Detailed Description

A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner).

The data structures are generic enough to hold a wide variety of 2D scanners and "3D" planar rotating 2D lasers.

These are the most important data fields:

These three fields are private data member (since MRPT 1.5.0) for safety and to ensure data consistency. Read them with the backwards-compatible proxies scan, intensity, validRange or (preferred) with the new get_*, set_* and resize() methods:
- CObservation2DRangeScan::scan -> A vector of float values with all the range measurements (in meters).
- CObservation2DRangeScan::validRange -> A vector (of identical size to scan), has non-zeros for those ranges than are valid (i.e. will be zero for non-reflected rays, etc.)
- CObservation2DRangeScan::intensity -> A vector (of identical size to scan) a unitless int values representing the relative strength of each return. Higher values indicate a more intense return. This is useful for filtering out low intensity(noisy) returns or detecting intense landmarks.
CObservation2DRangeScan::aperture -> The field-of-view of the scanner, in radians (typically, M_PI = 180deg).
CObservation2DRangeScan::sensorPose -> The 6D location of the sensor on the robot reference frame (default=at the origin).

See also: CObservation, CPointsMap, T2DScanProperties

Definition at line 43 of file obs/CObservation2DRangeScan.h.

#include <mrpt/obs/CObservation2DRangeScan.h>

Inheritance diagram for mrpt::obs::CObservation2DRangeScan:

Public Types
typedef std::vector< mrpt::math::CPolygon >	TListExclusionAreas
	Used in filterByExclusionAreas. More...

typedef std::vector< std::pair< mrpt::math::CPolygon, std::pair< double, double > > >	TListExclusionAreasWithRanges
	Used in filterByExclusionAreas. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CObservation2DRangeScan ()
	Default constructor. More...

	CObservation2DRangeScan (const CObservation2DRangeScan &o)
	copy ctor More...

virtual	~CObservation2DRangeScan ()
	Destructor. More...

void	loadFromVectors (size_t nRays, const float scanRanges, const char scanValidity)

bool	isPlanarScan (const double tolerance=0) const
	Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards). More...

bool	hasIntensity () const
	Return true if scan has intensity. More...

void	setScanHasIntensity (bool setHasIntensityFlag)
	Marks this scan as having or not intensity data. More...

void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
	A general method to change the sensor pose on the robot. More...

void	getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...

void	truncateByDistanceAndAngle (float min_distance, float max_angle, float min_height=0, float max_height=0, float h=0)
	A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided). More...

void	filterByExclusionAreas (const TListExclusionAreas &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"). More...

void	filterByExclusionAreas (const TListExclusionAreasWithRanges &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"), AND such as the Z coordinate of the point falls in the range [min,max] associated to each exclusion polygon. More...

void	filterByExclusionAngles (const std::vector< std::pair< double, double > > &angles)
	Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const mrpt::poses::CPose3D robotPose=NULL) const
	This method is equivalent to: More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...

virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...

RTTI classes and functions
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Private Attributes
std::vector< float >	m_scan
	The range values of the scan, in meters. Must have same length than validRange. More...

std::vector< int32_t >	m_intensity
	The intensity values of the scan. If available, must have same length than validRange. More...

std::vector< char >	m_validRange
	It's false (=0) on no reflected rays, referenced to elements in scan. More...

bool	m_has_intensity
	Whether the intensity values are present or not. If not, space is saved during serialization. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. More...

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...

mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...

virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
typedef CObservation2DRangeScanPtr	Ptr

typedef CObservation2DRangeScanPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CObservation2DRangeScan

static mrpt::utils::TRuntimeClassId	classCObservation2DRangeScan

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CObservation2DRangeScanPtr	Create ()

Scan data
mrpt::utils::ContainerReadOnlyProxyAccessor< std::vector< float > >	scan
	The range values of the scan, in meters. Must have same length than validRange. More...

mrpt::utils::ContainerReadOnlyProxyAccessor< std::vector< int32_t > >	intensity
	The intensity values of the scan. If available, must have same length than validRange. More...

mrpt::utils::ContainerReadOnlyProxyAccessor< std::vector< char > >	validRange
	It's false (=0) on no reflected rays, referenced to elements in scan. More...

float	aperture
	The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees). More...

bool	rightToLeft
	The scanning direction: true=counterclockwise; false=clockwise. More...

float	maxRange
	The maximum range allowed by the device, in meters (e.g. 80m, 50m,...) More...

mrpt::poses::CPose3D	sensorPose
	The 6D pose of the sensor on the robot at the moment of starting the scan. More...

float	stdError
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. More...

float	beamAperture
	The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid. More...

double	deltaPitch
	If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan). More...

void	resizeScan (const size_t len)
	Resizes all data vectors to allocate a given number of scan rays. More...

void	resizeScanAndAssign (const size_t len, const float rangeVal, const bool rangeValidity, const int32_t rangeIntensity=0)
	Resizes all data vectors to allocate a given number of scan rays and assign default values. More...

size_t	getScanSize () const
	Get number of scan rays. More...

float	getScanRange (const size_t i) const

void	setScanRange (const size_t i, const float val)

int32_t	getScanIntensity (const size_t i) const

void	setScanIntensity (const size_t i, const int val)

bool	getScanRangeValidity (const size_t i) const

void	setScanRangeValidity (const size_t i, const bool val)

void	getScanProperties (T2DScanProperties &p) const
	Fill out a T2DScanProperties structure with the parameters of this scan. More...

