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 55 of file CObservation2DRangeScan.h.

#include <mrpt/obs/CObservation2DRangeScan.h>

Inheritance diagram for mrpt::obs::CObservation2DRangeScan:

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

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

Public Member Functions
	CObservation2DRangeScan ()=default
	Default constructor. More...

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

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=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...

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...

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...

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...

Private Attributes
mrpt::aligned_std_vector< float >	m_scan
	The range values of the scan, in meters. More...

mrpt::aligned_std_vector< int32_t >	m_intensity
	The intensity values of the scan. More...

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

bool	m_has_intensity {false}
	Whether the intensity values are present or not. 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...

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
using	Ptr = std::shared_ptr< CObservation2DRangeScan >

using	ConstPtr = std::shared_ptr< const CObservation2DRangeScan >

using	UniquePtr = std::unique_ptr< CObservation2DRangeScan >

using	ConstUniquePtr = std::unique_ptr< const CObservation2DRangeScan >

static mrpt::rtti::CLASSINIT	_init_CObservation2DRangeScan

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CObservation2DRangeScan"

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...

Scan data
mrpt::containers::ContainerReadOnlyProxyAccessor< mrpt::aligned_std_vector< float > >	scan {m_scan}
	The range values of the scan, in meters. More...

mrpt::containers::ContainerReadOnlyProxyAccessor< mrpt::aligned_std_vector< int32_t > >	intensity {m_intensity}
	The intensity values of the scan. More...

mrpt::containers::ContainerReadOnlyProxyAccessor< mrpt::aligned_std_vector< char > >	validRange {m_validRange}
	It's false (=0) on no reflected rays, referenced to elements in scan. More...

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

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

float	maxRange {80.0f}
	The maximum range allowed by the device, in meters (e.g. More...

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

float	stdError {0.01f}
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. More...

float	beamAperture {0}
	The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid. More...

double	deltaPitch {0}
	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::CMetricMap::Ptr	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 nullptr otherwise. More...

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

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

Member Typedef Documentation

◆ ConstPtr

using mrpt::obs::CObservation2DRangeScan::ConstPtr = std::shared_ptr<const CObservation2DRangeScan >

Definition at line 57 of file CObservation2DRangeScan.h.

◆ ConstUniquePtr

using mrpt::obs::CObservation2DRangeScan::ConstUniquePtr = std::unique_ptr<const CObservation2DRangeScan >

Definition at line 57 of file CObservation2DRangeScan.h.

◆ Ptr

using mrpt::obs::CObservation2DRangeScan::Ptr = std::shared_ptr< CObservation2DRangeScan >

A type for the associated smart pointer

Definition at line 57 of file CObservation2DRangeScan.h.

◆ TListExclusionAreas

using mrpt::obs::CObservation2DRangeScan::TListExclusionAreas = std::vector<mrpt::math::CPolygon>

Used in filterByExclusionAreas.

Definition at line 76 of file CObservation2DRangeScan.h.

◆ TListExclusionAreasWithRanges

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

Used in filterByExclusionAreas.

Definition at line 79 of file CObservation2DRangeScan.h.

◆ UniquePtr

using mrpt::obs::CObservation2DRangeScan::UniquePtr = std::unique_ptr< CObservation2DRangeScan >

Definition at line 57 of file CObservation2DRangeScan.h.

Constructor & Destructor Documentation

◆ CObservation2DRangeScan() [1/2]

mrpt::obs::CObservation2DRangeScan::CObservation2DRangeScan ( )

default

Default constructor.

◆ CObservation2DRangeScan() [2/2]

CObservation2DRangeScan::CObservation2DRangeScan ( const CObservation2DRangeScan & o )

copy ctor

Definition at line 29 of file CObservation2DRangeScan.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ buildAuxPointsMap()

template<class POINTSMAP >

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

inline

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

Parameters

options

Can be nullptr 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 nullptr);

See also: getAuxPointsMap

Definition at line 194 of file CObservation2DRangeScan.h.

References internal_buildAuxPointsMap(), and m_cachedMap.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), and mrpt::slam::observationsOverlap().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CObservation2DRangeScan::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::CObservation2DRangeScan::Create ( Args &&... args )

inlinestatic

Definition at line 57 of file CObservation2DRangeScan.h.

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

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◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CObservation2DRangeScan::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 57 of file CObservation2DRangeScan.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CObservation2DRangeScan::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CObservation2DRangeScan::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 57 of file CObservation2DRangeScan.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 200 of file CObject.h.

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

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

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◆ 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 354 of file CObservation2DRangeScan.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::wrapTo2Pi().

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

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◆ 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 333 of file CObservation2DRangeScan.cpp.

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

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◆ 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 271 of file CObservation2DRangeScan.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ 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 nullptr otherwise.

