Detailed Description

Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors.

This kind of observations can carry one or more of these data fields:

3D point cloud (as float's).
2D range image (as a matrix): Each entry in the matrix "rangeImage(ROW,COLUMN)" contains a distance or a depth (in meters), depending on range_is_depth.
2D intensity (grayscale or RGB) image (as a mrpt::img::CImage): For SwissRanger cameras, a logarithmic A-law compression is used to convert the original 16bit intensity to a more standard 8bit graylevel.

The coordinates of the 3D point cloud are in millimeters with respect to the RGB camera origin of coordinates

The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual. Optionally, the intensity and confidence channels can be set to delayed-load images for off-rawlog storage so it saves memory by having loaded in memory just the needed images. See the methods load() and unload(). Due to the intensive storage requirements of this kind of observations, this observation is the only one in MRPT for which it's recommended to always call "load()" and "unload()" before and after using the observation, ONLY when the observation was read from a rawlog dataset, in order to make sure that all the externally stored data fields are loaded and ready in memory.

Classes that grab observations of this type are:

3D point clouds can be generated at any moment after grabbing with CObservationRGBD360::unprojectInto() and CObservationRGBD360::unprojectInto(), provided the correct calibration parameters.

Note: Starting at serialization version 3 (MRPT 0.9.1+), the 3D point cloud and the rangeImage can both be stored externally to save rawlog space.; Starting at serialization version 5 (MRPT 0.9.5+), the new field range_is_depth; Starting at serialization version 6 (MRPT 0.9.5+), the new field intensityImageChannel

See also: mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::COpenNI2_RGBD360, CObservation

Definition at line 83 of file CObservationRGBD360.h.

#include <mrpt/obs/CObservationRGBD360.h>

Inheritance diagram for mrpt::obs::CObservationRGBD360:

Public Member Functions
	CObservationRGBD360 ()
	Default constructor. More...

	~CObservationRGBD360 () override
	Destructor. More...

void	rangeImage_setSize (const int HEIGHT, const int WIDTH, const unsigned sensor_id)
	Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation. More...

void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...

void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const mrpt::poses::CPose3D robotPose=nullptr) const
	This method is equivalent to: More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...

std::string	getDescriptionAsTextValue () const
	Return by value version of getDescriptionAsText(std::ostream&) More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...

virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
mrpt::system::TTimeStamp	timestamps [NUM_SENSORS]

bool	hasRangeImage {false}
	true means the field rangeImage contains valid data More...

mrpt::math::CMatrix_u16	rangeImages [NUM_SENSORS]
	If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) More...

float	rangeUnits = 0.001f
	Units for integer depth values in rangeImages. More...

bool	hasIntensityImage {false}
	true means the field intensityImage contains valid data More...

mrpt::img::CImage	intensityImages [NUM_SENSORS]
	If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage". More...

mrpt::img::TCamera	sensorParamss [NUM_SENSORS]
	Projection parameters of the 8 RGBD sensor. More...

float	maxRange {10.0f}
	The maximum range allowed by the device, in meters (e.g. More...

mrpt::poses::CPose3D	sensorPose
	The 6D pose of the sensor on the robot. More...

float	stdError {0.01f}
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. More...

Static Public Attributes
static const unsigned int	NUM_SENSORS = 2

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
bool	m_points3D_external_stored {false}
	If set to true, m_points3D_external_file is valid. More...

std::string	m_points3D_external_file
	3D points are in CImage::getImagesPathBase()+<this_file_name> More...

bool	m_rangeImage_external_stored {false}
	If set to true, m_rangeImage_external_file is valid. More...

std::string	m_rangeImage_external_file
	rangeImage is in CImage::getImagesPathBase()+<this_file_name> More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp {mrpt::system::now()}
	The associated UTC time-stamp. More...

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...

mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...

virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CObservationRGBD360 >

using	ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationRGBD360 >

using	UniquePtr = std::unique_ptr< mrpt::obs ::CObservationRGBD360 >

using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationRGBD360 >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::obs" "::" "CObservationRGBD360"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::obs::CObservationRGBD360::ConstPtr = std::shared_ptr<const mrpt::obs :: CObservationRGBD360 >

Definition at line 85 of file CObservationRGBD360.h.

