mrpt::obs::CObservationRotatingScan Class Reference

Detailed Description

A CObservation-derived class for raw range data from a 2D or 3D rotating scanner.

This class is the preferred alternative to CObservationVelodyneScan and CObservation2DRangeScan in MRPT 2.x, since it exposes range data as an organized matrix, more convenient for feature detection directly on "range images". This class can also import data from KITTI dataset-like binary files containing unorganized (non "undistorted", i.e. without compensation for lidar motion) point clouds, which get organized into a 2D range image for easier filtering and postprocessing.

Check out the main data fields in the list of members below.

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 if available, and
• the field 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 CObservationRotatingScan::scan_packets packet.

API for accurate reconstruction of point clouds from raw range images:

• generatePointCloud()
• generatePointCloudAlongSE3Trajectory()

Note

New in MRPT 2.0.0

See also

CObservation, mrpt::hwdrivers::CVelodyneScanner

Definition at line 60 of file CObservationRotatingScan.h.

#include <mrpt/obs/CObservationRotatingScan.h>

Inheritance diagram for mrpt::obs::CObservationRotatingScan:

Public Member Functions
mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const 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...
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...
void	getDescriptionAsText (std::ostream &o) const 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=nullptr) 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...
std::string	getDescriptionAsTextValue () const
	Return by value version of getDescriptionAsText(std::ostream&) 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...
"Convert from" API
void	fromVelodyne (const mrpt::obs::CObservationVelodyneScan &o)
void	fromScan2D (const mrpt::obs::CObservation2DRangeScan &o)
void	fromPointCloud (const mrpt::obs::CObservationPointCloud &o)
bool	fromGeneric (const mrpt::obs::CObservation &o)
	Will convert from another observation if it's any of the supported source types (see fromVelodyne(), fromScan2D(), fromPointCloud()) and return true, or will return false otherwise if there is no known way to convert from the passed object. 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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
Scan range data
uint16_t	rowCount {0}
	Number of "Lidar rings" (e.g. More...
uint16_t	columnCount {0}
	Number of lidar "firings" for this scan. More...
mrpt::math::CMatrix_u16	rangeImage {0, 0}
	The NxM matrix of distances (ranges) for each direction (columns) and for each laser "ring" (rows). More...
mrpt::math::CMatrix_u8	intensityImage {0, 0}
	Optionally, an intensity channel. More...
std::map< std::string, mrpt::math::CMatrix_u16 >	rangeOtherLayers
	Optional additional layers, e.g. More...
double	rangeResolution
	Real-world scale (in meters) of integer units in range images (e.g. More...
double	startAzimuth {-M_PI}
	Azimuth of the first and last columns in ranges, with respect to the sensor forward direction. More...
double	azimuthSpan {2 * M_PI}
double	sweepDuration {.0}
	Time(in seconds) that passed since startAzimuth to* endAzimuth. More...
std::string	lidarModel {"UNKNOWN_SCANNER"}
	The driver should fill in this observation. More...
double	minRange {1.0}
	The maximum range allowed by the device, in meters (e.g. More...
double	maxRange {130.0}
mrpt::poses::CPose3D	sensorPose
	The SE(3) pose of the sensor on the robot/vehicle frame of reference. More...
mrpt::system::TTimeStamp	originalReceivedTimestamp {INVALID_TIMESTAMP}
	The local computer-based timestamp based on the reception of the message in the computer. More...
bool	has_satellite_timestamp {false}
	If true, CObservation::timestamp has been generated from accurate satellite clock. More...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...
void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...
void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...
CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...
virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CObservationRotatingScan >
using	ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationRotatingScan >
using	UniquePtr = std::unique_ptr< mrpt::obs ::CObservationRotatingScan >
using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationRotatingScan >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::obs" "::" "CObservationRotatingScan"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static std::shared_ptr< CObject >	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp {mrpt::system::now()}
	The associated UTC time-stamp. 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...