Usage:

mrpt::maps::CPointsMap *map =

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

See also: buildAuxPointsMap

Definition at line 176 of file CObservation2DRangeScan.h.

References m_cachedMap.

◆ getClassName()

static constexpr auto mrpt::obs::CObservation2DRangeScan::getClassName ( )

inlinestatic

Definition at line 57 of file CObservation2DRangeScan.h.

◆ getDescriptionAsText()

void CObservation2DRangeScan::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 459 of file CObservation2DRangeScan.cpp.

References RAD2DEG.

◆ 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 71 of file CObservation.h.

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

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservation2DRangeScan::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::CObservation2DRangeScan::GetRuntimeClassIdStatic ( )

static

◆ getScanIntensity()

int CObservation2DRangeScan::getScanIntensity ( const size_t i ) const

Definition at line 514 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

◆ getScanProperties()

void CObservation2DRangeScan::getScanProperties ( T2DScanProperties & p ) const

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

Definition at line 443 of file CObservation2DRangeScan.cpp.

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

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◆ getScanRange()

float CObservation2DRangeScan::getScanRange ( const size_t i ) const

Definition at line 502 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

Referenced by mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), and mrpt::hwdrivers::CLMS100Eth::decodeScan().

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◆ getScanRangeValidity()

bool CObservation2DRangeScan::getScanRangeValidity ( const size_t i ) const

Definition at line 525 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

◆ getScanSize()

size_t CObservation2DRangeScan::getScanSize ( ) const

Get number of scan rays.

Definition at line 553 of file CObservation2DRangeScan.cpp.

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

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◆ 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 25 of file CObservation.cpp.

◆ getSensorPose() [2/2]

void mrpt::obs::CObservation2DRangeScan::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 215 of file CObservation2DRangeScan.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.

◆ hasIntensity()

bool CObservation2DRangeScan::hasIntensity ( ) const

Return true if scan has intensity.

Definition at line 262 of file CObservation2DRangeScan.cpp.

◆ 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.

◆ internal_buildAuxPointsMap()

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

protected

Internal method, used from buildAuxPointsMap()

Definition at line 431 of file CObservation2DRangeScan.cpp.

References mrpt::obs::ptr_internal_build_points_map_from_scan2D.

Referenced by buildAuxPointsMap().

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◆ 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 257 of file CObservation2DRangeScan.cpp.

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

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◆ 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, and mrpt::obs::CObservationPointCloud.

Definition at line 154 of file CObservation.h.

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

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◆ loadFromVectors()

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

Definition at line 554 of file CObservation2DRangeScan.cpp.

References ASSERT_.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan().

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◆ resizeScan()

void CObservation2DRangeScan::resizeScan ( const size_t len )

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

Definition at line 537 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::opengl::CPlanarLaserScan::clear(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), 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()().

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◆ 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 544 of file CObservation2DRangeScan.cpp.

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

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◆ serializeFrom() [1/2]

void CObservation2DRangeScan::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 94 of file CObservation2DRangeScan.cpp.

References DEG2RAD, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CObservation2DRangeScan::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 40 of file CObservation2DRangeScan.cpp.

◆ serializeTo() [1/2]

void CObservation2DRangeScan::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 41 of file CObservation2DRangeScan.cpp.

References ASSERT_, mrpt::serialization::CArchive::WriteBuffer(), and mrpt::serialization::CArchive::WriteBufferFixEndianness().

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◆ 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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◆ setScanHasIntensity()

void CObservation2DRangeScan::setScanHasIntensity ( bool setHasIntensityFlag )

Marks this scan as having or not intensity data.

Definition at line 263 of file CObservation2DRangeScan.cpp.

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

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◆ setScanIntensity()

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

Definition at line 519 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and val.

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

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◆ setScanRange()

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

Definition at line 508 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and val.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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()().

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◆ setScanRangeValidity()

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

Definition at line 530 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and val.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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()().

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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 32 of file CObservation.cpp.

◆ setSensorPose() [2/2]

void mrpt::obs::CObservation2DRangeScan::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 219 of file CObservation2DRangeScan.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 37 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().

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◆ 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 66 of file CObservation2DRangeScan.cpp.

References ASSERT_, and mrpt::poses::CPose3D::size().

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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 161 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

◆ _init_CObservation2DRangeScan

mrpt::rtti::CLASSINIT mrpt::obs::CObservation2DRangeScan::_init_CObservation2DRangeScan

staticprotected

Definition at line 57 of file CObservation2DRangeScan.h.

◆ aperture

float mrpt::obs::CObservation2DRangeScan::aperture {M_PIf}

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

Definition at line 124 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), run_rnav_test(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

◆ beamAperture

float mrpt::obs::CObservation2DRangeScan::beamAperture {0}

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

Definition at line 138 of file CObservation2DRangeScan.h.

Referenced by mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), and mrpt::hwdrivers::CLMS100Eth::decodeScan().

