mrpt::obs::CObservationVelodyneScan Class Reference

Detailed Description

A CObservation-derived class for RAW DATA (and optionally, point cloud) of scans from 3D Velodyne LIDAR scanners.

A scan comprises one or more "velodyne packets" (refer to Velodyne user manual).

Main data fields:

---

• CObservationVelodyneScan::scan_packets with raw data packets.
• CObservationVelodyneScan::point_cloud normally empty after grabbing for efficiency, can be generated calling CObservationVelodyneScan::generatePointCloud()

Axes convention for point cloud (x,y,z) coordinates:

If it can be assumed that the sensor moves SLOWLY through the environment (i.e. its pose can be approximated to be the same since the beginning to the end of one complete scan) then this observation can be converted / loaded into the following other classes:

• Maps of points (these require first generating the pointcloud in this observation object with mrpt::obs::CObservationVelodyneScan::generatePointCloud() ):
  • mrpt::maps::CPointsMap::loadFromVelodyneScan() (available in all derived classes)
  • and the generic method:mrpt::maps::CPointsMap::insertObservation()
• mrpt::opengl::CPointCloud and mrpt::opengl::CPointCloudColoured is supported by first converting this scan to a mrpt::maps::CPointsMap-derived class, then loading it into the opengl object.

Otherwise, the following API exists for accurate reconstruction of the sensor path in SE(3) over time:

• CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory()

Note that this object has two timestamp fields:

• The standard CObservation::timestamp field in the base class, which should contain the accurate satellite-based UTC timestamp, and
• the field CObservationVelodyneScan::originalReceivedTimestamp, with the local computer-based timestamp based on the reception of the message in the computer. Both timestamps correspond to the firing of the first laser in the first CObservationVelodyneScan::scan_packets packet.

Note

New in MRPT 1.4.0

See also

CObservation, CPointsMap, CVelodyneScanner

Definition at line 56 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Inheritance diagram for mrpt::obs::CObservationVelodyneScan:

Classes
struct	laser_return_t
struct	raw_block_t
	Raw Velodyne data block. More...
struct	TGeneratePointCloudParameters
struct	TGeneratePointCloudSE3Results
	Results for generatePointCloudAlongSE3Trajectory() More...
struct	TPointCloud
	See point_cloud and scan_packets. More...
struct	TVelodynePositionPacket
	Payload of one POSITION packet. More...
struct	TVelodyneRawPacket
	One unit of data from the scanner (the payload of one UDP DATA packet) 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 ()
	CObservationVelodyneScan ()
virtual	~CObservationVelodyneScan ()
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...
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
Raw scan fixed parameters
static const int	SIZE_BLOCK = 100
static const int	RAW_SCAN_SIZE = 3
static const int	SCANS_PER_BLOCK = 32
static const int	BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const float	ROTATION_RESOLUTION = 0.01f
	degrees More...
static const uint16_t	ROTATION_MAX_UNITS = 36000
	hundredths of degrees More...
static const float	DISTANCE_MAX = 130.0f
	meters More...
static const float	DISTANCE_RESOLUTION = 0.002f
	meters More...
static const float	DISTANCE_MAX_UNITS = (CObservationVelodyneScan::DISTANCE_MAX / CObservationVelodyneScan::DISTANCE_RESOLUTION + 1.0f)
static const uint16_t	UPPER_BANK = 0xeeff
	Blocks 0-31. More...
static const uint16_t	LOWER_BANK = 0xddff
	Blocks 32-63. More...
static const int	PACKET_SIZE = 1206
static const int	POS_PACKET_SIZE = 512
static const int	BLOCKS_PER_PACKET = 12
static const int	PACKET_STATUS_SIZE = 4
static const int	SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const uint8_t	RETMODE_STRONGEST = 0x37
static const uint8_t	RETMODE_LAST = 0x38
static const uint8_t	RETMODE_DUAL = 0x39
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...

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...

