mrpt::hwdrivers::CSwissRanger3DCamera Class Reference

Detailed Description

A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).

NOTES:

• This class requires a vendor specific driver installed in the system in order to build MRPT with support for this sensor. Download and install the driver from: http://www.mesa-imaging.ch/drivers.php
• The intensity channel (grayscale image) is converted from 16bit to standard 8bit-per-pixel using a logarithmic, modified A-law compression. This allows exploiting the full dynamic range of the sensor and provides quite good results.

As with any other CGenericSensor class, the normal sequence of methods to be called is:

• loadConfig() - Or calls to the individual setXXX() to configure the camera parameters.
• initialize() - to init the comms with the camera
• call getNextObservation() for getting the frames.

This sensor can be also used from within rawlog-grabber.

   PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  -------------------------------------------------------
    [supplied_section_name]
     sensorLabel  = CAM3D         // A text description
     preview_window  = true       // Show a window with a preview of the
*grabbed data in real-time
 
     open_USB     = true          // false means ethernet (default: true)
     USB_serial   = 0x4000002f    // only for open_USB=true. If not set, the
*first camera will be open. Serial is the last part of S/N (e.g.  for the
*camera SN: 00-00-40-00-00-2F).
     IP_address   = 192.168.2.14  // only for open_USB=false. The IP of the
*camera.
 
     // Options for the data to save in each CObservation3DRangeScan
     save_3d            = true          // Save the 3D point cloud (default:
*true)
     save_range_img     = true          // Save the 2D range image (default:
*true)
     save_intensity_img = true          // Save the 2D intensity image
*(default:
*true)
     save_confidence    = true          // Save the estimated confidence 2D
*image
*(default: false)
 
     enable_img_hist_equal = false      // Enable intensity image histogram
*equalization (default: false)
     enable_median_filter  = true           // Enable median filter in range
*data
*(default: true)
     enable_mediancross_filter = false  // Enable median cross-filter
*(default:
*false)
     enable_conv_gray      = false      // Enable intensity image scale with
*range
*(default: false)
     enable_denoise_anf    = true           // Enable this noise filter
*(default:
*true)
 
     // Camera calibration parameters: See mrpt::img::TCamera
     //  If not provided, a set of default parameters for a SR4000 camera will
*be loaded.
     resolution = [176 144]
     cx         = 87.99958
     cy         = 68.99957
     fx         = 262.9201
     fy         = 262.9218
     dist       = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
 
     // For externaly stored images, the format of image files (default=jpg)
     //external_images_format  = jpg
     // (Only when external_images_format=jpg): Optional parameter to set the
*JPEG compression quality:
     //external_images_jpeg_quality = 95    // [1-100]. Default: 95
 
     pose_x=0.21    // Camera position in the robot (meters)
     pose_y=0
     pose_z=0.34
     pose_yaw=0 // Angles in degrees
     pose_pitch=0
     pose_roll=0

Definition at line 109 of file CSwissRanger3DCamera.h.