◆ className

constexpr const char* mrpt::obs::CObservation2DRangeScan::className = "CObservation2DRangeScan"

static

Definition at line 57 of file CObservation2DRangeScan.h.

◆ deltaPitch

double mrpt::obs::CObservation2DRangeScan::deltaPitch {0}

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 143 of file CObservation2DRangeScan.h.

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

◆ intensity

mrpt::containers::ContainerReadOnlyProxyAccessor< mrpt::aligned_std_vector<int32_t> > mrpt::obs::CObservation2DRangeScan::intensity {m_intensity}

The intensity values of the scan.

If available, must have same length than validRange

Definition at line 110 of file CObservation2DRangeScan.h.

◆ m_cachedMap

mrpt::maps::CMetricMap::Ptr mrpt::obs::CObservation2DRangeScan::m_cachedMap

mutableprotected

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 161 of file CObservation2DRangeScan.h.

Referenced by buildAuxPointsMap(), and getAuxPointsMap().

◆ m_has_intensity

bool mrpt::obs::CObservation2DRangeScan::m_has_intensity {false}

private

Whether the intensity values are present or not.

If not, space is saved during serialization.

Definition at line 72 of file CObservation2DRangeScan.h.

◆ m_intensity

mrpt::aligned_std_vector<int32_t> mrpt::obs::CObservation2DRangeScan::m_intensity

private

The intensity values of the scan.

If available, must have same length than validRange

Definition at line 66 of file CObservation2DRangeScan.h.

◆ m_scan

mrpt::aligned_std_vector<float> mrpt::obs::CObservation2DRangeScan::m_scan

private

The range values of the scan, in meters.

Must have same length than validRange

Definition at line 63 of file CObservation2DRangeScan.h.

◆ m_validRange

mrpt::aligned_std_vector<char> mrpt::obs::CObservation2DRangeScan::m_validRange

private

It's false (=0) on no reflected rays, referenced to elements in scan.

Definition at line 69 of file CObservation2DRangeScan.h.

◆ maxRange

float mrpt::obs::CObservation2DRangeScan::maxRange {80.0f}

The maximum range allowed by the device, in meters (e.g.

80m, 50m,...)

Definition at line 129 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), run_rnav_test(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

◆ rightToLeft

bool mrpt::obs::CObservation2DRangeScan::rightToLeft {true}

The scanning direction: true=counterclockwise; false=clockwise.

Definition at line 126 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), 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(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservation2DRangeScan::runtimeClassId

staticprotected

Definition at line 57 of file CObservation2DRangeScan.h.

◆ scan

mrpt::containers::ContainerReadOnlyProxyAccessor< mrpt::aligned_std_vector<float> > mrpt::obs::CObservation2DRangeScan::scan {m_scan}

The range values of the scan, in meters.

Must have same length than validRange

Definition at line 102 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

◆ 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.

◆ sensorPose

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 132 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), getSensorPose(), mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan2D(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), run_rnav_test(), setSensorPose(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

◆ stdError

float mrpt::obs::CObservation2DRangeScan::stdError {0.01f}

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

Definition at line 135 of file CObservation2DRangeScan.h.

Referenced by mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood().

◆ 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.

◆ validRange

mrpt::containers::ContainerReadOnlyProxyAccessor< mrpt::aligned_std_vector<char> > mrpt::obs::CObservation2DRangeScan::validRange {m_validRange}

It's false (=0) on no reflected rays, referenced to elements in scan.

Definition at line 118 of file CObservation2DRangeScan.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Data common to any observation

RTTI stuff

Scan data

Cached points map

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ TListExclusionAreas

◆ TListExclusionAreasWithRanges

◆ UniquePtr

Constructor & Destructor Documentation

◆ CObservation2DRangeScan() [1/2]

◆ CObservation2DRangeScan() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ buildAuxPointsMap()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ filterByExclusionAngles()

◆ filterByExclusionAreas() [1/2]

◆ filterByExclusionAreas() [2/2]

◆ getAuxPointsMap()

◆ getClassName()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScanIntensity()

◆ getScanProperties()

◆ getScanRange()

◆ getScanRangeValidity()

◆ getScanSize()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ hasIntensity()

◆ insertObservationInto()

◆ internal_buildAuxPointsMap()

◆ isPlanarScan()

◆ load()

◆ loadFromVectors()

◆ resizeScan()

◆ resizeScanAndAssign()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setScanHasIntensity()

◆ setScanIntensity()

◆ setScanRange()

◆ setScanRangeValidity()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ truncateByDistanceAndAngle()

◆ unload()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CObservation2DRangeScan

◆ aperture

◆ beamAperture

◆ className

◆ deltaPitch

◆ intensity

◆ m_cachedMap

◆ m_has_intensity

◆ m_intensity

◆ m_scan

◆ m_validRange