RTTI stuff
typedef CObservationVelodyneScanPtr	Ptr
typedef CObservationVelodyneScanPtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CObservationVelodyneScan
static mrpt::utils::TRuntimeClassId	classCObservationVelodyneScan
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 CObservationVelodyneScanPtr	Create ()

Scan data
double	minRange
double	maxRange
	The maximum range allowed by the device, in meters (e.g. 100m). Stored here by the driver while capturing based on the sensor model. More...
mrpt::poses::CPose3D	sensorPose
	The 6D pose of the sensor on the robot/vehicle frame of reference. More...
std::vector< TVelodyneRawPacket >	scan_packets
	The main content of this object: raw data packet from the LIDAR. More...
mrpt::obs::VelodyneCalibration	calibration
	The calibration data for the LIDAR device. See mrpt::hwdrivers::CVelodyneScanner and mrpt::obs::VelodyneCalibration for details. More...
mrpt::system::TTimeStamp	originalReceivedTimestamp
	The local computer-based timestamp based on the reception of the message in the computer. More...
bool	has_satellite_timestamp
	If true, CObservation::timestamp has been generated from accurate satellite clock. Otherwise, no GPS data is available and timestamps are based on the local computer clock. More...
TPointCloud	point_cloud
	Optionally, raw data can be converted into a 3D point cloud (local coordinates wrt the sensor, not the vehicle) with intensity (graylevel) information. More...
mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const MRPT_OVERRIDE
	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...

Related to conversion to 3D point cloud
static const TGeneratePointCloudParameters	defaultPointCloudParams
void	generatePointCloud (const TGeneratePointCloudParameters &params=defaultPointCloudParams)
	Generates the point cloud into the point cloud data fields in CObservationVelodyneScan::point_cloud where it is stored in local coordinates wrt the sensor (neither the vehicle nor the world). More...
void	generatePointCloudAlongSE3Trajectory (const mrpt::poses::CPose3DInterpolator &vehicle_path, std::vector< mrpt::math::TPointXYZIu8 > &out_points, TGeneratePointCloudSE3Results &results_stats, const TGeneratePointCloudParameters &params=defaultPointCloudParams)
	An alternative to generatePointCloud() for cases where the motion of the sensor as it grabs one scan (360 deg horiz FOV) cannot be ignored. More...

Member Typedef Documentation

ConstPtr

typedef CObservationVelodyneScanPtr mrpt::obs::CObservationVelodyneScan::ConstPtr

Definition at line 59 of file CObservationVelodyneScan.h.

Ptr

typedef CObservationVelodyneScanPtr mrpt::obs::CObservationVelodyneScan::Ptr

A typedef for the associated smart pointer

Definition at line 59 of file CObservationVelodyneScan.h.

Constructor & Destructor Documentation

CObservationVelodyneScan()

CObservationVelodyneScan::CObservationVelodyneScan

(

)

Definition at line 78 of file CObservationVelodyneScan.cpp.

~CObservationVelodyneScan()

CObservationVelodyneScan::~CObservationVelodyneScan ( )

virtual

Definition at line 87 of file CObservationVelodyneScan.cpp.

Member Function Documentation

_GetBaseClass()

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

staticprotected

clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static CObservationVelodyneScanPtr mrpt::obs::CObservationVelodyneScan::Create ( )

static

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation().

CreateObject()

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

static

duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservationVelodyneScan::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().

generatePointCloud()

void CObservationVelodyneScan::generatePointCloud

(

const TGeneratePointCloudParameters &

params = defaultPointCloudParams

)

Generates the point cloud into the point cloud data fields in CObservationVelodyneScan::point_cloud where it is stored in local coordinates wrt the sensor (neither the vehicle nor the world).

So, this method does not take into account the possible motion of the sensor through the world as it collects LIDAR scans. For high dynamics, see the more costly API generatePointCloudAlongSE3Trajectory()

Note

Points with ranges out of [minRange,maxRange] are discarded; as well, other filters are available in params.

See also

generatePointCloudAlongSE3Trajectory(), TGeneratePointCloudParameters

Definition at line 399 of file CObservationVelodyneScan.cpp.

