Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors.
This kind of observations can carry one or more of these data fields:
The coordinates of the 3D point cloud are in millimeters with respect to the RGB camera origin of coordinates
The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual. Optionally, the intensity and confidence channels can be set to delayed-load images for off-rawlog storage so it saves memory by having loaded in memory just the needed images. See the methods load() and unload(). Due to the intensive storage requirements of this kind of observations, this observation is the only one in MRPT for which it's recommended to always call "load()" and "unload()" before and after using the observation, ONLY when the observation was read from a rawlog dataset, in order to make sure that all the externally stored data fields are loaded and ready in memory.
Classes that grab observations of this type are:
3D point clouds can be generated at any moment after grabbing with CObservationRGBD360::project3DPointsFromDepthImage() and CObservationRGBD360::project3DPointsFromDepthImageInto(), provided the correct calibration parameters.
Definition at line 66 of file obs/CObservationRGBD360.h.
#include <mrpt/obs/CObservationRGBD360.h>
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 () |
CObservationRGBD360 () | |
Default constructor. More... | |
virtual | ~CObservationRGBD360 () |
Destructor. More... | |
void | rangeImage_setSize (const int HEIGHT, const int WIDTH, const unsigned sensor_id) |
Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation. More... | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. More... | |
void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. More... | |
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... | |
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::system::TTimeStamp | timestamps [NUM_SENSORS] |
bool | hasRangeImage |
true means the field rangeImage contains valid data More... | |
mrpt::math::CMatrix | rangeImages [NUM_SENSORS] |
If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) More... | |
bool | hasIntensityImage |
true means the field intensityImage contains valid data More... | |
mrpt::utils::CImage | intensityImages [NUM_SENSORS] |
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage". More... | |
mrpt::utils::TCamera | sensorParamss [NUM_SENSORS] |
Projection parameters of the 8 RGBD sensor. More... | |
float | maxRange |
The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...) More... | |
mrpt::poses::CPose3D | sensorPose |
The 6D pose of the sensor on the robot. More... | |
float | stdError |
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. More... | |
Static Public Attributes | |
static const unsigned int | NUM_SENSORS = 2 |
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... | |
Protected Attributes | |
bool | m_points3D_external_stored |
If set to true, m_points3D_external_file is valid. More... | |
std::string | m_points3D_external_file |
3D points are in CImage::IMAGES_PATH_BASE+<this_file_name> More... | |
bool | m_rangeImage_external_stored |
If set to true, m_rangeImage_external_file is valid. More... | |
std::string | m_rangeImage_external_file |
rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name> 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 CObservationRGBD360Ptr | Ptr |
typedef CObservationRGBD360Ptr | ConstPtr |
static mrpt::utils::CLASSINIT | _init_CObservationRGBD360 |
static mrpt::utils::TRuntimeClassId | classCObservationRGBD360 |
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 CObservationRGBD360Ptr | Create () |
typedef CObservationRGBD360Ptr mrpt::obs::CObservationRGBD360::ConstPtr |
Definition at line 69 of file obs/CObservationRGBD360.h.
typedef CObservationRGBD360Ptr mrpt::obs::CObservationRGBD360::Ptr |
A typedef for the associated smart pointer
Definition at line 69 of file obs/CObservationRGBD360.h.
CObservationRGBD360::CObservationRGBD360 | ( | ) |
Default constructor.
Definition at line 31 of file CObservationRGBD360.cpp.
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Destructor.
Definition at line 50 of file CObservationRGBD360.cpp.
References mempool_donate_range_matrix(), and mempool_donate_xyz_buffers().
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inlineinherited |
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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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().
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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 171 of file CObservationRGBD360.cpp.
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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 58 of file obs/CObservation.h.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::obs::CObservation.
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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 38 of file CObservation.cpp.
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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 100 of file obs/CObservationRGBD360.h.
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Returns CObservation::timestamp for all kind of observations.
Definition at line 56 of file obs/CObservation.h.
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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 NULL (default) to use (0,0,0deg) |
See: Maps and observations compatibility matrix
Definition at line 77 of file obs/CObservation.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().
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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 119 of file obs/CObservation.h.
Definition at line 69 of file obs/CObservationRGBD360.h.
Definition at line 69 of file obs/CObservationRGBD360.h.
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Definition at line 69 of file obs/CObservationRGBD360.h.
Definition at line 69 of file obs/CObservationRGBD360.h.
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Definition at line 69 of file obs/CObservationRGBD360.h.
Definition at line 69 of file obs/CObservationRGBD360.h.
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Definition at line 69 of file obs/CObservationRGBD360.h.
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Definition at line 69 of file obs/CObservationRGBD360.h.
void CObservationRGBD360::rangeImage_setSize | ( | const int | HEIGHT, |
const int | WIDTH, | ||
const unsigned | sensor_id | ||
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Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation.
Definition at line 145 of file CObservationRGBD360.cpp.
References mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), and mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::request_memory().
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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 100 of file CObservationRGBD360.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.
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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 101 of file obs/CObservationRGBD360.h.
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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 45 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 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().
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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 123 of file obs/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 NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 61 of file CObservationRGBD360.cpp.
References version.
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Definition at line 69 of file obs/CObservationRGBD360.h.
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Definition at line 43 of file obs/CObservation.h.
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Definition at line 69 of file obs/CObservationRGBD360.h.
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Definition at line 42 of file CSerializable.h.
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Definition at line 69 of file obs/CObservationRGBD360.h.
bool mrpt::obs::CObservationRGBD360::hasIntensityImage |
true means the field intensityImage contains valid data
Definition at line 91 of file obs/CObservationRGBD360.h.
Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().
bool mrpt::obs::CObservationRGBD360::hasRangeImage |
true means the field rangeImage contains valid data
Definition at line 86 of file obs/CObservationRGBD360.h.
Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().
mrpt::utils::CImage mrpt::obs::CObservationRGBD360::intensityImages[NUM_SENSORS] |
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".
Definition at line 92 of file obs/CObservationRGBD360.h.
Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().
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3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
Definition at line 73 of file obs/CObservationRGBD360.h.
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If set to true, m_points3D_external_file is valid.
Definition at line 72 of file obs/CObservationRGBD360.h.
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rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
Definition at line 76 of file obs/CObservationRGBD360.h.
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If set to true, m_rangeImage_external_file is valid.
Definition at line 75 of file obs/CObservationRGBD360.h.
float mrpt::obs::CObservationRGBD360::maxRange |
The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
Definition at line 95 of file obs/CObservationRGBD360.h.
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Definition at line 82 of file obs/CObservationRGBD360.h.
mrpt::math::CMatrix mrpt::obs::CObservationRGBD360::rangeImages[NUM_SENSORS] |
If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters)
Definition at line 87 of file obs/CObservationRGBD360.h.
Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().
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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().
mrpt::utils::TCamera mrpt::obs::CObservationRGBD360::sensorParamss[NUM_SENSORS] |
Projection parameters of the 8 RGBD sensor.
Definition at line 93 of file obs/CObservationRGBD360.h.
mrpt::poses::CPose3D mrpt::obs::CObservationRGBD360::sensorPose |
The 6D pose of the sensor on the robot.
Definition at line 96 of file obs/CObservationRGBD360.h.
float mrpt::obs::CObservationRGBD360::stdError |
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
Definition at line 97 of file obs/CObservationRGBD360.h.
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The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
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().
mrpt::system::TTimeStamp mrpt::obs::CObservationRGBD360::timestamps[NUM_SENSORS] |
Definition at line 84 of file obs/CObservationRGBD360.h.
Referenced by mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation().
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