Class CObservationPointCloud

Inheritance Relationships

Base Type

  • public mrpt::obs::CObservation

Class Documentation

class CObservationPointCloud : public mrpt::obs::CObservation

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.

See also

CObservation, mrpt::maps::CPointsMap

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.

Delayed-load manual control methods.

void load_impl() const override
virtual void unload() const override

Point cloud external storage functions

inline bool isExternallyStored() const
inline const std::string &getExternalStorageFile() const
void setAsExternalStorage(const std::string &fileName, const ExternalStorageFormat fmt)
inline void overrideExternalStorageFormatFlag(const ExternalStorageFormat fmt)

Public Types

enum class ExternalStorageFormat : uint8_t

Values:

enumerator None

is always stored in memory

enumerator MRPT_Serialization

Uses mrpt-serialization binary file.

enumerator KittiBinFile

Uses Kitti .bin file format.

enumerator PlainTextFile

Plain text, each line has “x y z [i]” coords.

Public Functions

CObservationPointCloud() = default
explicit CObservationPointCloud(const CObservation3DRangeScan &o)
virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
virtual void setSensorPose(const mrpt::poses::CPose3D &p) override
virtual void getDescriptionAsText(std::ostream &o) const override

Public Members

mrpt::maps::CPointsMap::Ptr pointcloud

The pointcloud

mrpt::poses::CPose3D sensorPose

Sensor placement wrt the vehicle/robot. i.e. A point at (0,0,0) in pointcloud is at sensorPose wrt the vehicle.

Protected Attributes

ExternalStorageFormat m_externally_stored = {ExternalStorageFormat::None}
std::string m_external_file