obs/CObservationImage.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationImage_H
#define CObservationImage_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/TCamera.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace obs
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationImage , CObservation,OBS_IMPEXP )

        /** 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 OBS_IMPEXP CObservationImage : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationImage )
                // 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 NULL (default) for an empty image.
                 *
                 */
                CObservationImage( void *iplImage = NULL );

                 /** 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::utils::TCamera            cameraParams;

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

                /** Computes the rectified (un-distorted) image, using the embeded distortion parameters.
                  */
                void  getRectifiedImage( mrpt::utils::CImage &out_img ) const;

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

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationImage , CObservation,OBS_IMPEXP )


        } // End of namespace
} // End of namespace

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

#endif