MRPT  1.9.9
mrpt::obs::CObservationStereoImages Class Reference

Detailed Description

Observation class for either a pair of left+right or left+disparity images from a stereo camera.

To find whether the observation contains a right image and/or a disparity image, see the fields hasImageDisparity and hasImageRight, respectively. This figure illustrates the coordinate frames involved in this class:

Note
The images stored in this class can be raw or undistorted images. In the latter case, the "distortion" params of the corresponding "leftCamera" and "rightCamera" fields should be all zeros.
See also
CObservation

Definition at line 38 of file CObservationStereoImages.h.

#include <mrpt/obs/CObservationStereoImages.h>

Inheritance diagram for mrpt::obs::CObservationStereoImages:

Public Member Functions

 CObservationStereoImages ()=default
 
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...
 
void swap (CObservationStereoImages &o)
 Do an efficient swap of all data members of this object with "o". 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...
 
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.
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...
 

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...
 

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< CObservationStereoImages >
 
using ConstPtr = std::shared_ptr< const CObservationStereoImages >
 
using UniquePtr = std::unique_ptr< CObservationStereoImages >
 
using ConstUniquePtr = std::unique_ptr< const CObservationStereoImages >
 
static mrpt::rtti::CLASSINIT _init_CObservationStereoImages
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CObservationStereoImages"
 
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...
 

Main observation data members

mrpt::img::CImage imageLeft
 Image from the left camera (this image will be ALWAYS present) More...
 
mrpt::img::CImage imageRight
 Image from the right camera, only contains a valid image if hasImageRight == true. More...
 
mrpt::img::CImage imageDisparity
 Disparity image, only contains a valid image if hasImageDisparity == true. More...
 
bool hasImageDisparity {false}
 Whether imageDisparity actually contains data (Default upon construction: false) More...
 
bool hasImageRight {false}
 Whether imageRight actually contains data (Default upon construction: true) More...
 
mrpt::img::TCamera leftCamera
 Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras. More...
 
mrpt::img::TCamera rightCamera
 
mrpt::poses::CPose3DQuat cameraPose
 The pose of the LEFT camera, relative to the robot. More...
 
mrpt::poses::CPose3DQuat rightCameraPose
 The pose of the right camera, relative to the left one: Note that using the conventional reference coordinates for the left camera (x points to the right, y down), the "right" camera is situated at position (BL, 0, 0) with yaw=pitch=roll=0, where BL is the BASELINE. More...
 
void getStereoCameraParams (mrpt::img::TStereoCamera &out_params) const
 Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose. More...
 
void setStereoCameraParams (const mrpt::img::TStereoCamera &in_params)
 Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure. More...
 
bool areImagesRectified () const
 This method only checks whether ALL the distortion parameters in leftCamera are set to zero, which is the convention in MRPT to denote that this pair of stereo images has been rectified. More...
 

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

A type for the associated smart pointer

Definition at line 40 of file CObservationStereoImages.h.

◆ UniquePtr

Constructor & Destructor Documentation

◆ CObservationStereoImages()

mrpt::obs::CObservationStereoImages::CObservationStereoImages ( )
default

Member Function Documentation

◆ _GetBaseClass()

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

◆ areImagesRectified()

bool CObservationStereoImages::areImagesRectified ( ) const

This method only checks whether ALL the distortion parameters in leftCamera are set to zero, which is the convention in MRPT to denote that this pair of stereo images has been rectified.

Definition at line 196 of file CObservationStereoImages.cpp.

◆ clone()

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

Definition at line 40 of file CObservationStereoImages.h.

◆ CreateAlloc()

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

Definition at line 40 of file CObservationStereoImages.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 40 of file CObservationStereoImages.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 200 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::CObservationStereoImages::getClassName ( )
inlinestatic

Definition at line 40 of file CObservationStereoImages.h.

◆ getDescriptionAsText()

void CObservationStereoImages::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 222 of file CObservationStereoImages.cpp.

References mrpt::img::TStereoCamera::dumpAsText(), mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), and mrpt::img::TStereoCamera::rightCameraPose.

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◆ 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, and mrpt::obs::CObservationVelodyneScan.

Definition at line 71 of file CObservation.h.

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

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationStereoImages::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::CObservationStereoImages::GetRuntimeClassIdStatic ( )
static

◆ getSensorPose() [1/2]

void mrpt::obs::CObservationStereoImages::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 109 of file CObservationStereoImages.h.

References cameraPose.

◆ 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 25 of file CObservation.cpp.

◆ getStereoCameraParams()

void CObservationStereoImages::getStereoCameraParams ( mrpt::img::TStereoCamera out_params) const

Populates a TStereoCamera structure with the parameters in leftCamera, rightCamera and rightCameraPose.

