9 #ifndef CObservationRGBD360_H
10 #define CObservationRGBD360_H
72 bool m_points3D_external_stored;
73 std::
string m_points3D_external_file;
75 bool m_rangeImage_external_stored;
76 std::
string m_rangeImage_external_file;
80 virtual ~CObservationRGBD360( );
82 static const
unsigned int NUM_SENSORS = 2;
87 mrpt::math::CMatrix rangeImages[NUM_SENSORS];
89 void rangeImage_setSize(const
int HEIGHT, const
int WIDTH, const
unsigned sensor_id);
91 bool hasIntensityImage;
92 mrpt::utils::CImage intensityImages[NUM_SENSORS];
93 mrpt::utils::TCamera sensorParamss[NUM_SENSORS];
96 mrpt::poses::CPose3D sensorPose;
100 void getSensorPose(
mrpt::poses::CPose3D &out_sensorPose )
const { out_sensorPose = sensorPose; }
104 virtual void getDescriptionAsText(std::ostream &o)
const;
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose)
A general method to change the sensor pose on the robot.
#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...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)