MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
mrpt::obs::CObservationPointCloud Class Reference

Detailed Description

An observation from any sensor that can be summarized as a pointcloud.

The cloud can comprise plain XYZ points, or can include intensity, or RGB data; in particular, the point cloud can be any of the derived classes of mrpt::maps::CPointsMap.

The pointcloud has as frame of coordinates the sensorPose field, which may match the origin of the vehicle/robot or not.

Note
This is a mrpt::obs::CObservation class, but it is defined in the mrpt_maps_grp library, so it can use mrpt::maps::CPointsMap.
See also
CObservation, mrpt::maps::CPointsMap

Definition at line 33 of file CObservationPointCloud.h.

#include <mrpt/obs/CObservationPointCloud.h>

Inheritance diagram for mrpt::obs::CObservationPointCloud:

Public Types

enum  ExternalStorageFormat : uint8_t { ExternalStorageFormat::None = 0, ExternalStorageFormat::MRPT_Serialization, ExternalStorageFormat::KittiBinFile, ExternalStorageFormat::PlainTextFile }
 

Public Member Functions

 CObservationPointCloud ()=default
 
 CObservationPointCloud (const CObservation3DRangeScan &o)
 
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 &p) 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 mxArraywriteToMatlab () 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.
void load () const override
 Makes sure all images and other fields which may be externally stored are loaded in memory. More...
 
void unload () override
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
 
Point cloud external storage functions
bool isExternallyStored () const
 
const std::stringgetExternalStorageFile () const
 
void setAsExternalStorage (const std::string &fileName, const ExternalStorageFormat fmt)
 
void overrideExternalStorageFormatFlag (const ExternalStorageFormat fmt)
 
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::maps::CPointsMap::Ptr pointcloud
 The pointcloud. More...
 
mrpt::poses::CPose3D sensorPose
 Sensor placement wrt the vehicle/robot. More...
 

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

ExternalStorageFormat m_externally_stored {ExternalStorageFormat::None}
 
std::string m_external_file
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::obs ::CObservationPointCloud >
 
using ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationPointCloud >
 
using UniquePtr = std::unique_ptr< mrpt::obs ::CObservationPointCloud >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationPointCloud >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::obs" "::" "CObservationPointCloud"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. 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...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 35 of file CObservationPointCloud.h.

◆ ConstUniquePtr

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

Definition at line 35 of file CObservationPointCloud.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 35 of file CObservationPointCloud.h.

◆ UniquePtr

Definition at line 35 of file CObservationPointCloud.h.

Member Enumeration Documentation

◆ ExternalStorageFormat

Enumerator
None 

is always stored in memory

MRPT_Serialization 

Uses mrpt-serialization binary file.

KittiBinFile 

Uses Kitti .bin file format.

PlainTextFile 

Plain text, each line has "x y z [i]" coords.

Definition at line 38 of file CObservationPointCloud.h.

Constructor & Destructor Documentation

◆ CObservationPointCloud() [1/2]

mrpt::obs::CObservationPointCloud::CObservationPointCloud ( )
default

◆ CObservationPointCloud() [2/2]

CObservationPointCloud::CObservationPointCloud ( const CObservation3DRangeScan o)
explicit

Definition at line 28 of file CObservationPointCloud.cpp.

References mrpt::maps::CSimplePointsMap::Create(), and pointcloud.

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationPointCloud::_GetBaseClass ( )
staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CObservationPointCloud::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::CObservationPointCloud::Create ( Args &&...  args)
inlinestatic

Definition at line 35 of file CObservationPointCloud.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::obs::CObservationPointCloud::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 35 of file CObservationPointCloud.h.

◆ CreateObject()

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

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::obs::CObservationPointCloud::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 35 of file CObservationPointCloud.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::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getClassName()

static constexpr auto mrpt::obs::CObservationPointCloud::getClassName ( )
inlinestatic

Definition at line 35 of file CObservationPointCloud.h.

◆ getDescriptionAsText()

void CObservationPointCloud::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 43 of file CObservationPointCloud.cpp.

References mrpt::obs::CObservation::getDescriptionAsText(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), m_external_file, m_externally_stored, None, pointcloud, and sensorPose.

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◆ getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const
inherited

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

Definition at line 55 of file CObservation.cpp.

◆ getExternalStorageFile()

const std::string& mrpt::obs::CObservationPointCloud::getExternalStorageFile ( ) const
inline

Definition at line 82 of file CObservationPointCloud.h.

References m_external_file.

◆ 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::CObservationGPS, mrpt::obs::CObservationVelodyneScan, 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::CObservationPointCloud::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::CObservationPointCloud::GetRuntimeClassIdStatic ( )
static

◆ getSensorPose() [1/2]

void CObservationPointCloud::getSensorPose ( mrpt::poses::CPose3D out_sensorPose) const
overridevirtual

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 34 of file CObservationPointCloud.cpp.

