CObservationImage.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/img/CImage.h>
#include <mrpt/img/TCamera.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** Declares a class derived from "CObservation" that encapsules an image from a
 camera, whose relative pose to robot is also stored.
     The next figure illustrate the coordinates reference systems involved in
 this class:<br>
     <center>
     <img src="CObservationImage_figRefSystem.png">
     </center>
 *
 * \sa CObservation, CObservationStereoImages
 * \ingroup mrpt_obs_grp
 */
class CObservationImage : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationImage, mrpt::obs)
    // This must be added for declaration of MEX-related functions
    DECLARE_MEX_CONVERSION

   public:
    /** Constructor.
     * \param iplImage An OpenCV "IplImage*" object with the image to be loaded
     * in the member "image", or nullptr (default) for an empty image.
     *
     */
    CObservationImage() = default;
    /** The pose of the camera on the robot
     */
    mrpt::poses::CPose3D cameraPose;

    /** Intrinsic and distortion parameters of the camera.
     * See the <a href="http://www.mrpt.org/Camera_Parameters" >tutorial</a>
     * for a discussion of these parameters.
     */
    mrpt::img::TCamera cameraParams;

    /** The image captured by the camera, that is, the main piece of information
     * of this observation. */
    mrpt::img::CImage image;

    /** Computes the un-distorted image, using the embeded camera
     * intrinsic & distortion parameters.
     */
    void getUndistortedImage(mrpt::img::CImage& out_img) const;

    // See base class docs
    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
    {
        out_sensorPose = cameraPose;
    }
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
    {
        cameraPose = newSensorPose;
    }
    void getDescriptionAsText(std::ostream& o) const override;

    void load() const override;

};  // End of class def.

}  // namespace mrpt::obs
// Add for declaration of mexplus::from template specialization
DECLARE_MEXPLUS_FROM(mrpt::obs::CObservationImage)