Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class...
mrpt::img::CImage image
The image captured by the camera, that is, the main piece of information of this observation.
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class...
void getUndistortedImage(mrpt::img::CImage &out_img) const
Computes the un-distorted image, using the embeded camera intrinsic & distortion parameters.
This namespace contains representation of robot actions and observations.
Structure to hold the parameters of a pinhole camera model.
mrpt::img::TCamera cameraParams
Intrinsic and distortion parameters of the camera.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
mrpt::poses::CPose3D cameraPose
The pose of the camera on the robot.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
A class for storing images as grayscale or RGB bitmaps.
CObservationImage()=default
Constructor.