Cached points map
mrpt::maps::CMetricMapPtr	m_cachedMap
	A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap(). More...

template<class POINTSMAP >
const POINTSMAP *	getAuxPointsMap () const
	Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise. More...

template<class POINTSMAP >
const POINTSMAP *	buildAuxPointsMap (const void *options=NULL) const
	Returns a cached points map representing this laser scan, building it upon the first call. More...

void	internal_buildAuxPointsMap (const void *options=NULL) const
	Internal method, used from buildAuxPointsMap() More...

Member Typedef Documentation

◆ ConstPtr

typedef CObservation2DRangeScanPtr mrpt::obs::CObservation2DRangeScan::ConstPtr

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ Ptr

typedef CObservation2DRangeScanPtr mrpt::obs::CObservation2DRangeScan::Ptr

A typedef for the associated smart pointer

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ TListExclusionAreas

typedef std::vector<mrpt::math::CPolygon> mrpt::obs::CObservation2DRangeScan::TListExclusionAreas

Used in filterByExclusionAreas.

Definition at line 56 of file obs/CObservation2DRangeScan.h.

◆ TListExclusionAreasWithRanges

typedef std::vector<std::pair<mrpt::math::CPolygon,std::pair<double,double> > > mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges

Used in filterByExclusionAreas.

Definition at line 57 of file obs/CObservation2DRangeScan.h.

Constructor & Destructor Documentation

◆ CObservation2DRangeScan() [1/2]

CObservation2DRangeScan::CObservation2DRangeScan ( )

Default constructor.

Definition at line 33 of file CObservation2DRangeScan.cpp.

◆ CObservation2DRangeScan() [2/2]

CObservation2DRangeScan::CObservation2DRangeScan ( const CObservation2DRangeScan & o )

copy ctor

Definition at line 52 of file CObservation2DRangeScan.cpp.

References m_scan.

◆ ~CObservation2DRangeScan()

CObservation2DRangeScan::~CObservation2DRangeScan ( )

virtual

Destructor.

Definition at line 65 of file CObservation2DRangeScan.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation2DRangeScan::_GetBaseClass ( )

staticprotected

◆ buildAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap ( const void * options = NULL ) const

inline

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters

options

Can be NULL to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:

mrpt::maps::CPointsMap *map = obs->buildAuxPointsMap<mrpt::maps::CPointsMap>(&options or NULL);

See also: getAuxPointsMap

Definition at line 125 of file obs/CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::slam::observationsOverlap().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create()

static CObservation2DRangeScanPtr mrpt::obs::CObservation2DRangeScan::Create ( )

static

Referenced by mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::convert3DTo2DRangeScan().

◆ CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservation2DRangeScan::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservation2DRangeScan::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ filterByExclusionAngles()

void CObservation2DRangeScan::filterByExclusionAngles ( const std::vector< std::pair< double, double > > & angles )

Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.

See also: C2DRangeFinderAbstract::loadExclusionAreas

Definition at line 382 of file CObservation2DRangeScan.cpp.

References aperture, ASSERT_, m_validRange, MRPT_END, MRPT_START, rightToLeft, scan, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), validRange, and mrpt::math::wrapTo2Pi().

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles().

◆ filterByExclusionAreas() [1/2]

void CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreas & areas )

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").

See also: C2DRangeFinderAbstract::loadExclusionAreas

Definition at line 362 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas().

◆ filterByExclusionAreas() [2/2]

void CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreasWithRanges & areas )

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"), AND such as the Z coordinate of the point falls in the range [min,max] associated to each exclusion polygon.

See also: C2DRangeFinderAbstract::loadExclusionAreas

Definition at line 300 of file CObservation2DRangeScan.cpp.

References aperture, ASSERT_, mrpt::poses::CPose3D::composePoint(), m_scan, m_validRange, MRPT_END, MRPT_START, rightToLeft, scan, sensorPose, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), and validRange.

◆ getAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CObservation2DRangeScan::getAuxPointsMap ( ) const

inline

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.

Usage:

mrpt::maps::CPointsMap *map = obs->getAuxPointsMap<mrpt::maps::CPointsMap>();

See also: buildAuxPointsMap

Definition at line 112 of file obs/CObservation2DRangeScan.h.