Member Typedef Documentation

ConstPtr

using mrpt::obs::CObservationRotatingScan::ConstPtr = std::shared_ptr<const mrpt::obs :: CObservationRotatingScan >

Definition at line 62 of file CObservationRotatingScan.h.

ConstUniquePtr

using mrpt::obs::CObservationRotatingScan::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CObservationRotatingScan >

Definition at line 62 of file CObservationRotatingScan.h.

Ptr

using mrpt::obs::CObservationRotatingScan::Ptr = std::shared_ptr< mrpt::obs :: CObservationRotatingScan >

A type for the associated smart pointer

Definition at line 62 of file CObservationRotatingScan.h.

UniquePtr

using mrpt::obs::CObservationRotatingScan::UniquePtr = std::unique_ptr< mrpt::obs :: CObservationRotatingScan >

Definition at line 62 of file CObservationRotatingScan.h.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationRotatingScan::_GetBaseClass ( )

staticprotected

clone()

virtual mrpt::rtti::CObject* mrpt::obs::CObservationRotatingScan::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

Create()

template<typename... Args>

static Ptr mrpt::obs::CObservationRotatingScan::Create ( Args &&...  args )

inlinestatic

Definition at line 62 of file CObservationRotatingScan.h.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CObservationRotatingScan::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 62 of file CObservationRotatingScan.h.

CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CObservationRotatingScan::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CObservationRotatingScan::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 62 of file CObservationRotatingScan.h.

duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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fromGeneric()

bool RotScan::fromGeneric

(

const mrpt::obs::CObservation &

o

)

Will convert from another observation if it's any of the supported source types (see fromVelodyne(), fromScan2D(), fromPointCloud()) and return true, or will return false otherwise if there is no known way to convert from the passed object.

Definition at line 416 of file CObservationRotatingScan.cpp.

References MRPT_END, and MRPT_START.

fromPointCloud()

void RotScan::fromPointCloud

(

const mrpt::obs::CObservationPointCloud &

o

)

Definition at line 408 of file CObservationRotatingScan.cpp.

References MRPT_END, MRPT_START, MRPT_TODO(), and THROW_EXCEPTION.

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fromScan2D()

void RotScan::fromScan2D

(

const mrpt::obs::CObservation2DRangeScan &

o

)

Definition at line 359 of file CObservationRotatingScan.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::d2f(), mrpt::obs::CObservation2DRangeScan::getScanIntensity(), mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::getScanRangeValidity(), mrpt::obs::CObservation2DRangeScan::getScanSize(), mrpt::obs::CObservation2DRangeScan::hasIntensity(), mrpt::obs::CObservation2DRangeScan::maxRange, MRPT_END, MRPT_START, mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation2DRangeScan::sensorPose, and mrpt::obs::CObservation::timestamp.

Referenced by TEST().

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fromVelodyne()

void RotScan::fromVelodyne

(

const mrpt::obs::CObservationVelodyneScan &

o

)

Definition at line 136 of file CObservationRotatingScan.cpp.

References mrpt::math::angDistance(), ASSERT_ABOVE_, ASSERT_ABOVEEQ_, ASSERT_BELOW_, mrpt::obs::CObservationVelodyneScan::BLOCKS_PER_PACKET, mrpt::obs::CObservationVelodyneScan::calibration, mrpt::DEG2RAD(), mrpt::math::distance(), mrpt::obs::CObservationVelodyneScan::DISTANCE_RESOLUTION, mrpt::obs::CObservationVelodyneScan::has_satellite_timestamp, mrpt::obs::VelodyneCalibration::laser_corrections, mrpt::obs::CObservationVelodyneScan::LOWER_BANK, mrpt::obs::CObservationVelodyneScan::maxRange, mrpt::obs::CObservationVelodyneScan::minRange, MRPT_END, MRPT_START, mrpt::obs::CObservationVelodyneScan::originalReceivedTimestamp, mrpt::obs::CObservationVelodyneScan::RETMODE_DUAL, mrpt::obs::CObservationVelodyneScan::scan_packets, mrpt::obs::CObservationVelodyneScan::SCANS_PER_BLOCK, mrpt::obs::CObservationVelodyneScan::SCANS_PER_FIRING, mrpt::obs::CObservationVelodyneScan::SCANS_PER_PACKET, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservationVelodyneScan::sensorPose, THROW_EXCEPTION, and mrpt::obs::CObservation::timestamp.