References mrpt::obs::CObservationVelodyneScan::TPointCloud::azimuth, mrpt::obs::gnss::azimuth, mrpt::obs::CObservationVelodyneScan::TPointCloud::clear(), mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointAzimuth, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointTimestamp, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, MRPT_OVERRIDE, point_cloud, ROTATION_MAX_UNITS, ROTATION_RESOLUTION, mrpt::utils::round(), mrpt::obs::CObservationVelodyneScan::TPointCloud::timestamp, velodyne_scan_to_pointcloud(), mrpt::obs::CObservationVelodyneScan::TPointCloud::x, mrpt::obs::CObservationVelodyneScan::TPointCloud::y, and mrpt::obs::CObservationVelodyneScan::TPointCloud::z.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

generatePointCloudAlongSE3Trajectory()

void CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory	(	const mrpt::poses::CPose3DInterpolator &	vehicle_path,
		std::vector< mrpt::math::TPointXYZIu8 > &	out_points,
		TGeneratePointCloudSE3Results &	results_stats,
		const TGeneratePointCloudParameters &	params = defaultPointCloudParams
	)

An alternative to generatePointCloud() for cases where the motion of the sensor as it grabs one scan (360 deg horiz FOV) cannot be ignored.

Parameters

[in]	vehicle_path	Timestamped sequence of known poses for the VEHICLE. Recall that the sensor has a relative pose wrt the vehicle according to CObservationVelodyneScan::getSensorPose() & CObservationVelodyneScan::setSensorPose()
[out]	out_points	The generated points, in the same coordinates frame than vehicle_path. Points are APPENDED to the list, so prevous contents are kept.
[out]	results_stats	Stats
[in]	params	Filtering and other parameters

See also

generatePointCloud(), TGeneratePointCloudParameters

Definition at line 429 of file CObservationVelodyneScan.cpp.

References mrpt::obs::gnss::azimuth, BLOCKS_PER_PACKET, mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D::composePoint(), mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate(), INVALID_TIMESTAMP, MRPT_OVERRIDE, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudSE3Results::num_correctly_inserted_points, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudSE3Results::num_points, scan_packets, SCANS_PER_BLOCK, sensorPose, mrpt::poses::UNINITIALIZED_POSE, and velodyne_scan_to_pointcloud().

getDescriptionAsText()

void CObservationVelodyneScan::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 160 of file CObservationVelodyneScan.cpp.

References mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), maxRange, minRange, scan_packets, and sensorPose.

getOriginalReceivedTimeStamp()

mrpt::system::TTimeStamp CObservationVelodyneScan::getOriginalReceivedTimeStamp ( ) const

virtual

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 from mrpt::obs::CObservation.

Definition at line 91 of file CObservationVelodyneScan.cpp.

References originalReceivedTimestamp.

GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

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::CObservationVelodyneScan::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 217 of file CObservationVelodyneScan.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.

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().

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.

operator delete() [1/3]

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

operator delete() [2/3]

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

operator delete() [3/3]

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

operator delete[]()

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

operator new() [1/3]

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

operator new() [2/3]

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

operator new() [3/3]

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

inlinestatic

Definition at line 59 of file CObservationVelodyneScan.h.

operator new[]()

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

inline

Definition at line 59 of file CObservationVelodyneScan.h.

readFromStream()

void CObservationVelodyneScan::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 125 of file CObservationVelodyneScan.cpp.

References calibration, has_satellite_timestamp, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, mrpt::obs::VelodyneCalibration::laser_corrections, maxRange, minRange, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, originalReceivedTimestamp, point_cloud, scan_packets, mrpt::obs::CObservation::sensorLabel, sensorPose, mrpt::obs::CObservation::timestamp, version, mrpt::obs::CObservationVelodyneScan::TPointCloud::x, mrpt::obs::CObservationVelodyneScan::TPointCloud::y, and mrpt::obs::CObservationVelodyneScan::TPointCloud::z.

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::CObservationVelodyneScan::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 218 of file CObservationVelodyneScan.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().

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 CObservationVelodyneScan::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 98 of file CObservationVelodyneScan.cpp.