◆ ConstUniquePtr

using mrpt::obs::CObservationRGBD360::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CObservationRGBD360 >

Definition at line 85 of file CObservationRGBD360.h.

◆ Ptr

using mrpt::obs::CObservationRGBD360::Ptr = std::shared_ptr< mrpt::obs :: CObservationRGBD360 >

A type for the associated smart pointer

Definition at line 85 of file CObservationRGBD360.h.

◆ UniquePtr

using mrpt::obs::CObservationRGBD360::UniquePtr = std::unique_ptr< mrpt::obs :: CObservationRGBD360 >

Definition at line 85 of file CObservationRGBD360.h.

Constructor & Destructor Documentation

◆ CObservationRGBD360()

CObservationRGBD360::CObservationRGBD360 ( )

Default constructor.

Definition at line 30 of file CObservationRGBD360.cpp.

◆ ~CObservationRGBD360()

CObservationRGBD360::~CObservationRGBD360 ( )

override

Destructor.

Definition at line 34 of file CObservationRGBD360.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationRGBD360::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CObservationRGBD360::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CObservationRGBD360::Create ( Args &&... args )

inlinestatic

Definition at line 85 of file CObservationRGBD360.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CObservationRGBD360::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 85 of file CObservationRGBD360.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CObservationRGBD360::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CObservationRGBD360::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 85 of file CObservationRGBD360.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

static constexpr auto mrpt::obs::CObservationRGBD360::getClassName ( )

inlinestatic

Definition at line 85 of file CObservationRGBD360.h.

◆ getDescriptionAsText()

void CObservationRGBD360::getDescriptionAsText ( std::ostream & o ) const

overridevirtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note: If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.; This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

Definition at line 117 of file CObservationRGBD360.cpp.

◆ getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const

inherited

Return by value version of getDescriptionAsText(std::ostream&)

Definition at line 59 of file CObservation.cpp.

◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also: getTimeStamp()

Reimplemented in mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationGPS, and mrpt::obs::CObservationRotatingScan.

Definition at line 71 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationRGBD360::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CObservationRGBD360::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const

inherited

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.

See also: setSensorPose

Definition at line 24 of file CObservation.cpp.

References mrpt::poses::CPose3D::asTPose().

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◆ getSensorPose() [2/2]

void mrpt::obs::CObservationRGBD360::getSensorPose ( mrpt::poses::CPose3D & out_sensorPose ) const

inlineoverridevirtual

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.

See also: setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 140 of file CObservationRGBD360.h.

References sensorPose.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 66 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also: CMetricMap, CMetricMap::insertObservation

Definition at line 99 of file CObservation.h.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also: unload

Reimplemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationImage, and mrpt::obs::CObservationPointCloud.

Definition at line 157 of file CObservation.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation().

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◆ rangeImage_setSize()

void CObservationRGBD360::rangeImage_setSize	(	const int	HEIGHT,
		const int	WIDTH,
		const unsigned	sensor_id
	)

Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation.

Definition at line 110 of file CObservationRGBD360.cpp.

◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeFrom() [2/2]

void CObservationRGBD360::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 67 of file CObservationRGBD360.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadAs(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CObservationRGBD360::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 36 of file CObservationRGBD360.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CObservationRGBD360::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 37 of file CObservationRGBD360.cpp.

References out.

◆ setSensorPose() [1/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

inherited

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.

See also: getSensorPose

Definition at line 31 of file CObservation.cpp.

◆ setSensorPose() [2/2]

void mrpt::obs::CObservationRGBD360::setSensorPose ( const mrpt::poses::CPose3D & newSensorPose )

inlineoverridevirtual

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.

See also: getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 144 of file CObservationRGBD360.h.

References sensorPose.

◆ swap()

void CObservation::swap ( CObservation & o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation.

It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 36 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap().

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◆ unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also: load

Reimplemented in mrpt::obs::CObservation3DRangeScan, and mrpt::obs::CObservationPointCloud.

Definition at line 164 of file CObservation.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::obs::CObservationRGBD360::className = "mrpt::obs" "::" "CObservationRGBD360"

static

Definition at line 85 of file CObservationRGBD360.h.