References sensorPose.

◆ getSensorPose() [2/2]

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.

◆ 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
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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.

◆ isExternallyStored()

bool mrpt::obs::CObservationPointCloud::isExternallyStored ( ) const
inline

Definition at line 78 of file CObservationPointCloud.h.

References m_externally_stored, and None.

Referenced by load(), serializeFrom(), serializeTo(), setAsExternalStorage(), and unload().

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◆ load()

void CObservationPointCloud::load ( ) const
overridevirtual

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 from mrpt::obs::CObservation.

Definition at line 116 of file CObservationPointCloud.cpp.

References mrpt::serialization::archiveFrom(), ASSERTMSG_, mrpt::maps::CPointsMapXYZI::Create(), mrpt::maps::CColouredPointsMap::Create(), mrpt::maps::CSimplePointsMap::Create(), mrpt::format(), isExternallyStored(), KittiBinFile, m_external_file, m_externally_stored, MRPT_END, MRPT_Serialization, MRPT_START, None, ok, PlainTextFile, pointcloud, and THROW_EXCEPTION_FMT.

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◆ overrideExternalStorageFormatFlag()

void mrpt::obs::CObservationPointCloud::overrideExternalStorageFormatFlag ( const ExternalStorageFormat  fmt)
inline

Definition at line 89 of file CObservationPointCloud.h.

References m_externally_stored.

◆ serializeFrom() [1/2]

void CObservationPointCloud::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 86 of file CObservationPointCloud.cpp.

References isExternallyStored(), m_external_file, m_externally_stored, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, pointcloud, mrpt::obs::CObservation::sensorLabel, sensorPose, and mrpt::obs::CObservation::timestamp.

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◆ serializeFrom() [2/2]

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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◆ serializeGetVersion()

uint8_t CObservationPointCloud::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 67 of file CObservationPointCloud.cpp.

◆ serializeTo() [1/2]

void CObservationPointCloud::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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 68 of file CObservationPointCloud.cpp.

References isExternallyStored(), m_external_file, m_externally_stored, out, pointcloud, mrpt::obs::CObservation::sensorLabel, sensorPose, and mrpt::obs::CObservation::timestamp.

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◆ serializeTo() [2/2]

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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◆ setAsExternalStorage()

void CObservationPointCloud::setAsExternalStorage ( const std::string fileName,
const ExternalStorageFormat  fmt 
)

Definition at line 250 of file CObservationPointCloud.cpp.

References ASSERTMSG_, isExternallyStored(), m_external_file, m_externally_stored, MRPT_END, and MRPT_START.

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◆ setSensorPose() [1/2]

void CObservationPointCloud::setSensorPose ( const mrpt::poses::CPose3D newSensorPose)
overridevirtual

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 39 of file CObservationPointCloud.cpp.

References sensorPose.

◆ setSensorPose() [2/2]

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.

◆ 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(), and mrpt::obs::CObservation3DRangeScan::swap().

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◆ unload()

void CObservationPointCloud::unload ( )
overridevirtual

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

See also
load

Reimplemented from mrpt::obs::CObservation.

Definition at line 204 of file CObservationPointCloud.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, mrpt::system::fileExists(), isExternallyStored(), KittiBinFile, m_external_file, m_externally_stored, MRPT_END, MRPT_Serialization, MRPT_START, None, PlainTextFile, pointcloud, and THROW_EXCEPTION.

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◆ 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::CObservationPointCloud::className = "mrpt::obs" "::" "CObservationPointCloud"
static

Definition at line 35 of file CObservationPointCloud.h.

◆ m_external_file

std::string mrpt::obs::CObservationPointCloud::m_external_file
protected

◆ m_externally_stored

ExternalStorageFormat mrpt::obs::CObservationPointCloud::m_externally_stored {ExternalStorageFormat::None}
protected

◆ pointcloud

mrpt::maps::CPointsMap::Ptr mrpt::obs::CObservationPointCloud::pointcloud

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationPointCloud::runtimeClassId
staticprotected

Definition at line 35 of file CObservationPointCloud.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.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservation6DFeatures::serializeFrom(), serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), and mrpt::obs::CObservation::swap().

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationPointCloud::sensorPose

Sensor placement wrt the vehicle/robot.

i.e. A point at (0,0,0) in pointcloud is at sensorPose wrt the vehicle.

Definition at line 62 of file CObservationPointCloud.h.

Referenced by getDescriptionAsText(), getSensorPose(), serializeFrom(), serializeTo(), and setSensorPose().

◆ 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.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::obs::CObservation::getOriginalReceivedTimeStamp(), mrpt::obs::CObservation::getTimeStamp(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::obs::CObservation6DFeatures::serializeFrom(), serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), and velodyne_scan_to_pointcloud().




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