Referenced by TEST().

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getClassName()

static constexpr auto mrpt::obs::CObservationRotatingScan::getClassName ( )

inlinestatic

Definition at line 62 of file CObservationRotatingScan.h.

getDescriptionAsText()

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

overridevirtual

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 110 of file CObservationRotatingScan.cpp.

References mrpt::system::dateTimeToString(), mrpt::format(), and mrpt::RAD2DEG().

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getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const

inherited

Return by value version of getDescriptionAsText(std::ostream&)

Definition at line 59 of file CObservation.cpp.

getOriginalReceivedTimeStamp()

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

overridevirtual

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 31 of file CObservationRotatingScan.cpp.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationRotatingScan::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CObservationRotatingScan::GetRuntimeClassIdStatic ( )

static

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 24 of file CObservation.cpp.

References mrpt::poses::CPose3D::asTPose().

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getSensorPose() [2/2]

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

inlineoverridevirtual

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 166 of file CObservationRotatingScan.h.

References sensorPose.

getTimeStamp()

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

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 66 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = nullptr  ) 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 nullptr (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 99 of file CObservation.h.

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, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationImage, and mrpt::obs::CObservationPointCloud.

Definition at line 157 of file CObservation.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation().

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serializeFrom() [1/2]

void RotScan::serializeFrom ( mrpt::serialization::CArchive &  in, uint8_t  serial_version  )

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 65 of file CObservationRotatingScan.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadAs(), and mrpt::serialization::CArchive::ReadBufferFixEndianness().

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serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase &  in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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serializeGetVersion()

uint8_t RotScan::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 36 of file CObservationRotatingScan.cpp.

serializeTo() [1/2]

void RotScan::serializeTo ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 37 of file CObservationRotatingScan.cpp.

References ASSERT_EQUAL_, and out.

serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase &  out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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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 31 of file CObservation.cpp.

setSensorPose() [2/2]

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

inlineoverridevirtual

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 170 of file CObservationRotatingScan.h.

References sensorPose.

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 36 of file CObservation.cpp.

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

Referenced by mrpt::obs::CObservationStereoImages::swap().

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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, and mrpt::obs::CObservationPointCloud.

Definition at line 164 of file CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

azimuthSpan

double mrpt::obs::CObservationRotatingScan::azimuthSpan {2 * M_PI}

Definition at line 108 of file CObservationRotatingScan.h.

className

constexpr const char* mrpt::obs::CObservationRotatingScan::className = "mrpt::obs" "::" "CObservationRotatingScan"

static

Definition at line 62 of file CObservationRotatingScan.h.

columnCount

uint16_t mrpt::obs::CObservationRotatingScan::columnCount {0}

Number of lidar "firings" for this scan.

It is assumed that firings occur at a fixed rate. Consecutive scans ("scan"=instance of this class) may have different number of firings, and different start and end azimuth. All matrices defined below have this number of columns.

Definition at line 79 of file CObservationRotatingScan.h.

Referenced by mrpt::ros1bridge::fromROS().

has_satellite_timestamp

bool mrpt::obs::CObservationRotatingScan::has_satellite_timestamp {false}

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 138 of file CObservationRotatingScan.h.

intensityImage

mrpt::math::CMatrix_u8 mrpt::obs::CObservationRotatingScan::intensityImage {0, 0}

Optionally, an intensity channel.

Matrix with a 0x0 size if not provided.

Definition at line 91 of file CObservationRotatingScan.h.