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...
using	Ptr = std::shared_ptr< CGenericSensor >
using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >
using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CSwissRanger3DCamera ()
	Default ctor. More...
	~CSwissRanger3DCamera () override
	Default ctor. More...
void	initialize () override
	Initializes the 3D camera - should be invoked after calling loadConfig() More...
void	doProcess () override
	To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations. More...
void	getNextObservation (mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...
bool	open ()
	return false on error - Called automatically from initialize(), no need normally for the user to call this. More...
void	close ()
bool	isOpen () const
	whether the camera is open and comms work ok. More...
size_t	rows () const
	Get the row count in the camera images, loaded automatically upon camera open(). More...
size_t	cols () const
	Get the col count in the camera images, loaded automatically upon camera open(). More...
unsigned int	getCameraSerialNumber () const
	Get the camera serial number, loaded automatically upon camera open(). More...
double	getMaxRange () const
	Returns the maximum camera range, as deduced from its operating frequency. More...
void	setPathForExternalImages (const std::string &directory) override
	Set the path where to save off-rawlog image files (this class DOES take into account this path). More...
bool	getMesaLibVersion (std::string &out_version) const
	Get the version of the MESA library. More...
virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0
TSensorState	getState () const
	The current state of the sensor. More...
double	getProcessRate () const
std::string	getSensorLabel () const
void	setSensorLabel (const std::string &sensorLabel)
void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...
bool	isVerboseEnabled () const
void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...
void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...
virtual void	setPathForExternalImages ([[maybe_unused]] const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
unsigned int	getExternalImageJPEGQuality () const
Capture configuration methods (apart from loadConfig)
void	setOpenFromUSB (bool USB)
	true: open from USB, false: open from ethernet. More...
bool	getOpenFromUSBMode () const
void	setOpenIPAddress (const std::string &IP)
std::string	getOpenIPAddress () const
void	setSave3D (bool save)
void	setSaveRangeImage (bool save)
void	setSaveIntensityImage (bool save)
void	setSaveConfidenceImage (bool save)
void	enableImageHistEqualization (bool enable)
bool	isEnabledImageHistEqualization () const
void	enableMedianFilter (bool enable)
bool	isEnabledMedianFilter () const
void	enableMedianCrossFilter (bool enable)
bool	isEnabledMedianCrossFilter () const
void	enableConvGray (bool enable)
bool	isEnabledConvGray () const
void	enableDenoiseANF (bool enable)
bool	isEnabledDenoiseANF () const
void	enablePreviewWindow (bool enable=true)
bool	isEnabledPreviewWindow () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...
static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...
static Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &section) override
	See the class documentation at the top for expected parameters. More...
void	internal_resendParamsToCamera () const
void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...
void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
mrpt::poses::CPose3D	m_sensorPoseOnRobot
bool	m_save_3d {true}
	Save the 3D point cloud (default: true) More...
bool	m_save_range_img {true}
	Save the 2D range image (default: true) More...
bool	m_save_intensity_img {true}
	Save the 2D intensity image (default: true) More...
bool	m_save_confidence {false}
	Save the estimated confidence 2D image (default: false) More...
bool	m_enable_img_hist_equal {false}
bool	m_enable_median_filter {true}
bool	m_enable_mediancross_filter {false}
bool	m_enable_conv_gray {false}
bool	m_enable_denoise_anf {true}
bool	m_open_from_usb {true}
	true: USB, false: ETH More...
size_t	m_usb_serial {0}
std::string	m_ip_address
size_t	m_rows {0}
	Size of camera images, set on open() More...
size_t	m_cols {0}
unsigned int	m_cam_serial_num {0}
	Serial number of the camera, set on open() More...
double	m_maxRange {5}
	Max range, as deducted from the camera frequency. More...
bool	m_preview_window {false}
	Show preview window while grabbing. More...
mrpt::gui::CDisplayWindow::Ptr	m_win_range
mrpt::gui::CDisplayWindow::Ptr	m_win_int
void *	m_cam
	opaque handler to SRCAM. More...
mrpt::img::TCamera	m_cameraParams
size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...
TSensorState	m_state {ssInitializing}
bool	m_verbose {false}
std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...
Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...
size_t	m_max_queue_len {200}
	See CGenericSensor. More...
size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
std::string	m_sensorLabel
	See CGenericSensor. More...

Member Typedef Documentation

Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also

CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

CSwissRanger3DCamera()

CSwissRanger3DCamera::CSwissRanger3DCamera

(

)

Default ctor.

Definition at line 45 of file CSwissRanger3DCamera.cpp.

References mrpt::img::TCamera::dist, mrpt::img::TCamera::intrinsicParams, m_cameraParams, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::img::TCamera::ncols, mrpt::img::TCamera::nrows, and THROW_EXCEPTION.

~CSwissRanger3DCamera()

CSwissRanger3DCamera::~CSwissRanger3DCamera ( )

override

Default ctor.

Definition at line 77 of file CSwissRanger3DCamera.cpp.

References close().

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Member Function Documentation

appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr &  obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > &  obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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close()

void CSwissRanger3DCamera::close

(

)

Definition at line 312 of file CSwissRanger3DCamera.cpp.

References m_cam.

Referenced by open(), and ~CSwissRanger3DCamera().

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cols()

size_t mrpt::hwdrivers::CSwissRanger3DCamera::cols ( ) const

inline

Get the col count in the camera images, loaded automatically upon camera open().

Definition at line 163 of file CSwissRanger3DCamera.h.

References m_cols.

createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string &  className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

  CGenericSensor::Ptr sensor = CGenericSensor::Ptr(
CGenericSensor::createSensor("XXX") );

Returns

A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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doProcess()

void CSwissRanger3DCamera::doProcess ( )

overridevirtual

To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.

