00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationStereoImages_H 00029 #define CObservationStereoImages_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/utils/CMRPTImage.h> 00033 #include <mrpt/slam/CObservation.h> 00034 #include <mrpt/poses/CPose3D.h> 00035 #include <mrpt/poses/CPose2D.h> 00036 #include <mrpt/slam/CLandmark.h> 00037 #include <mrpt/slam/CLandmarksMap.h> 00038 00039 namespace mrpt 00040 { 00041 namespace slam 00042 { 00043 using namespace mrpt::utils; 00044 00045 // class CLandmarksMap; 00046 00047 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationStereoImages , CObservation ) 00048 00049 00059 class MRPTDLLIMPEXP CObservationStereoImages : public CObservation 00060 { 00061 // This must be added to any CSerializable derived class: 00062 DEFINE_SERIALIZABLE( CObservationStereoImages ) 00063 00064 00066 class CAuxMapWrapper 00067 { 00068 CLandmarksMap *auxMap; 00069 public: 00070 CAuxMapWrapper() : auxMap(NULL) { } 00071 CAuxMapWrapper(const CAuxMapWrapper &o) : auxMap(NULL) { } 00072 CAuxMapWrapper & operator =(const CAuxMapWrapper &o) { clear(); return *this; } 00073 00074 ~CAuxMapWrapper() { clear(); } 00075 00076 CLandmarksMap * get() { return auxMap; } 00077 const CLandmarksMap * get() const { return auxMap; } 00078 00079 void set(CLandmarksMap *m); 00080 00081 void clear(); 00082 }; 00083 00084 mutable CAuxMapWrapper m_auxMap; 00085 00086 00087 public: 00091 CObservationStereoImages( ); 00092 00098 CObservationStereoImages( void *iplImageLeft, void *iplImageRight ); 00099 00102 ~CObservationStereoImages( ); 00103 00106 CPose3D cameraPose; 00107 00111 CMatrix intrinsicParams; 00112 00115 CMRPTImage imageLeft, imageRight; 00116 00122 CPose3D rightCameraPose; 00123 00127 double focalLength_meters; 00128 00139 float likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const; 00140 00143 const CLandmarksMap * buildAuxiliaryMap( CLandmark::TLandmarkID fID, const CLandmarksMap::TInsertionOptions *insOpts = NULL) const; 00144 00149 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = cameraPose; } 00150 00151 00156 void setSensorPose( const CPose3D &newSensorPose ) { cameraPose = newSensorPose; } 00157 00158 00159 }; // End of class def. 00160 00161 00162 } // End of namespace 00163 } // End of namespace 00164 00165 #endif
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