9 #ifndef CObservationImage_H 10 #define CObservationImage_H 51 mrpt::poses::CPose3D cameraPose;
56 mrpt::utils::TCamera cameraParams;
62 void getRectifiedImage(
mrpt::utils::CImage &out_img ) const;
65 void getSensorPose(
mrpt::poses::CPose3D &out_sensorPose )
const { out_sensorPose = cameraPose; }
69 virtual void getDescriptionAsText(std::ostream &o)
const;
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)
A general method to change the sensor pose on the robot.
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class...
#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...
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class...
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.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)