References calibration, has_satellite_timestamp, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, mrpt::obs::VelodyneCalibration::laser_corrections, maxRange, minRange, point_cloud, scan_packets, mrpt::obs::CObservation::sensorLabel, sensorPose, mrpt::obs::CObservation::timestamp, version, mrpt::utils::CStream::WriteBuffer(), mrpt::obs::CObservationVelodyneScan::TPointCloud::x, mrpt::obs::CObservationVelodyneScan::TPointCloud::y, and mrpt::obs::CObservationVelodyneScan::TPointCloud::z.

Member Data Documentation

_init_CObservationVelodyneScan

mrpt::utils::CLASSINIT mrpt::obs::CObservationVelodyneScan::_init_CObservationVelodyneScan

staticprotected

Definition at line 59 of file CObservationVelodyneScan.h.

BLOCK_DATA_SIZE

const int mrpt::obs::CObservationVelodyneScan::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)

static

Definition at line 70 of file CObservationVelodyneScan.h.

BLOCKS_PER_PACKET

const int mrpt::obs::CObservationVelodyneScan::BLOCKS_PER_PACKET = 12

static

Definition at line 84 of file CObservationVelodyneScan.h.

Referenced by generatePointCloudAlongSE3Trajectory(), and velodyne_scan_to_pointcloud().

calibration

mrpt::obs::VelodyneCalibration mrpt::obs::CObservationVelodyneScan::calibration

The calibration data for the LIDAR device. See mrpt::hwdrivers::CVelodyneScanner and mrpt::obs::VelodyneCalibration for details.

Definition at line 133 of file CObservationVelodyneScan.h.

Referenced by readFromStream(), velodyne_scan_to_pointcloud(), 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.

classCObservationVelodyneScan

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationVelodyneScan::classCObservationVelodyneScan

static

Definition at line 59 of file CObservationVelodyneScan.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::CObservationVelodyneScan::classinfo

static

Definition at line 59 of file CObservationVelodyneScan.h.

defaultPointCloudParams

const CObservationVelodyneScan::TGeneratePointCloudParameters CObservationVelodyneScan::defaultPointCloudParams

static

Definition at line 183 of file CObservationVelodyneScan.h.

DISTANCE_MAX

const float CObservationVelodyneScan::DISTANCE_MAX = 130.0f

static

meters

Definition at line 75 of file CObservationVelodyneScan.h.

DISTANCE_MAX_UNITS

const float CObservationVelodyneScan::DISTANCE_MAX_UNITS = (CObservationVelodyneScan::DISTANCE_MAX / CObservationVelodyneScan::DISTANCE_RESOLUTION + 1.0f)

static

Definition at line 77 of file CObservationVelodyneScan.h.

DISTANCE_RESOLUTION

const float CObservationVelodyneScan::DISTANCE_RESOLUTION = 0.002f

static

meters

Definition at line 76 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

has_satellite_timestamp

bool mrpt::obs::CObservationVelodyneScan::has_satellite_timestamp

If true, CObservation::timestamp has been generated from accurate satellite clock. Otherwise, no GPS data is available and timestamps are based on the local computer clock.

Definition at line 135 of file CObservationVelodyneScan.h.

Referenced by readFromStream(), and writeToStream().

LOWER_BANK

const uint16_t mrpt::obs::CObservationVelodyneScan::LOWER_BANK = 0xddff

static

Blocks 32-63.

Definition at line 80 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

maxRange

double mrpt::obs::CObservationVelodyneScan::maxRange

The maximum range allowed by the device, in meters (e.g. 100m). Stored here by the driver while capturing based on the sensor model.

Definition at line 130 of file CObservationVelodyneScan.h.

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

minRange

double mrpt::obs::CObservationVelodyneScan::minRange

Definition at line 130 of file CObservationVelodyneScan.h.

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

originalReceivedTimestamp

mrpt::system::TTimeStamp mrpt::obs::CObservationVelodyneScan::originalReceivedTimestamp

The local computer-based timestamp based on the reception of the message in the computer.

See also

has_satellite_timestamp, CObservation::timestamp in the base class, which should contain the accurate satellite-based UTC timestamp.

