mrpt::obs::CObservationStereoImagesFeatures Class Reference

Detailed Description

Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them.

NOTE: The image features stored in this class are NOT supposed to be UNDISTORTED, but the TCamera members must provide their distortion params. A zero-vector of distortion params means a set of UNDISTORTED pixels.

See also

CObservation

Definition at line 38 of file obs/CObservationStereoImagesFeatures.h.

#include <mrpt/obs/CObservationStereoImagesFeatures.h>

Inheritance diagram for mrpt::obs::CObservationStereoImagesFeatures:

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) throw ()
void	operator delete[] (void *ptr) throw ()
void	operator delete (void *memory, void *ptr) throw ()
void *	operator new (size_t size, const std::nothrow_t &) throw ()
void	operator delete (void *ptr, const std::nothrow_t &) throw ()
	CObservationStereoImagesFeatures ()
	Default Constructor. More...
	CObservationStereoImagesFeatures (const mrpt::math::CMatrixDouble33 &iPLeft, const mrpt::math::CMatrixDouble33 &iPRight, const mrpt::math::CArrayDouble< 5 > &dPLeft, const mrpt::math::CArrayDouble< 5 > &dPRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
	Other constructor providing members initialization. More...
	CObservationStereoImagesFeatures (const mrpt::utils::TCamera &cLeft, const mrpt::utils::TCamera &cRight, const mrpt::poses::CPose3DQuat &rCPose, const mrpt::poses::CPose3DQuat &cPORobot)
	Other constructor providing members initialization. More...
	~CObservationStereoImagesFeatures ()
	Destructor. More...
void	saveFeaturesToTextFile (const std::string &filename)
	A method for storing the set of observed features in a text file in the format: ID ul vl ur vr being (ul,vl) and (ur,vr) the "x" and "y" coordinates for the left and right feature, respectively. More...
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
	A general method to retrieve the sensor pose on the robot. More...
void	getSensorPose (mrpt::poses::CPose3DQuat &out_sensorPose) const
void	getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
	A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form. More...
void	setSensorPose (const mrpt::poses::CPose3DQuat &newSensorPose)
	A general method to change the sensor pose on the robot in a CPose3DQuat form. More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) 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 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...
CObject *	clone () const
	Cloning interface for smart pointers. 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
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
mrpt::utils::TCamera	cameraLeft
mrpt::utils::TCamera	cameraRight
mrpt::poses::CPose3DQuat	rightCameraPose
	The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and 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 q = [1 0 0 0], where BL is the BASELINE. More...
mrpt::poses::CPose3DQuat	cameraPoseOnRobot
	The pose of the LEFT camera, relative to the robot. More...
std::vector< TStereoImageFeatures >	theFeatures
	Vectors of image feature pairs (with ID). More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	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. More...
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. 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
typedef CObservationStereoImagesFeaturesPtr	Ptr
typedef CObservationStereoImagesFeaturesPtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CObservationStereoImagesFeatures
static mrpt::utils::TRuntimeClassId	classCObservationStereoImagesFeatures
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
static mrpt::utils::CObject *	CreateObject ()
static CObservationStereoImagesFeaturesPtr	Create ()

Member Typedef Documentation

ConstPtr

typedef CObservationStereoImagesFeaturesPtr mrpt::obs::CObservationStereoImagesFeatures::ConstPtr

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

Ptr

typedef CObservationStereoImagesFeaturesPtr mrpt::obs::CObservationStereoImagesFeatures::Ptr

A typedef for the associated smart pointer

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

Constructor & Destructor Documentation

CObservationStereoImagesFeatures() [1/3]

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures

(

)

Default Constructor.

Definition at line 25 of file CObservationStereoImagesFeatures.cpp.

CObservationStereoImagesFeatures() [2/3]

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures	(	const mrpt::math::CMatrixDouble33 &	iPLeft,
		const mrpt::math::CMatrixDouble33 &	iPRight,
		const mrpt::math::CArrayDouble< 5 > &	dPLeft,
		const mrpt::math::CArrayDouble< 5 > &	dPRight,
		const mrpt::poses::CPose3DQuat &	rCPose,
		const mrpt::poses::CPose3DQuat &	cPORobot
	)

Other constructor providing members initialization.

Definition at line 32 of file CObservationStereoImagesFeatures.cpp.

CObservationStereoImagesFeatures() [3/3]

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures	(	const mrpt::utils::TCamera &	cLeft,
		const mrpt::utils::TCamera &	cRight,
		const mrpt::poses::CPose3DQuat &	rCPose,
		const mrpt::poses::CPose3DQuat &	cPORobot
	)

Other constructor providing members initialization.

Definition at line 47 of file CObservationStereoImagesFeatures.cpp.

~CObservationStereoImagesFeatures()

CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures

(

)

Destructor.

Definition at line 59 of file CObservationStereoImagesFeatures.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationStereoImagesFeatures::_GetBaseClass ( )

staticprotected

clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static CObservationStereoImagesFeaturesPtr mrpt::obs::CObservationStereoImagesFeatures::Create ( )

static

CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservationStereoImagesFeatures::CreateObject ( )

static

duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservationStereoImagesFeatures::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

getDescriptionAsText()

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

virtual

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 126 of file CObservationStereoImagesFeatures.cpp.

