MRPT  2.0.0
List of all members | Public Member Functions | Public Attributes | Protected Member Functions
mrpt::obs::CObservationVisualLandmarks Class Reference

Detailed Description

Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.

See also
CLandmarksMap, CObservation

Definition at line 25 of file CObservationVisualLandmarks.h.

#include <mrpt/obs/CObservationVisualLandmarks.h>

Inheritance diagram for mrpt::obs::CObservationVisualLandmarks:

Public Member Functions

 CObservationVisualLandmarks ()
 Constructor. More...
 
float likelihoodWith (const mrpt::obs::CObservation *anotherObs, const mrpt::poses::CPosePDF *anotherObsPose=nullptr) const
 Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. More...
 
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...
 
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.
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...
 

Public Attributes

mrpt::poses::CPose3D refCameraPose
 The 3D pose of the reference camera relative to robot coordinates. More...
 
mrpt::maps::CLandmarksMap landmarks
 The landmarks, with coordinates origin in the camera reference system. 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< mrpt::obs ::CObservationVisualLandmarks >
 
using ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationVisualLandmarks >
 
using UniquePtr = std::unique_ptr< mrpt::obs ::CObservationVisualLandmarks >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationVisualLandmarks >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::obs" "::" "CObservationVisualLandmarks"
 
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...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ ConstUniquePtr

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ UniquePtr

Definition at line 27 of file CObservationVisualLandmarks.h.

Constructor & Destructor Documentation

◆ CObservationVisualLandmarks()

CObservationVisualLandmarks::CObservationVisualLandmarks ( )

Constructor.

Definition at line 23 of file CObservationVisualLandmarks.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

◆ clone()

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

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ CreateAlloc()

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

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 27 of file CObservationVisualLandmarks.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::CObservationVisualLandmarks::getClassName ( )
inlinestatic

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ getDescriptionAsText()

void CObservationVisualLandmarks::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 83 of file CObservationVisualLandmarks.cpp.

References mrpt::obs::CObservation::getDescriptionAsText().

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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.

◆ 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::CObservationVisualLandmarks::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::CObservationVisualLandmarks::GetRuntimeClassIdStatic ( )
static

◆ getSensorPose() [1/2]

void mrpt::obs::CObservationVisualLandmarks::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 59 of file CObservationVisualLandmarks.h.

References refCameraPose.

◆ 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
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.

◆ likelihoodWith()

float CObservationVisualLandmarks::likelihoodWith ( const mrpt::obs::CObservation anotherObs,
const mrpt::poses::CPosePDF anotherObsPose = nullptr 
) const

Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters
anotherObsThe other observation to compute likelihood with.
anotherObsPoseIf known, the belief about the robot pose when the other observation was taken can be supplied here, or nullptr if it is unknown.
Returns
Returns a likelihood measurement, in the range [0,1].
Exceptions
std::exceptionOn any error, as another observation being of an invalid class.

Definition at line 76 of file CObservationVisualLandmarks.cpp.

◆ 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, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationImage, and mrpt::obs::CObservationPointCloud.

Definition at line 157 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 CObservationVisualLandmarks::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 38 of file CObservationVisualLandmarks.cpp.

References 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 CObservationVisualLandmarks::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 CObservationVisualLandmarks.cpp.

◆ serializeTo() [1/2]

void CObservationVisualLandmarks::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 CObservationVisualLandmarks.cpp.

References out.

◆ 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::CObservationVisualLandmarks::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 63 of file CObservationVisualLandmarks.h.

References refCameraPose.

◆ 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()

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 164 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

◆ className

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

Definition at line 27 of file CObservationVisualLandmarks.h.

◆ landmarks

mrpt::maps::CLandmarksMap mrpt::obs::CObservationVisualLandmarks::landmarks

The landmarks, with coordinates origin in the camera reference system.

Definition at line 37 of file CObservationVisualLandmarks.h.

Referenced by mrpt::vision::cloudsToMatchedList(), and mrpt::vision::StereoObs2BRObs().

◆ refCameraPose

mrpt::poses::CPose3D mrpt::obs::CObservationVisualLandmarks::refCameraPose

The 3D pose of the reference camera relative to robot coordinates.

Definition at line 34 of file CObservationVisualLandmarks.h.

Referenced by getSensorPose(), and setSensorPose().

◆ runtimeClassId

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

Definition at line 27 of file CObservationVisualLandmarks.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::ros1bridge::convert(), 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::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation::swap(), and mrpt::ros1bridge::toROS().

◆ 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::ros1bridge::convert(), 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::ros1bridge::fromROS(), 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::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(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::ros1bridge::toROS(), and velodyne_scan_to_pointcloud().




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