An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor.
The list of features is stored in sensedFeatures
Definition at line 28 of file CObservation6DFeatures.h.
#include <mrpt/obs/CObservation6DFeatures.h>
Classes | |
struct | TMeasurement |
Each one of the measurements. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CObservation6DFeatures () | |
Default ctor. 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... | |
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. | |
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::CObject::Ptr | 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 | |
float | minSensorDistance |
Information about the sensor. More... | |
float | maxSensorDistance |
mrpt::aligned_containers< TMeasurement >::deque_t | sensedFeatures |
The list of observed features. More... | |
mrpt::poses::CPose3D | sensorPose |
The pose of the sensor on the robot/vehicle. 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 | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const override |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) override |
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. 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< CObservation6DFeatures > |
using | ConstPtr = std::shared_ptr< const CObservation6DFeatures > |
static mrpt::utils::CLASSINIT | _init_CObservation6DFeatures |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CObservation6DFeatures" |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::utils::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::obs::CObservation6DFeatures::ConstPtr = std::shared_ptr<const CObservation6DFeatures > |
Definition at line 30 of file CObservation6DFeatures.h.
using mrpt::obs::CObservation6DFeatures::Ptr = std::shared_ptr< CObservation6DFeatures > |
A typedef for the associated smart pointer
Definition at line 30 of file CObservation6DFeatures.h.
CObservation6DFeatures::CObservation6DFeatures | ( | ) |
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staticprotected |
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlinestatic |
Definition at line 30 of file CObservation6DFeatures.h.
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static |
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overridevirtual |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
Definition at line 98 of file CObservation6DFeatures.cpp.
References mrpt::obs::CObservation::getDescriptionAsText(), mrpt::obs::CObservation6DFeatures::TMeasurement::id, mrpt::obs::CObservation6DFeatures::TMeasurement::inf_matrix, maxSensorDistance, minSensorDistance, mrpt::obs::CObservation6DFeatures::TMeasurement::pose, sensedFeatures, and sensorPose.
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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.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 69 of file CObservation.h.
References mrpt::obs::CObservation::timestamp.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::obs::CObservation.
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static |
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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.
Implements mrpt::obs::CObservation.
Definition at line 88 of file CObservation6DFeatures.cpp.
References sensorPose.
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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.
Definition at line 31 of file CObservation.cpp.
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inlineinherited |
Returns CObservation::timestamp for all kind of observations.
Definition at line 64 of file CObservation.h.
References mrpt::obs::CObservation::timestamp.
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inlineinherited |
This method is equivalent to:
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) |
See: Maps and observations compatibility matrix
Definition at line 96 of file CObservation.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().
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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.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 151 of file CObservation.h.
Definition at line 30 of file CObservation6DFeatures.h.
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inlinenoexcept |
Definition at line 30 of file CObservation6DFeatures.h.
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inlinenoexcept |
Definition at line 30 of file CObservation6DFeatures.h.
Definition at line 30 of file CObservation6DFeatures.h.
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inlinenoexcept |
Definition at line 30 of file CObservation6DFeatures.h.
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inlinestatic |
Definition at line 30 of file CObservation6DFeatures.h.
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inline |
Definition at line 30 of file CObservation6DFeatures.h.
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inline |
Definition at line 30 of file CObservation6DFeatures.h.
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overrideprotectedvirtual |
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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 61 of file CObservation6DFeatures.cpp.
References mrpt::obs::CObservation6DFeatures::TMeasurement::id, mrpt::obs::CObservation6DFeatures::TMeasurement::inf_matrix, maxSensorDistance, minSensorDistance, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::obs::CObservation6DFeatures::TMeasurement::pose, sensedFeatures, mrpt::obs::CObservation::sensorLabel, sensorPose, and mrpt::obs::CObservation::timestamp.
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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.
Implements mrpt::obs::CObservation.
Definition at line 93 of file CObservation6DFeatures.cpp.
References sensorPose.
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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.
Definition at line 38 of file CObservation.cpp.
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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 43 of file CObservation.cpp.
References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.
Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 156 of file CObservation.h.
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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.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 89 of file CSerializable.h.
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overrideprotectedvirtual |
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.
out | The output binary stream where object must be dumped. |
getVersion | If nullptr, 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 37 of file CObservation6DFeatures.cpp.
References mrpt::obs::CObservation6DFeatures::TMeasurement::id, mrpt::obs::CObservation6DFeatures::TMeasurement::inf_matrix, maxSensorDistance, minSensorDistance, mrpt::obs::CObservation6DFeatures::TMeasurement::pose, sensedFeatures, mrpt::obs::CObservation::sensorLabel, sensorPose, and mrpt::obs::CObservation::timestamp.
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staticprotected |
Definition at line 30 of file CObservation6DFeatures.h.
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static |
Definition at line 30 of file CObservation6DFeatures.h.
float mrpt::obs::CObservation6DFeatures::maxSensorDistance |
Definition at line 36 of file CObservation6DFeatures.h.
Referenced by getDescriptionAsText(), readFromStream(), and writeToStream().
float mrpt::obs::CObservation6DFeatures::minSensorDistance |
Information about the sensor.
Definition at line 36 of file CObservation6DFeatures.h.
Referenced by getDescriptionAsText(), readFromStream(), and writeToStream().
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staticprotected |
Definition at line 30 of file CObservation6DFeatures.h.
mrpt::aligned_containers<TMeasurement>::deque_t mrpt::obs::CObservation6DFeatures::sensedFeatures |
The list of observed features.
Definition at line 56 of file CObservation6DFeatures.h.
Referenced by getDescriptionAsText(), readFromStream(), and writeToStream().
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inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file CObservation.h.
Referenced by 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::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::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::maps::CGasConcentrationGridMap2D::internal_insertObservation(), readFromStream(), mrpt::obs::CObservationStereoImagesFeatures::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(), writeToStream(), mrpt::obs::CObservationStereoImagesFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().
mrpt::poses::CPose3D mrpt::obs::CObservation6DFeatures::sensorPose |
The pose of the sensor on the robot/vehicle.
Definition at line 59 of file CObservation6DFeatures.h.
Referenced by getDescriptionAsText(), getSensorPose(), readFromStream(), setSensorPose(), and writeToStream().
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inherited |
The associated UTC time-stamp.
Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 58 of file CObservation.h.
Referenced by 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::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::obs::CRawlog::findObservationsByClassInRange(), 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::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::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::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(), readFromStream(), mrpt::obs::CObservationStereoImagesFeatures::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(), writeToStream(), mrpt::obs::CObservationStereoImagesFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().
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