◆ getDescriptionAsText()

void CObservation2DRangeScan::getDescriptionAsText ( std::ostream & o ) const

virtual

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

Reimplemented from mrpt::obs::CObservation.

Definition at line 477 of file CObservation2DRangeScan.cpp.

References aperture, deltaPitch, mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), hasIntensity(), m_intensity, maxRange, RAD2DEG, rightToLeft, scan, sensorPose, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), stdError, and validRange.

◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also: getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 58 of file obs/CObservation.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation2DRangeScan::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ getScanIntensity()

int CObservation2DRangeScan::getScanIntensity ( const size_t i ) const

Definition at line 523 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and m_intensity.

◆ getScanProperties()

void CObservation2DRangeScan::getScanProperties ( T2DScanProperties & p ) const

Fill out a T2DScanProperties structure with the parameters of this scan.

Definition at line 461 of file CObservation2DRangeScan.cpp.

References mrpt::obs::T2DScanProperties::aperture, aperture, mrpt::obs::T2DScanProperties::rightToLeft, rightToLeft, scan, and mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size().

Referenced by mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan().

◆ getScanRange()

float CObservation2DRangeScan::getScanRange ( const size_t i ) const

Definition at line 511 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and m_scan.

Referenced by mrpt::hwdrivers::CLMS100Eth::decodeScan().

◆ getScanRangeValidity()

bool CObservation2DRangeScan::getScanRangeValidity ( const size_t i ) const

Definition at line 534 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and m_validRange.

◆ getScanSize()

size_t CObservation2DRangeScan::getScanSize ( ) const

Get number of scan rays.

Definition at line 569 of file CObservation2DRangeScan.cpp.

References m_scan.

Referenced by mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan().

◆ getSensorPose() [1/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const

inherited

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

Definition at line 38 of file CObservation.cpp.

◆ getSensorPose() [2/2]

void mrpt::obs::CObservation2DRangeScan::getSensorPose ( mrpt::poses::CPose3D & out_sensorPose ) const

inlinevirtual

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

Implements mrpt::obs::CObservation.

Definition at line 142 of file obs/CObservation2DRangeScan.h.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 56 of file obs/CObservation.h.

◆ hasIntensity()

bool CObservation2DRangeScan::hasIntensity ( ) const

Return true if scan has intensity.

Definition at line 287 of file CObservation2DRangeScan.cpp.

References m_has_intensity.

Referenced by getDescriptionAsText(), readFromStream(), and writeToStream().

◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)		const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also: CMetricMap, CMetricMap::insertObservation

Definition at line 77 of file obs/CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

◆ internal_buildAuxPointsMap()

void CObservation2DRangeScan::internal_buildAuxPointsMap ( const void * options = NULL ) const

protected

Internal method, used from buildAuxPointsMap()

Definition at line 452 of file CObservation2DRangeScan.cpp.

References m_cachedMap, and mrpt::obs::ptr_internal_build_points_map_from_scan2D.

◆ isPlanarScan()

bool CObservation2DRangeScan::isPlanarScan ( const double tolerance = 0 ) const

Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).

Definition at line 282 of file CObservation2DRangeScan.cpp.

References mrpt::poses::CPose3D::isHorizontal(), and sensorPose.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also: unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 119 of file obs/CObservation.h.

◆ loadFromVectors()

void CObservation2DRangeScan::loadFromVectors	(	size_t	nRays,
		const float *	scanRanges,
		const char *	scanValidity
	)

Definition at line 574 of file CObservation2DRangeScan.cpp.

References ASSERT_, m_scan, m_validRange, and resizeScan().

Referenced by ICPTests::align2scans(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), and TEST().

◆ operator delete() [1/3]

void mrpt::obs::CObservation2DRangeScan::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservation2DRangeScan::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator delete() [3/3]

void mrpt::obs::CObservation2DRangeScan::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator delete[]()

void mrpt::obs::CObservation2DRangeScan::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator new() [1/3]

static void* mrpt::obs::CObservation2DRangeScan::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator new() [2/3]

void* mrpt::obs::CObservation2DRangeScan::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator new() [3/3]

void* mrpt::obs::CObservation2DRangeScan::operator new ( size_t size )

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ operator new[]()

void* mrpt::obs::CObservation2DRangeScan::operator new[] ( size_t size )

inline

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ readFromStream()

void CObservation2DRangeScan::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 136 of file CObservation2DRangeScan.cpp.

References aperture, beamAperture, DEG2RAD, deltaPitch, hasIntensity(), m_cachedMap, m_intensity, m_scan, m_validRange, maxRange, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, resizeScan(), rightToLeft, scan, mrpt::obs::CObservation::sensorLabel, sensorPose, setScanHasIntensity(), stdError, mrpt::obs::CObservation::timestamp, and version.

