0bf2ed10a730838b5357c5da0126711" args="()" -->
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<p>Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ae8925420b61a2aa460886e09d123a495" title="Makes sure all images and other fields which may be externally stored are loaded in memory...">load</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html#a3e04ab230acfb1fe8d763b856c3d9534">mrpt::slam::CObservation3DRangeScan</a>.</p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00163">163</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CSerializable</a>.</p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00084">84</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a388ef20153cbb8910b2899cf84e06ea6"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::_init_CObservationStereoImages" ref="a388ef20153cbb8910b2899cf84e06ea6" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a388ef20153cbb8910b2899cf84e06ea6">mrpt::slam::CObservationStereoImages::_init_CObservationStereoImages</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00067">67</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="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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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ac18f1c87c3720fec30ed793f21b1dcc8"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::classCObservation" ref="ac18f1c87c3720fec30ed793f21b1dcc8" args="" -->
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<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00084">84</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<a class="anchor" id="ae92987eb2cb99a79507c0bbe0aca6da4"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::classCObservationStereoImages" ref="ae92987eb2cb99a79507c0bbe0aca6da4" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#ae92987eb2cb99a79507c0bbe0aca6da4">mrpt::slam::CObservationStereoImages::classCObservationStereoImages</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00067">67</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="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a4a7186b36f14bc804b0933717177ff7a"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::classinfo" ref="a4a7186b36f14bc804b0933717177ff7a" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a4a7186b36f14bc804b0933717177ff7a">mrpt::slam::CObservationStereoImages::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00067">67</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="aeff9035963ac021276b9895adca8a973"></a><!-- doxytag: member="mrpt::slam::CObservationStereoImages::hasImageDisparity" ref="aeff9035963ac021276b9895adca8a973" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#aeff9035963ac021276b9895adca8a973">mrpt::slam::CObservationStereoImages::hasImageDisparity</a></td>
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<p>Whether imageDisparity actually contains data (Default upon construction: false) </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00099">99</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">bool <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#a93504f1da0ae45583ff957e16dec062d">mrpt::slam::CObservationStereoImages::hasImageRight</a></td>
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<p>Whether imageRight actually contains data (Default upon construction: true) </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00100">100</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">mrpt::utils::CImage</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#ad10ff91904be9f49c7a922bebf389e96">mrpt::slam::CObservationStereoImages::imageDisparity</a></td>
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<p>Disparity image, only contains a valid image if hasImageDisparity == true. </p>
<p>The relation between the actual disparity and pixels and each value in this image is... ??????????? </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00097">97</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<p>Image from the left camera (this image will be ALWAYS present) </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00090">90</a> of file <a class="el" href="_c_observation_stereo_images_8h_source.html">CObservationStereoImages.h</a>.</p>
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<p>Image from the right camera, only contains a valid image if hasImageRight == true. </p>
<p>Definition at line <a class="el" href="_c_observation_stereo_images_8h_source.html#l00093">93</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#l00105">105</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#l00105">105</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#l00114">114</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="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a7d451b2c59c2722f512227318df62579">mrpt::slam::CObservation::sensorLabel</a><code> [inherited]</code></td>
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<p>An arbitrary label that can be used to identify the sensor. </p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00100">100</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<td class="memname"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#ade9177f41827da9121847104e5b0ecd2">mrpt::slam::CObservation::timestamp</a><code> [inherited]</code></td>
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<p>The associated time-stamp. </p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00096">96</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
