Class CObservation6DFeatures

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class CObservation6DFeatures : public mrpt::obs::CObservation

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

See also

CObservation

Public Functions

CObservation6DFeatures()

Default ctor

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

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

Public Members

float minSensorDistance = {0}

Information about the sensor

float maxSensorDistance = {1e6f}
std::deque<TMeasurement> sensedFeatures

The list of observed features

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot/vehicle

struct TMeasurement

Each one of the measurements

Public Functions

TMeasurement()

Ctor with default values

Public Members

mrpt::poses::CPose3D pose

The observed feature SE(3) pose with respect to the sensor

int32_t id

The feature ID, or INVALID_LANDMARK_ID if unidentified (default)

mrpt::math::CMatrixDouble66 inf_matrix

The inverse of the observation covariance matrix (default:all zeros)