This method will be invoked at a minimum rate of "process_rate" (Hz)

This method is mainly intended for usage within rawlog-grabber or similar programs. For an alternative, see getNextObservation()

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

See also

getNextObservation

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 128 of file CSwissRanger3DCamera.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), getNextObservation(), mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

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enableConvGray()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableConvGray ( bool  enable )

inline

Definition at line 219 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_conv_gray.

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enableDenoiseANF()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableDenoiseANF ( bool  enable )

inline

Definition at line 225 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_denoise_anf.

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enableImageHistEqualization()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableImageHistEqualization ( bool  enable )

inline

Definition at line 194 of file CSwissRanger3DCamera.h.

References m_enable_img_hist_equal.

enableMedianCrossFilter()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianCrossFilter ( bool  enable )

inline

Definition at line 209 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_mediancross_filter.

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enableMedianFilter()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianFilter ( bool  enable )

inline

Definition at line 203 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_median_filter.

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enablePreviewWindow()

void mrpt::hwdrivers::CSwissRanger3DCamera::enablePreviewWindow ( bool  enable = true )

inline

Definition at line 231 of file CSwissRanger3DCamera.h.

References m_preview_window.

enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

getCameraSerialNumber()

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::getCameraSerialNumber ( ) const

inline

Get the camera serial number, loaded automatically upon camera open().

Definition at line 166 of file CSwissRanger3DCamera.h.

References m_cam_serial_num.

getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

getMaxRange()

double mrpt::hwdrivers::CSwissRanger3DCamera::getMaxRange ( ) const

inline

Returns the maximum camera range, as deduced from its operating frequency.

Definition at line 169 of file CSwissRanger3DCamera.h.

References m_maxRange.

getMesaLibVersion()

bool CSwissRanger3DCamera::getMesaLibVersion

(

std::string &

out_version

)

const

Get the version of the MESA library.

Returns

false on error

Definition at line 218 of file CSwissRanger3DCamera.cpp.

References mrpt::format().

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getNextObservation()

void CSwissRanger3DCamera::getNextObservation	(	mrpt::obs::CObservation3DRangeScan &	out_obs,
		bool &	there_is_obs,
		bool &	hardware_error
	)

The main data retrieving function, to be called after calling loadConfig() and initialize().

Parameters

out_obs	The output retrieved observation (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.

See also

doProcess

Definition at line 347 of file CSwissRanger3DCamera.cpp.

References ASSERT_, mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::gui::CDisplayWindow::Create(), do_init_table_16u_to_8u(), mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::obs::CObservation3DRangeScan::hasConfidenceImage, mrpt::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasPoints3D, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::obs::CObservation3DRangeScan::intensityImage, m_cam, m_cameraParams, m_enable_img_hist_equal, mrpt::hwdrivers::CGenericSensor::m_external_images_format, mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality, m_maxRange, mrpt::hwdrivers::CGenericSensor::m_path_for_external_images, m_preview_window, m_save_3d, m_save_confidence, m_save_intensity_img, m_save_range_img, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPoseOnRobot, m_win_int, m_win_range, mrpt::obs::CObservation3DRangeScan::maxRange, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeUnits, mrpt::img::CImage::resize(), mrpt::img::CImage::saveToFile(), mrpt::img::TCamera::scaleToResolution(), mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::img::CImage::setExternalStorage(), mrpt::img::CImage::setFromMatrix(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::obs::CObservation3DRangeScan::stdError, table_16u_to_8u, table_16u_to_8u_init, mrpt::obs::CObservation::timestamp, mrpt::system::timestampTotime_t(), and trim().

Referenced by doProcess().

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getObservations()

void CGenericSensor::getObservations ( TListObservations &  lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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getOpenFromUSBMode()

bool mrpt::hwdrivers::CSwissRanger3DCamera::getOpenFromUSBMode ( ) const

inline

Definition at line 184 of file CSwissRanger3DCamera.h.

References m_open_from_usb.

getOpenIPAddress()

std::string mrpt::hwdrivers::CSwissRanger3DCamera::getOpenIPAddress ( ) const

inline

Definition at line 186 of file CSwissRanger3DCamera.h.

References m_ip_address.

getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

initialize()

void CSwissRanger3DCamera::initialize ( )

overridevirtual

Initializes the 3D camera - should be invoked after calling loadConfig()

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 119 of file CSwissRanger3DCamera.cpp.

