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17 class CObservation3DRangeScan;
72 void load()
const override;
@ None
is always stored in memory
ExternalStorageFormat m_externally_stored
void load() const override
Makes sure all images and other fields which may be externally stored are loaded in memory.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void overrideExternalStorageFormatFlag(const ExternalStorageFormat fmt)
@ PlainTextFile
Plain text, each line has "x y z [i]" coords.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
@ KittiBinFile
Uses Kitti .bin file format.
This namespace contains representation of robot actions and observations.
CObservationPointCloud()=default
std::shared_ptr< CPointsMap > Ptr
mrpt::poses::CPose3D sensorPose
Sensor placement wrt the vehicle/robot.
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
mrpt::maps::CPointsMap::Ptr pointcloud
The pointcloud.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
const std::string & getExternalStorageFile() const
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
bool isExternallyStored() const
void unload() override
Unload all images, for the case they being delayed-load images stored in external files (othewise,...
Declares a class that represents any robot's observation.
An observation from any sensor that can be summarized as a pointcloud.
void setAsExternalStorage(const std::string &fileName, const ExternalStorageFormat fmt)
std::string m_external_file
@ MRPT_Serialization
Uses mrpt-serialization binary file.
void setSensorPose(const mrpt::poses::CPose3D &p) override
A general method to change the sensor pose on the robot.
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