class mrpt::obs::CObservation3DScene

Overview

Not a real sensor observation, it stores a 3D scene which can be used for debugging or any other logging purposes.

If stored in a .rawlog file, RawLogViewer will show the contents of the scene’s main viewport when selecting it on the tree view.

(New in MRPT 2.3.1)

See also:

CObservation

#include <mrpt/obs/CObservation3DScene.h>

class CObservation3DScene:
    public mrpt::obs::CObservation,
    public mrpt::opengl::Visualizable
{
public:
    // fields

    mrpt::opengl::Scene::Ptr scene;
    mrpt::poses::CPose3D sensorPose;

    // construction

    CObservation3DScene();

    // methods

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual void getVisualizationInto(mrpt::opengl::CSetOfObjects& o) const;
};

Inherited Members

public:
    // fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    // methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D sensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual std::string asString() const;

Fields

mrpt::opengl::Scene::Ptr scene

The payload: a 3D scene smart pointer.

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot.

It does not have any predefined meaning in this particular class. Ignore it unless you want it to have any particular meaning related to the 3D scene.

Methods

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) 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.

See also:

setSensorPose

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

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

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

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

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

virtual void getVisualizationInto(mrpt::opengl::CSetOfObjects& o) const

Inserts 3D primitives representing this object into the provided container.

Note that the former contents of o are not cleared.

See also:

getVisualization()