References open(), and THROW_EXCEPTION.

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internal_resendParamsToCamera()

void CSwissRanger3DCamera::internal_resendParamsToCamera ( ) const

protected

Definition at line 320 of file CSwissRanger3DCamera.cpp.

References isOpen(), m_cam, m_enable_conv_gray, m_enable_denoise_anf, m_enable_median_filter, m_enable_mediancross_filter, and m_save_confidence.

Referenced by enableConvGray(), enableDenoiseANF(), enableMedianCrossFilter(), enableMedianFilter(), and open().

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isEnabledConvGray()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledConvGray ( ) const

inline

Definition at line 224 of file CSwissRanger3DCamera.h.

References m_enable_conv_gray.

isEnabledDenoiseANF()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledDenoiseANF ( ) const

inline

Definition at line 230 of file CSwissRanger3DCamera.h.

References m_enable_denoise_anf.

isEnabledImageHistEqualization()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledImageHistEqualization ( ) const

inline

Definition at line 198 of file CSwissRanger3DCamera.h.

References m_enable_img_hist_equal.

isEnabledMedianCrossFilter()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianCrossFilter ( ) const

inline

Definition at line 214 of file CSwissRanger3DCamera.h.

References m_enable_mediancross_filter.

isEnabledMedianFilter()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianFilter ( ) const

inline

Definition at line 208 of file CSwissRanger3DCamera.h.

References m_enable_median_filter.

isEnabledPreviewWindow()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledPreviewWindow ( ) const

inline

Definition at line 235 of file CSwissRanger3DCamera.h.

References m_preview_window.

isOpen()

bool CSwissRanger3DCamera::isOpen

(

)

const

whether the camera is open and comms work ok.

To be called after initialize()

Definition at line 233 of file CSwissRanger3DCamera.cpp.

References m_cam.

Referenced by internal_resendParamsToCamera(), and open().

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isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

loadConfig()

void CGenericSensor::loadConfig ( const mrpt::config::CConfigFileBase &  cfg, const std::string &  sect  )

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

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loadConfig_sensorSpecific()

void CSwissRanger3DCamera::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase &  configSource, const std::string &  iniSection  )

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes)

Exceptions

This	method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 159 of file CSwissRanger3DCamera.cpp.

References mrpt::DEG2RAD(), mrpt::img::TCamera::loadFromConfigFile(), m_cameraParams, m_enable_conv_gray, m_enable_denoise_anf, m_enable_img_hist_equal, m_enable_median_filter, m_enable_mediancross_filter, mrpt::hwdrivers::CGenericSensor::m_external_images_format, mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality, m_ip_address, m_open_from_usb, m_preview_window, m_save_3d, m_save_confidence, m_save_intensity_img, m_save_range_img, m_sensorPoseOnRobot, m_usb_serial, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::config::CConfigFileBase::read_uint64_t(), mrpt::poses::CPose3D::setFromValues(), and mrpt::system::trim().

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open()

bool CSwissRanger3DCamera::open

(

)

return false on error - Called automatically from initialize(), no need normally for the user to call this.

Definition at line 234 of file CSwissRanger3DCamera.cpp.

References close(), internal_resendParamsToCamera(), isOpen(), m_cam, m_cam_serial_num, m_cols, m_ip_address, m_maxRange, m_open_from_usb, m_rows, and m_usb_serial.

Referenced by initialize().

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registerClass()

void CGenericSensor::registerClass ( const TSensorClassId *  pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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rows()

size_t mrpt::hwdrivers::CSwissRanger3DCamera::rows ( ) const

inline

Get the row count in the camera images, loaded automatically upon camera open().

Definition at line 160 of file CSwissRanger3DCamera.h.

References m_rows.

setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also

setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also

setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

setOpenFromUSB()

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenFromUSB ( bool  USB )

inline

true: open from USB, false: open from ethernet.

Definition at line 183 of file CSwissRanger3DCamera.h.

References m_open_from_usb.

setOpenIPAddress()

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenIPAddress ( const std::string &  IP )

inline

Definition at line 185 of file CSwissRanger3DCamera.h.

