Class CObservation3DScene

Inheritance Relationships

Base Types

Class Documentation

class CObservation3DScene : public mrpt::obs::CObservation, public mrpt::viz::Visualizable

Not a real sensor observation, it stores a 3D scene which can be used for debugging or any other logging purposes. If stored in a .rawlog file, RawLogViewer will show the contents of the scene’s main viewport when selecting it on the tree view.

See also

CObservation

Note

(New in MRPT 2.3.1)

Public Functions

CObservation3DScene() = default
~CObservation3DScene() override = default
inline virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override

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

inline virtual void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override

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

virtual 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.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

Note

This is the text that appears in RawLogViewer when selecting an object in the dataset

virtual void getVisualizationInto(mrpt::viz::CSetOfObjects &o) const override

Public Members

mrpt::viz::Scene::Ptr scene

The payload: a 3D scene smart pointer.

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot. It does not have any predefined meaning in this particular class. Ignore it unless you want it to have any particular meaning related to the 3D scene.