◆ hasIntensityImage

bool mrpt::obs::CObservationRGBD360::hasIntensityImage {false}

true means the field intensityImage contains valid data

Definition at line 123 of file CObservationRGBD360.h.

Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().

◆ hasRangeImage

bool mrpt::obs::CObservationRGBD360::hasRangeImage {false}

true means the field rangeImage contains valid data

Definition at line 109 of file CObservationRGBD360.h.

Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().

◆ intensityImages

mrpt::img::CImage mrpt::obs::CObservationRGBD360::intensityImages[NUM_SENSORS]

If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".

Definition at line 126 of file CObservationRGBD360.h.

Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().

◆ m_points3D_external_file

std::string mrpt::obs::CObservationRGBD360::m_points3D_external_file

protected

3D points are in CImage::getImagesPathBase()+<this_file_name>

Definition at line 91 of file CObservationRGBD360.h.

◆ m_points3D_external_stored

bool mrpt::obs::CObservationRGBD360::m_points3D_external_stored {false}

protected

If set to true, m_points3D_external_file is valid.

Definition at line 89 of file CObservationRGBD360.h.

◆ m_rangeImage_external_file

std::string mrpt::obs::CObservationRGBD360::m_rangeImage_external_file

protected

rangeImage is in CImage::getImagesPathBase()+<this_file_name>

Definition at line 96 of file CObservationRGBD360.h.

◆ m_rangeImage_external_stored

bool mrpt::obs::CObservationRGBD360::m_rangeImage_external_stored {false}

protected

If set to true, m_rangeImage_external_file is valid.

Definition at line 94 of file CObservationRGBD360.h.

◆ maxRange

float mrpt::obs::CObservationRGBD360::maxRange {10.0f}

The maximum range allowed by the device, in meters (e.g.

8.0m, 5.0m,...)

Definition at line 132 of file CObservationRGBD360.h.

◆ NUM_SENSORS

const unsigned int mrpt::obs::CObservationRGBD360::NUM_SENSORS = 2

static

Definition at line 104 of file CObservationRGBD360.h.

◆ rangeImages

mrpt::math::CMatrix_u16 mrpt::obs::CObservationRGBD360::rangeImages[NUM_SENSORS]

If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters)

See also: range_is_depth

Definition at line 112 of file CObservationRGBD360.h.

Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().

◆ rangeUnits

float mrpt::obs::CObservationRGBD360::rangeUnits = 0.001f

Units for integer depth values in rangeImages.

Definition at line 115 of file CObservationRGBD360.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationRGBD360::runtimeClassId

staticprotected

Definition at line 85 of file CObservationRGBD360.h.

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 62 of file CObservation.h.

◆ sensorParamss

mrpt::img::TCamera mrpt::obs::CObservationRGBD360::sensorParamss[NUM_SENSORS]

Projection parameters of the 8 RGBD sensor.

Definition at line 128 of file CObservationRGBD360.h.

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationRGBD360::sensorPose

The 6D pose of the sensor on the robot.

Definition at line 134 of file CObservationRGBD360.h.

Referenced by getSensorPose(), and setSensorPose().

◆ stdError

float mrpt::obs::CObservationRGBD360::stdError {0.01f}

The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

Definition at line 137 of file CObservationRGBD360.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp {mrpt::system::now()}

inherited

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also: getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 60 of file CObservation.h.

◆ timestamps

mrpt::system::TTimeStamp mrpt::obs::CObservationRGBD360::timestamps[NUM_SENSORS]

Definition at line 106 of file CObservationRGBD360.h.

Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Data common to any observation

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CObservationRGBD360()

◆ ~CObservationRGBD360()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getDescriptionAsText()

◆ getDescriptionAsTextValue()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ insertObservationInto()

◆ load()

◆ rangeImage_setSize()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ hasIntensityImage

◆ hasRangeImage

◆ intensityImages

◆ m_points3D_external_file

◆ m_points3D_external_stored

◆ m_rangeImage_external_file

◆ m_rangeImage_external_stored

◆ maxRange

◆ NUM_SENSORS

◆ rangeImages

◆ rangeUnits

◆ runtimeClassId

◆ sensorLabel

◆ sensorParamss

◆ sensorPose

◆ stdError

◆ timestamp

◆ timestamps