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9 #ifndef CObservationStereoImagesFeatures_H
10 #define CObservationStereoImagesFeatures_H
26 std::pair<mrpt::img::TPixelCoordf, mrpt::img::TPixelCoordf>
pixels;
CObservationStereoImagesFeatures()=default
mrpt::poses::CPose3DQuat rightCameraPose
The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and...
mrpt::img::TCamera cameraLeft
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
std::vector< TStereoImageFeatures > theFeatures
Vectors of image feature pairs (with ID).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form.
void setSensorPose(const mrpt::poses::CPose3DQuat &newSensorPose)
A general method to change the sensor pose on the robot in a CPose3DQuat form.
mrpt::img::TCamera cameraRight
mrpt::poses::CPose3DQuat cameraPoseOnRobot
The pose of the LEFT camera, relative to the robot.
Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched i...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Structure to hold the parameters of a pinhole camera model.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void getSensorPose(mrpt::poses::CPose3DQuat &out_sensorPose) const
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::pair< mrpt::img::TPixelCoordf, mrpt::img::TPixelCoordf > pixels
Declares a class that represents any robot's observation.
GLsizei const GLchar ** string
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...
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