◆ resizeScan()

void CObservation2DRangeScan::resizeScan ( const size_t len )

Resizes all data vectors to allocate a given number of scan rays.

Definition at line 545 of file CObservation2DRangeScan.cpp.

References mrpt::mrpt::utils::length2length4N(), m_intensity, m_scan, and m_validRange.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), loadFromVectors(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and readFromStream().

◆ resizeScanAndAssign()

void CObservation2DRangeScan::resizeScanAndAssign	(	const size_t	len,
		const float	rangeVal,
		const bool	rangeValidity,
		const int32_t	rangeIntensity = `0`
	)

Resizes all data vectors to allocate a given number of scan rays and assign default values.

Definition at line 557 of file CObservation2DRangeScan.cpp.

References mrpt::mrpt::utils::length2length4N(), m_intensity, m_scan, and m_validRange.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), and mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple().

◆ setScanHasIntensity()

void CObservation2DRangeScan::setScanHasIntensity ( bool setHasIntensityFlag )

Marks this scan as having or not intensity data.

Definition at line 291 of file CObservation2DRangeScan.cpp.

References m_has_intensity.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and readFromStream().

◆ setScanIntensity()

void CObservation2DRangeScan::setScanIntensity	(	const size_t	i,
		const int	val
	)

Definition at line 528 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, m_intensity, and val.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

◆ setScanRange()

void CObservation2DRangeScan::setScanRange	(	const size_t	i,
		const float	val
	)

Definition at line 517 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, m_scan, and val.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), and mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()().

◆ setScanRangeValidity()

void CObservation2DRangeScan::setScanRangeValidity	(	const size_t	i,
		const bool	val
	)

Definition at line 539 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, m_validRange, and val.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), and mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()().

◆ setSensorPose() [1/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

inherited

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

Definition at line 45 of file CObservation.cpp.

◆ setSensorPose() [2/2]

void mrpt::obs::CObservation2DRangeScan::setSensorPose ( const mrpt::poses::CPose3D & newSensorPose )

inlinevirtual

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

Implements mrpt::obs::CObservation.

Definition at line 143 of file obs/CObservation2DRangeScan.h.

◆ swap()

void CObservation::swap ( CObservation & o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 50 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

◆ truncateByDistanceAndAngle()

void CObservation2DRangeScan::truncateByDistanceAndAngle	(	float	min_distance,
		float	max_angle,
		float	min_height = `0`,
		float	max_height = `0`,
		float	h = `0`
	)

A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).

Definition at line 105 of file CObservation2DRangeScan.cpp.

References aperture, ASSERT_, m_scan, m_validRange, scan, and mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size().

◆ unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also: load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 123 of file obs/CObservation.h.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CObservation2DRangeScan::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 72 of file CObservation2DRangeScan.cpp.

References aperture, ASSERT_, beamAperture, deltaPitch, hasIntensity(), m_intensity, m_scan, m_validRange, maxRange, rightToLeft, scan, mrpt::obs::CObservation::sensorLabel, sensorPose, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), stdError, mrpt::obs::CObservation::timestamp, validRange, version, mrpt::utils::CStream::WriteBuffer(), and mrpt::utils::CStream::WriteBufferFixEndianness().

Member Data Documentation

◆ _init_CObservation2DRangeScan

mrpt::utils::CLASSINIT mrpt::obs::CObservation2DRangeScan::_init_CObservation2DRangeScan

staticprotected

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ aperture

float mrpt::obs::CObservation2DRangeScan::aperture

The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).

Definition at line 81 of file obs/CObservation2DRangeScan.h.

Referenced by ICPTests::align2scans(), mrpt::obs::carmen_log_parse_line(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), filterByExclusionAngles(), filterByExclusionAreas(), getDescriptionAsText(), getScanProperties(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), readFromStream(), run_rnav_test(), TEST(), mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays(), truncateByDistanceAndAngle(), and writeToStream().

◆ beamAperture

float mrpt::obs::CObservation2DRangeScan::beamAperture

The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.

Definition at line 86 of file obs/CObservation2DRangeScan.h.

Referenced by mrpt::hwdrivers::CLMS100Eth::decodeScan(), readFromStream(), and writeToStream().

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

◆ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation

staticinherited

Definition at line 43 of file obs/CObservation.h.

◆ classCObservation2DRangeScan

mrpt::utils::TRuntimeClassId mrpt::obs::CObservation2DRangeScan::classCObservation2DRangeScan

static

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation2DRangeScan::classinfo

static

Definition at line 46 of file obs/CObservation2DRangeScan.h.

◆ deltaPitch

double mrpt::obs::CObservation2DRangeScan::deltaPitch

If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).

Definition at line 87 of file obs/CObservation2DRangeScan.h.

Referenced by getDescriptionAsText(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), readFromStream(), mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays(), and writeToStream().