References mrpt::format(), and mrpt::obs::CObservation::getDescriptionAsText().

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 58 of file obs/CObservation.h.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationStereoImagesFeatures::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

getSensorPose() [1/3]

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

inlinevirtual

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 92 of file obs/CObservationStereoImagesFeatures.h.

getSensorPose() [2/3]

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 38 of file CObservation.cpp.

getSensorPose() [3/3]

void mrpt::obs::CObservationStereoImagesFeatures::getSensorPose ( mrpt::poses::CPose3DQuat &  out_sensorPose ) const

inline

Definition at line 94 of file obs/CObservationStereoImagesFeatures.h.

getTimeStamp()

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

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 56 of file obs/CObservation.h.

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = NULL  ) 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 NULL (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 77 of file obs/CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

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.

Definition at line 119 of file obs/CObservation.h.

operator delete() [1/3]

void mrpt::obs::CObservationStereoImagesFeatures::operator delete ( void *  ptr ) throw ( )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator delete() [2/3]

void mrpt::obs::CObservationStereoImagesFeatures::operator delete ( void *  memory, void *  ptr  ) throw ( )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator delete() [3/3]

void mrpt::obs::CObservationStereoImagesFeatures::operator delete ( void *  ptr, const std::nothrow_t &    ) throw ( )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator delete[]()

void mrpt::obs::CObservationStereoImagesFeatures::operator delete[] ( void *  ptr ) throw ( )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator new() [1/3]

void* mrpt::obs::CObservationStereoImagesFeatures::operator new ( size_t  size, const std::nothrow_t &    ) throw ( )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator new() [2/3]

static void* mrpt::obs::CObservationStereoImagesFeatures::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator new() [3/3]

void* mrpt::obs::CObservationStereoImagesFeatures::operator new ( size_t  size )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

operator new[]()

void* mrpt::obs::CObservationStereoImagesFeatures::operator new[] ( size_t  size )

inline

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

readFromStream()

void CObservationStereoImagesFeatures::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 100 of file CObservationStereoImagesFeatures.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

saveFeaturesToTextFile()

void CObservationStereoImagesFeatures::saveFeaturesToTextFile

(

const std::string &

filename

)

A method for storing the set of observed features in a text file in the format:
ID ul vl ur vr
being (ul,vl) and (ur,vr) the "x" and "y" coordinates for the left and right feature, respectively.

Definition at line 62 of file CObservationStereoImagesFeatures.cpp.

References mrpt::utils::CFileOutputStream::close(), and mrpt::format().

setSensorPose() [1/3]

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

inlinevirtual

A general method to change the sensor pose on the robot in a mrpt::poses::CPose3D form.

Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.

See also

getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 102 of file obs/CObservationStereoImagesFeatures.h.

setSensorPose() [2/3]

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 45 of file CObservation.cpp.

setSensorPose() [3/3]

void mrpt::obs::CObservationStereoImagesFeatures::setSensorPose ( const mrpt::poses::CPose3DQuat &  newSensorPose )

inline

A general method to change the sensor pose on the robot in a CPose3DQuat form.

Note that most sensors will use the full (6D) CPose3DQuat, but see the derived classes for more details or special cases.

See also

getSensorPose

Definition at line 108 of file obs/CObservationStereoImagesFeatures.h.

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 50 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().

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.

Definition at line 123 of file obs/CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

writeToStream()

void CObservationStereoImagesFeatures::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 76 of file CObservationStereoImagesFeatures.cpp.

References version.

Member Data Documentation

_init_CObservationStereoImagesFeatures

mrpt::utils::CLASSINIT mrpt::obs::CObservationStereoImagesFeatures::_init_CObservationStereoImagesFeatures

staticprotected

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

cameraLeft

mrpt::utils::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraLeft

Definition at line 74 of file obs/CObservationStereoImagesFeatures.h.

cameraPoseOnRobot

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImagesFeatures::cameraPoseOnRobot

The pose of the LEFT camera, relative to the robot.

Definition at line 85 of file obs/CObservationStereoImagesFeatures.h.

cameraRight

mrpt::utils::TCamera mrpt::obs::CObservationStereoImagesFeatures::cameraRight

Definition at line 74 of file obs/CObservationStereoImagesFeatures.h.

classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation

staticinherited

Definition at line 43 of file obs/CObservation.h.

classCObservationStereoImagesFeatures

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationStereoImagesFeatures::classCObservationStereoImagesFeatures

static

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationStereoImagesFeatures::classinfo

static

Definition at line 41 of file obs/CObservationStereoImagesFeatures.h.

rightCameraPose

mrpt::poses::CPose3DQuat mrpt::obs::CObservationStereoImagesFeatures::rightCameraPose

The pose of the right camera, relative to the left one: Note that for the Bumblebee stereo camera and 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 q = [1 0 0 0], where BL is the BASELINE.

Definition at line 81 of file obs/CObservationStereoImagesFeatures.h.

sensorLabel

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

inherited

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

Definition at line 53 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), 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::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

theFeatures

std::vector<TStereoImageFeatures> mrpt::obs::CObservationStereoImagesFeatures::theFeatures

Vectors of image feature pairs (with ID).

Definition at line 89 of file obs/CObservationStereoImagesFeatures.h.

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

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 52 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), 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::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), 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::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().