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:
Definition at line 40 of file obs/CObservation2DRangeScan.h.
#include <mrpt/obs/CObservation2DRangeScan.h>
Public Types | |
typedef std::vector< mrpt::math::CPolygon > | TListExclusionAreas |
Used in filterByExclusionAreas. | |
typedef std::vector< std::pair< mrpt::math::CPolygon, std::pair< double, double > > > | TListExclusionAreasWithRanges |
Used in filterByExclusionAreas. | |
Public Member Functions | |
CObservation2DRangeScan () | |
Default constructor. | |
virtual | ~CObservation2DRangeScan () |
Destructor. | |
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). | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. | |
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. | |
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). | |
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"). | |
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. | |
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>. | |
template<class METRICMAP > | |
bool | insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const |
This method is equivalent to: | |
void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
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. | |
virtual void | unload () |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCObservation |
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. | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef CObservation2DRangeScanPtr | SmartPtr |
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 MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CObservation2DRangeScanPtr | Create () |
Scan data | |
std::vector< float > | scan |
The range values of the scan, in meters. Must have same length than validRange. | |
std::vector< char > | validRange |
It's false (=0) on no reflected rays, referenced to elements in scan. | |
float | aperture |
The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees). | |
bool | rightToLeft |
The scanning direction: true=counterclockwise; false=clockwise. | |
float | maxRange |
The maximum range allowed by the device, in meters (e.g. 80m, 50m,...) | |
mrpt::poses::CPose3D | sensorPose |
The 6D pose of the sensor on the robot at the moment of starting the scan. | |
float | stdError |
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. | |
float | beamAperture |
The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid. | |
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). | |
void | getScanProperties (T2DScanProperties &p) const |
Fill out a T2DScanProperties structure with the parameters of this scan. | |
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. | |
std::string | sensorLabel |
An arbitrary label that can be used to identify the sensor. | |
mrpt::system::TTimeStamp | getTimeStamp () const |
Returns CObservation::timestamp for all kind of observations. | |
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. | |
Cached points map | |
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mrpt::maps::CMetricMapPtr | m_cachedMap |
A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap(). | |
template<class POINTSMAP > | |
const POINTSMAP * | getAuxPointsMap () const |
Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise. | |
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. | |
void | internal_buildAuxPointsMap (const void *options=NULL) const |
Internal method, used from buildAuxPointsMap() | |
A typedef for the associated smart pointer
Definition at line 43 of file obs/CObservation2DRangeScan.h.
typedef std::vector<mrpt::math::CPolygon> mrpt::obs::CObservation2DRangeScan::TListExclusionAreas |
Used in filterByExclusionAreas.
Definition at line 48 of file obs/CObservation2DRangeScan.h.
typedef std::vector<std::pair<mrpt::math::CPolygon,std::pair<double,double> > > mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges |
Used in filterByExclusionAreas.
Definition at line 49 of file obs/CObservation2DRangeScan.h.
mrpt::obs::CObservation2DRangeScan::CObservation2DRangeScan | ( | ) |
Default constructor.
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Destructor.
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Returns a cached points map representing this laser scan, building it upon the first call.
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);
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. Definition maps/CPointsMap.h:61 |
Definition at line 106 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation().
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void mrpt::obs::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>.
void mrpt::obs::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").
void mrpt::obs::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.
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inline |
Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.
Usage:
Definition at line 93 of file obs/CObservation2DRangeScan.h.
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Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
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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.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 65 of file obs/CObservation.h.
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Reimplemented from mrpt::obs::CObservation.
void mrpt::obs::CObservation2DRangeScan::getScanProperties | ( | T2DScanProperties & | p | ) | const |
Fill out a T2DScanProperties structure with the parameters of this scan.
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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.
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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.
Implements mrpt::obs::CObservation.
Definition at line 120 of file obs/CObservation2DRangeScan.h.
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Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
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inlineinherited |
This method is equivalent to:
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) |
Definition at line 83 of file obs/CObservation.h.
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Internal method, used from buildAuxPointsMap()
bool mrpt::obs::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).
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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.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 125 of file obs/CObservation.h.
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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.
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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.
Implements mrpt::obs::CObservation.
Definition at line 121 of file obs/CObservation2DRangeScan.h.
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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.
void mrpt::obs::CObservation2DRangeScan::truncateByDistanceAndAngle | ( | float | min_distance, |
float | max_angle, | ||
float | min_height = 0 , |
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float | max_height = 0 , |
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float | h = 0 |
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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).
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 129 of file obs/CObservation.h.
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Definition at line 43 of file obs/CObservation2DRangeScan.h.
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 62 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
float mrpt::obs::CObservation2DRangeScan::beamAperture |
The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.
Definition at line 67 of file obs/CObservation2DRangeScan.h.
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Definition at line 50 of file obs/CObservation.h.
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Definition at line 43 of file obs/CObservation2DRangeScan.h.
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Definition at line 43 of file obs/CObservation2DRangeScan.h.
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 68 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
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A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().
It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.
Definition at line 79 of file obs/CObservation2DRangeScan.h.
float mrpt::obs::CObservation2DRangeScan::maxRange |
The maximum range allowed by the device, in meters (e.g. 80m, 50m,...)
Definition at line 64 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
bool mrpt::obs::CObservation2DRangeScan::rightToLeft |
The scanning direction: true=counterclockwise; false=clockwise.
Definition at line 63 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
std::vector<float> mrpt::obs::CObservation2DRangeScan::scan |
The range values of the scan, in meters. Must have same length than validRange.
Definition at line 60 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
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An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
mrpt::poses::CPose3D mrpt::obs::CObservation2DRangeScan::sensorPose |
The 6D pose of the sensor on the robot at the moment of starting the scan.
Definition at line 65 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
float mrpt::obs::CObservation2DRangeScan::stdError |
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
Definition at line 66 of file obs/CObservation2DRangeScan.h.
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The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 59 of file obs/CObservation.h.
std::vector<char> mrpt::obs::CObservation2DRangeScan::validRange |
It's false (=0) on no reflected rays, referenced to elements in scan.
Definition at line 61 of file obs/CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
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