Referenced by mrpt::ros1bridge::fromROS().

lidarModel

std::string mrpt::obs::CObservationRotatingScan::lidarModel {"UNKNOWN_SCANNER"}

The driver should fill in this observation.

Definition at line 114 of file CObservationRotatingScan.h.

maxRange

double mrpt::obs::CObservationRotatingScan::maxRange {130.0}

Definition at line 119 of file CObservationRotatingScan.h.

minRange

double mrpt::obs::CObservationRotatingScan::minRange {1.0}

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 119 of file CObservationRotatingScan.h.

originalReceivedTimestamp

mrpt::system::TTimeStamp mrpt::obs::CObservationRotatingScan::originalReceivedTimestamp {INVALID_TIMESTAMP}

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 132 of file CObservationRotatingScan.h.

rangeImage

mrpt::math::CMatrix_u16 mrpt::obs::CObservationRotatingScan::rangeImage {0, 0}

The NxM matrix of distances (ranges) for each direction (columns) and for each laser "ring" (rows).

Matrix element are integers for efficiency of post-processing filters, etc. Zero means no return (i.e. invalid range). This member must be always provided, containing the ranges for the STRONGEST ray returns.

Definition at line 87 of file CObservationRotatingScan.h.

Referenced by mrpt::ros1bridge::fromROS().

rangeOtherLayers

std::map<std::string, mrpt::math::CMatrix_u16> mrpt::obs::CObservationRotatingScan::rangeOtherLayers

Optional additional layers, e.g.

LAST return, etc. for lidars with multiple returns per firing. A descriptive name of what the alternative range means as std::map Key, e.g. FIRST, SECOND.

Definition at line 96 of file CObservationRotatingScan.h.

rangeResolution

double mrpt::obs::CObservationRotatingScan::rangeResolution

Real-world scale (in meters) of integer units in range images (e.g.

0.002 means 1 range unit is 2 millimeters)

Definition at line 100 of file CObservationRotatingScan.h.

Referenced by mrpt::ros1bridge::fromROS().

rowCount

uint16_t mrpt::obs::CObservationRotatingScan::rowCount {0}

Number of "Lidar rings" (e.g.

16 for a Velodyne VLP16, etc.). This should be constant for a given LiDAR scanner. All matrices in imageLayer_* have this number of rows.

Definition at line 72 of file CObservationRotatingScan.h.

Referenced by mrpt::ros1bridge::fromROS().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationRotatingScan::runtimeClassId

staticprotected

Definition at line 62 of file CObservationRotatingScan.h.

sensorLabel

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

inherited

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

Definition at line 62 of file CObservation.h.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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::apps::RawlogGrabberApp::dump_GPS_mode_info(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), fromScan2D(), fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation::swap(), and mrpt::ros1bridge::toROS().

sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationRotatingScan::sensorPose

The SE(3) pose of the sensor on the robot/vehicle frame of reference.

Definition at line 123 of file CObservationRotatingScan.h.

Referenced by getSensorPose(), and setSensorPose().

startAzimuth

double mrpt::obs::CObservationRotatingScan::startAzimuth {-M_PI}

Azimuth of the first and last columns in ranges, with respect to the sensor forward direction.

Note that startAzimuth may be possitive or negative, and azimuthSpan can be too to reflect the direction of rotation of the scanner: >0 is CCW, <0 is CW.

Definition at line 108 of file CObservationRotatingScan.h.

sweepDuration

double mrpt::obs::CObservationRotatingScan::sweepDuration {.0}

Time(in seconds) that passed since startAzimuth to* endAzimuth.

Definition at line 111 of file CObservationRotatingScan.h.

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp {mrpt::system::now()}

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 60 of file CObservation.h.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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::ros1bridge::fromROS(), fromScan2D(), fromVelodyne(), 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::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::obs::CObservation::getOriginalReceivedTimeStamp(), mrpt::obs::CObservation::getTimeStamp(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::ros1bridge::toROS(), and velodyne_scan_to_pointcloud().