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mrpt-obsIn this library there are five key elements or groups of elements:
Sensor observations: All sensor observations share a common virtual base class (mrpt::slam::CObservation). There are classes to store laser scanners, 3D range images, monocular and stereo images, GPS data, odometry, etc. A concept very related to observations is a mrpt::slam::CSensoryFrame, a set of observations which were collected approximately at the same instant.
Rawlogs (datasets): A robotics dataset can be loaded, edited and explored by means of the class mrpt::slam::CRawlog. See also: http://www.mrpt.org/Rawlog_Format
Actions: For convenience in many Bayesian filtering algorithms, robot actions (like 2D displacement characterized by an odometry increment) can be represented by means of "actions". See mrpt::slam::CAction.
"Simple maps": In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above). The advantage of maintaining such a "simple map" instead a metric map is that the metric maps can be rebuilt when needed with different parameters from the raw observations, which are never lost.
CARMEN logs tools: Utilities to read from CARMEN log files and load the observations there as MRPT observations. See mrpt::slam::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap.
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Classes | |
| class | mrpt::slam::CAction |
| Declares a class for storing a robot action. More... | |
| class | mrpt::slam::CActionCollection |
| Declares a class for storing a collection of robot actions. More... | |
| class | mrpt::slam::CActionRobotMovement2D |
| Represents a probabilistic 2D movement of the robot mobile base. More... | |
| class | mrpt::slam::CActionRobotMovement3D |
| Represents a probabilistic 3D (6D) movement. More... | |
| class | mrpt::slam::CMetricMap |
| Declares a virtual base class for all metric maps storage classes. More... | |
| class | mrpt::slam::mrptEventMetricMapClear |
| Event emitted by a metric up upon call of clear() More... | |
| class | mrpt::slam::mrptEventMetricMapInsert |
| Event emitted by a metric up upon a succesful call to insertObservation() More... | |
| class | mrpt::slam::CObservation |
| Declares a class that represents any robot's observation. More... | |
| struct | mrpt::slam::T2DScanProperties |
| Auxiliary struct that holds all the relevant geometry information about a 2D scan. More... | |
| class | mrpt::slam::CObservation2DRangeScan |
| A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More... | |
| class | mrpt::slam::CObservation3DRangeScan |
| Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. More... | |
| class | mrpt::slam::CObservationBatteryState |
| This represents a measurement of the batteries on the robot. More... | |
| class | mrpt::slam::CObservationBeaconRanges |
| Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More... | |
| class | mrpt::slam::CObservationBearingRange |
| This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More... | |
| class | mrpt::slam::CObservationCANBusJ1939 |
| This class stores a message from a CAN BUS with the protocol J1939. More... | |
| class | mrpt::slam::CObservationComment |
| This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More... | |
| class | mrpt::slam::CObservationGasSensors |
| Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More... | |
| class | mrpt::slam::CObservationGPS |
| Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More... | |
| class | mrpt::slam::CObservationImage |
| Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More... | |
| class | mrpt::slam::CObservationIMU |
| This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More... | |
| class | mrpt::slam::CObservationOdometry |
| An observation of the current (cumulative) odometry for a wheeled robot. More... | |
| class | mrpt::slam::CObservationRange |
| Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More... | |
| class | mrpt::slam::CObservationRawDAQ |
| Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More... | |
| class | mrpt::slam::CObservationReflectivity |
| Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More... | |
| class | mrpt::slam::CObservationRFID |
| This represents one or more RFID tags observed by a receiver. More... | |
| class | mrpt::slam::CObservationStereoImages |
| Observation class for either a pair of left+right or left+disparity images from a stereo camera. More... | |
| class | mrpt::slam::CObservationStereoImagesFeatures |
| Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More... | |
| class | mrpt::slam::CObservationWindSensor |
| Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More... | |
| class | mrpt::slam::CObservationWirelessPower |
| This represents a measurement of the wireless strength perceived by the robot. More... | |
| class | mrpt::slam::CRawlog |
| This class stores a rawlog (robotic datasets) in one of two possible formats: More... | |
| class | mrpt::slam::CSensoryFrame |
| Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. More... | |
| class | mrpt::slam::CSimpleMap |
| This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More... | |
| class | mrpt::slam::CSinCosLookUpTableFor2DScans |
| A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More... | |
Namespaces | |
| mrpt::slam | |
| This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps. | |
Macros | |
| #define | INVALID_LANDMARK_ID (-1) |
| Used for CObservationBearingRange::TMeasurement::beaconID. More... | |
| #define | INVALID_BEACON_ID (-1) |
| Used for CObservationBeaconRange. More... | |
Functions | |
| bool OBS_IMPEXP | mrpt::slam::carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::slam::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log) |
| Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More... | |
| #define INVALID_BEACON_ID (-1) |
Used for CObservationBeaconRange.
Definition at line 46 of file CObservation.h.
| #define INVALID_LANDMARK_ID (-1) |
Used for CObservationBearingRange::TMeasurement::beaconID.
Definition at line 41 of file CObservation.h.
Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU)
Definition at line 28 of file CObservationIMU.h.
| bool OBS_IMPEXP mrpt::slam::carmen_log_parse_line | ( | std::istream & | in_stream, |
| std::vector< mrpt::slam::CObservationPtr > & | out_imported_observations, | ||
| const mrpt::system::TTimeStamp & | time_start_log | ||
| ) |
Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation.
The first word in each line determines the type of that entry. Supported line entries in this class are the following:
Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.
The following entry types will be IGNORED, since with the tags above will be enough in most applications.
About the PARAM entries: This functions has an internal static status consisting on some PARAM values which have effects on the future read observations. When the function finds one of these, it stores the parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. Currently, only these parameters are processed:
| time_start_log | The real timestamp that corresponds to a "0" in the CARMEN log (you can get a mrpt::system::now() once and pass that same value with each call). |
References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html
| std::runtime_error | On any invalid line found. |
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