See also
areImagesRectified()

Definition at line 173 of file CObservationStereoImages.cpp.

References mrpt::img::TStereoCamera::leftCamera, mrpt::img::TStereoCamera::rightCamera, and mrpt::img::TStereoCamera::rightCameraPose.

Referenced by mrpt::vision::CStereoRectifyMap::setFromCamParams().

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◆ 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.

◆ 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, and mrpt::obs::CObservationPointCloud.

Definition at line 154 of file CObservation.h.

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

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◆ serializeFrom() [1/2]

void CObservationStereoImages::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 42 of file CObservationStereoImages.cpp.

References INVALID_TIMESTAMP, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CObservationStereoImages::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 28 of file CObservationStereoImages.cpp.

◆ serializeTo() [1/2]

void CObservationStereoImages::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 29 of file CObservationStereoImages.cpp.

◆ 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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◆ setSensorPose() [1/2]

void mrpt::obs::CObservationStereoImages::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 113 of file CObservationStereoImages.h.

References cameraPose.

◆ 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 32 of file CObservation.cpp.

◆ setStereoCameraParams()

void CObservationStereoImages::setStereoCameraParams ( const mrpt::img::TStereoCamera in_params)

Sets leftCamera, rightCamera and rightCameraPose from a TStereoCamera structure.

Definition at line 183 of file CObservationStereoImages.cpp.

References mrpt::img::TStereoCamera::leftCamera, mrpt::img::TStereoCamera::rightCamera, and mrpt::img::TStereoCamera::rightCameraPose.

Referenced by mrpt::hwdrivers::CDUO3DCamera::getObservations(), and mrpt::vision::CStereoRectifyMap::rectify().

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◆ swap() [1/2]

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 37 of file CObservation.cpp.

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

Referenced by swap(), and mrpt::obs::CObservation3DRangeScan::swap().

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◆ swap() [2/2]

void CObservationStereoImages::swap ( CObservationStereoImages o)

Do an efficient swap of all data members of this object with "o".

Definition at line 204 of file CObservationStereoImages.cpp.

References cameraPose, hasImageDisparity, hasImageRight, imageDisparity, imageLeft, imageRight, leftCamera, rightCamera, rightCameraPose, and mrpt::obs::CObservation::swap().

Referenced by mrpt::hwdrivers::CStereoGrabber_SVS::getStereoObservation().

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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 161 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

◆ _init_CObservationStereoImages

mrpt::rtti::CLASSINIT mrpt::obs::CObservationStereoImages::_init_CObservationStereoImages
staticprotected

Definition at line 40 of file CObservationStereoImages.h.

◆ cameraPose

◆ className

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

Definition at line 40 of file CObservationStereoImages.h.

◆ hasImageDisparity

bool mrpt::obs::CObservationStereoImages::hasImageDisparity {false}

Whether imageDisparity actually contains data (Default upon construction: false)

Definition at line 66 of file CObservationStereoImages.h.

Referenced by swap().

◆ hasImageRight

bool mrpt::obs::CObservationStereoImages::hasImageRight {false}

Whether imageRight actually contains data (Default upon construction: true)

Definition at line 69 of file CObservationStereoImages.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::vision::CStereoRectifyMap::rectify(), and swap().

◆ imageDisparity

mrpt::img::CImage mrpt::obs::CObservationStereoImages::imageDisparity

Disparity image, only contains a valid image if hasImageDisparity == true.

The relation between the actual disparity and pixels and each value in this image is... ???????????

Definition at line 62 of file CObservationStereoImages.h.

Referenced by swap().

◆ imageLeft

◆ imageRight

◆ leftCamera

mrpt::img::TCamera mrpt::obs::CObservationStereoImages::leftCamera

Parameters for the left/right cameras: individual intrinsic and distortion parameters of the cameras.

See the tutorial for a discussion of these parameters.

See also
areImagesRectified(), getStereoCameraParams()

Definition at line 77 of file CObservationStereoImages.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::vision::StereoObs2BRObs(), and swap().

◆ rightCamera

mrpt::img::TCamera mrpt::obs::CObservationStereoImages::rightCamera

◆ rightCameraPose

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImages::rightCameraPose

The pose of the right camera, relative to the left one: Note that using the conventional reference coordinates for the left camera (x points to the right, y down), the "right" camera is situated at position (BL, 0, 0) with yaw=pitch=roll=0, where BL is the BASELINE.

Definition at line 88 of file CObservationStereoImages.h.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::StereoObs2BRObs(), and swap().

◆ runtimeClassId

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

Definition at line 40 of file CObservationStereoImages.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::hwdrivers::CGPSInterface::flushParsedMessagesNow(), 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(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), and mrpt::obs::CObservation::swap().

◆ 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::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::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::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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