Definition at line 134 of file CObservationVelodyneScan.h.

Referenced by getOriginalReceivedTimeStamp(), and readFromStream().

PACKET_SIZE

const int mrpt::obs::CObservationVelodyneScan::PACKET_SIZE = 1206

static

Definition at line 82 of file CObservationVelodyneScan.h.

PACKET_STATUS_SIZE

const int mrpt::obs::CObservationVelodyneScan::PACKET_STATUS_SIZE = 4

static

Definition at line 85 of file CObservationVelodyneScan.h.

point_cloud

TPointCloud mrpt::obs::CObservationVelodyneScan::point_cloud

Optionally, raw data can be converted into a 3D point cloud (local coordinates wrt the sensor, not the vehicle) with intensity (graylevel) information.

See axes convention in mrpt::obs::CObservationVelodyneScan

See also

generatePointCloud()

Definition at line 157 of file CObservationVelodyneScan.h.

Referenced by generatePointCloud(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), readFromStream(), and writeToStream().

POS_PACKET_SIZE

const int mrpt::obs::CObservationVelodyneScan::POS_PACKET_SIZE = 512

static

Definition at line 83 of file CObservationVelodyneScan.h.

RAW_SCAN_SIZE

const int mrpt::obs::CObservationVelodyneScan::RAW_SCAN_SIZE = 3

static

Definition at line 68 of file CObservationVelodyneScan.h.

RETMODE_DUAL

const uint8_t mrpt::obs::CObservationVelodyneScan::RETMODE_DUAL = 0x39

static

Definition at line 90 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

RETMODE_LAST

const uint8_t mrpt::obs::CObservationVelodyneScan::RETMODE_LAST = 0x38

static

Definition at line 89 of file CObservationVelodyneScan.h.

RETMODE_STRONGEST

const uint8_t mrpt::obs::CObservationVelodyneScan::RETMODE_STRONGEST = 0x37

static

Definition at line 88 of file CObservationVelodyneScan.h.

ROTATION_MAX_UNITS

const uint16_t mrpt::obs::CObservationVelodyneScan::ROTATION_MAX_UNITS = 36000

static

hundredths of degrees

Definition at line 73 of file CObservationVelodyneScan.h.

Referenced by generatePointCloud(), and velodyne_scan_to_pointcloud().

ROTATION_RESOLUTION

const float CObservationVelodyneScan::ROTATION_RESOLUTION = 0.01f

static

degrees

Definition at line 72 of file CObservationVelodyneScan.h.

Referenced by generatePointCloud().

scan_packets

std::vector<TVelodyneRawPacket> mrpt::obs::CObservationVelodyneScan::scan_packets

The main content of this object: raw data packet from the LIDAR.

See also

point_cloud

Definition at line 132 of file CObservationVelodyneScan.h.

Referenced by generatePointCloudAlongSE3Trajectory(), getDescriptionAsText(), readFromStream(), velodyne_scan_to_pointcloud(), and writeToStream().

SCANS_PER_BLOCK

const int mrpt::obs::CObservationVelodyneScan::SCANS_PER_BLOCK = 32

static

Definition at line 69 of file CObservationVelodyneScan.h.

Referenced by generatePointCloudAlongSE3Trajectory().

SCANS_PER_PACKET

const int mrpt::obs::CObservationVelodyneScan::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)

static

Definition at line 86 of file CObservationVelodyneScan.h.

sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 53 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationVelodyneScan::sensorPose

The 6D pose of the sensor on the robot/vehicle frame of reference.

Definition at line 131 of file CObservationVelodyneScan.h.

Referenced by generatePointCloudAlongSE3Trajectory(), getDescriptionAsText(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), readFromStream(), and writeToStream().

SIZE_BLOCK

const int mrpt::obs::CObservationVelodyneScan::SIZE_BLOCK = 100

static

Definition at line 67 of file CObservationVelodyneScan.h.

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 52 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

UPPER_BANK

const uint16_t mrpt::obs::CObservationVelodyneScan::UPPER_BANK = 0xeeff

static

Blocks 0-31.

Definition at line 79 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().