9 #ifndef CObservationStereoImagesFeatures_H 10 #define CObservationStereoImagesFeatures_H 26 std::pair<mrpt::utils::TPixelCoordf,mrpt::utils::TPixelCoordf>
pixels;
50 CObservationStereoImagesFeatures(
52 const
mrpt::math::CArrayDouble<5> &dPLeft , const
mrpt::math::CArrayDouble<5> &dPRight ,
53 const
mrpt::poses::CPose3DQuat &rCPose , const
mrpt::poses::CPose3DQuat &cPORobot );
57 CObservationStereoImagesFeatures(
58 const
mrpt::utils::TCamera &cLeft , const
mrpt::utils::TCamera &cRight ,
59 const
mrpt::poses::CPose3DQuat &rCPose , const
mrpt::poses::CPose3DQuat &cPORobot );
63 ~CObservationStereoImagesFeatures( );
69 void saveFeaturesToTextFile( const
std::
string &filename );
74 mrpt::utils::TCamera cameraLeft, cameraRight;
81 mrpt::poses::CPose3DQuat rightCameraPose;
85 mrpt::poses::CPose3DQuat cameraPoseOnRobot;
96 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched i...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void getSensorPose(mrpt::poses::CPose3DQuat &out_sensorPose) const
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form...
CMatrixFixedNumeric< double, 3, 3 > CMatrixDouble33
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#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.
void setSensorPose(const mrpt::poses::CPose3DQuat &newSensorPose)
A general method to change the sensor pose on the robot in a CPose3DQuat form.
std::pair< mrpt::utils::TPixelCoordf, mrpt::utils::TPixelCoordf > pixels
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)