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9 #ifndef CObservationRGBD360_H
10 #define CObservationRGBD360_H
82 static const unsigned int NUM_SENSORS = 2;
89 void rangeImage_setSize(
const int HEIGHT,
const int WIDTH,
const unsigned sensor_id);
102 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
float stdError
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class for storing images as grayscale or RGB bitmaps.
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
float maxRange
The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
This class is a "CSerializable" wrapper for "CMatrixFloat".
mrpt::poses::CPose3D sensorPose
The 6D pose of the sensor on the robot.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
bool hasRangeImage
true means the field rangeImage contains valid data
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
bool hasIntensityImage
true means the field intensityImage contains valid data
Structure to hold the parameters of a pinhole camera model.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
Declares a class that represents any robot's observation.
std::string m_rangeImage_external_file
rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
bool m_points3D_external_stored
If set to true, m_points3D_external_file is valid.
bool m_rangeImage_external_stored
If set to true, m_rangeImage_external_file is valid.
std::string m_points3D_external_file
3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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