CObservationImage.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#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/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace slam
{
        using namespace mrpt::utils;
        using namespace mrpt::math;

        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 )

         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
                  */
                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.
                   */
                TCamera         cameraParams;

                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( CImage &out_img ) const;

                /** A general method to retrieve the sensor pose on the robot.
                  *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = cameraPose; }


                /** A general method to change the sensor pose on the robot.
                  *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D &newSensorPose ) { cameraPose = newSensorPose; }

        }; // End of class def.


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

#endif