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 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.
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::string &	getExternalStorageFile () 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::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...

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

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

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

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

A type for the associated smart pointer

Definition at line 35 of file CObservationPointCloud.h.

◆ UniquePtr

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

Definition at line 35 of file CObservationPointCloud.h.

Member Enumeration Documentation

◆ ExternalStorageFormat

enum mrpt::obs::CObservationPointCloud::ExternalStorageFormat : uint8_t

strong

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::insert().

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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 59 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::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::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.

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

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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

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.

◆ 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::opengl::internal::data, 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

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 86 of file CObservationPointCloud.cpp.

References isExternallyStored(), m_external_file, m_externally_stored, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, pointcloud, mrpt::serialization::CArchive::ReadPOD(), 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::exception On 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().

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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

Definition at line 48 of file CObservationPointCloud.h.

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

◆ m_externally_stored

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

protected

Definition at line 47 of file CObservationPointCloud.h.

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

◆ pointcloud

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

The pointcloud.

Definition at line 56 of file CObservationPointCloud.h.

Referenced by CObservationPointCloud(), getDescriptionAsText(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), load(), serializeFrom(), serializeTo(), and unload().

◆ 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.

◆ 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.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Data common to any observation

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ ExternalStorageFormat

Constructor & Destructor Documentation

◆ CObservationPointCloud() [1/2]

◆ CObservationPointCloud() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getDescriptionAsText()

◆ getDescriptionAsTextValue()

◆ getExternalStorageFile()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ insertObservationInto()

◆ isExternallyStored()

◆ load()

◆ overrideExternalStorageFormatFlag()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setAsExternalStorage()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_external_file

◆ m_externally_stored

◆ pointcloud

◆ runtimeClassId

◆ sensorLabel

◆ sensorPose

◆ timestamp