References m_ip_address.

setPathForExternalImages() [1/2]

void CSwissRanger3DCamera::setPathForExternalImages ( const std::string &  directory )

override

Set the path where to save off-rawlog image files (this class DOES take into account this path).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception

If the directory doesn't exists and cannot be created.

Definition at line 590 of file CSwissRanger3DCamera.cpp.

References mrpt::system::createDirectory(), mrpt::hwdrivers::CGenericSensor::m_path_for_external_images, and THROW_EXCEPTION_FMT.

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setPathForExternalImages() [2/2]

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string &  directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception

If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

setSave3D()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSave3D ( bool  save )

inline

Definition at line 187 of file CSwissRanger3DCamera.h.

References m_save_3d.

setSaveConfidenceImage()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveConfidenceImage ( bool  save )

inline

Definition at line 193 of file CSwissRanger3DCamera.h.

References m_save_confidence.

setSaveIntensityImage()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveIntensityImage ( bool  save )

inline

Definition at line 189 of file CSwissRanger3DCamera.h.

References m_save_intensity_img.

setSaveRangeImage()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveRangeImage ( bool  save )

inline

Definition at line 188 of file CSwissRanger3DCamera.h.

References m_save_range_img.

setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

Member Data Documentation

m_cam

void* mrpt::hwdrivers::CSwissRanger3DCamera::m_cam

protected

opaque handler to SRCAM.

nullptr means it's not open yet.

Definition at line 287 of file CSwissRanger3DCamera.h.

Referenced by close(), getNextObservation(), internal_resendParamsToCamera(), isOpen(), and open().

m_cam_serial_num

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::m_cam_serial_num {0}

protected

Serial number of the camera, set on open()

Definition at line 278 of file CSwissRanger3DCamera.h.

Referenced by getCameraSerialNumber(), and open().

m_cameraParams

mrpt::img::TCamera mrpt::hwdrivers::CSwissRanger3DCamera::m_cameraParams

protected

Definition at line 289 of file CSwissRanger3DCamera.h.

Referenced by CSwissRanger3DCamera(), getNextObservation(), and loadConfig_sensorSpecific().

m_cols

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_cols {0}

protected

Definition at line 276 of file CSwissRanger3DCamera.h.

Referenced by cols(), and open().

m_enable_conv_gray

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_conv_gray {false}

protected

Definition at line 267 of file CSwissRanger3DCamera.h.

Referenced by enableConvGray(), internal_resendParamsToCamera(), isEnabledConvGray(), and loadConfig_sensorSpecific().

m_enable_denoise_anf

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_denoise_anf {true}

protected

Definition at line 268 of file CSwissRanger3DCamera.h.

Referenced by enableDenoiseANF(), internal_resendParamsToCamera(), isEnabledDenoiseANF(), and loadConfig_sensorSpecific().

m_enable_img_hist_equal

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_img_hist_equal {false}

protected

Definition at line 264 of file CSwissRanger3DCamera.h.

Referenced by enableImageHistEqualization(), getNextObservation(), isEnabledImageHistEqualization(), and loadConfig_sensorSpecific().

m_enable_median_filter

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_median_filter {true}

protected

Definition at line 265 of file CSwissRanger3DCamera.h.

Referenced by enableMedianFilter(), internal_resendParamsToCamera(), isEnabledMedianFilter(), and loadConfig_sensorSpecific().

m_enable_mediancross_filter

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_mediancross_filter {false}

protected

Definition at line 266 of file CSwissRanger3DCamera.h.

Referenced by enableMedianCrossFilter(), internal_resendParamsToCamera(), isEnabledMedianCrossFilter(), and loadConfig_sensorSpecific().

m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also

setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), getNextObservation(), loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

m_ip_address

std::string mrpt::hwdrivers::CSwissRanger3DCamera::m_ip_address

protected

Definition at line 273 of file CSwissRanger3DCamera.h.

Referenced by getOpenIPAddress(), loadConfig_sensorSpecific(), open(), and setOpenIPAddress().

m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

m_maxRange

double mrpt::hwdrivers::CSwissRanger3DCamera::m_maxRange {5}

protected

Max range, as deducted from the camera frequency.

Definition at line 280 of file CSwissRanger3DCamera.h.

Referenced by getMaxRange(), getNextObservation(), and open().

m_open_from_usb

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_open_from_usb {true}

protected

true: USB, false: ETH

Definition at line 271 of file CSwissRanger3DCamera.h.

Referenced by getOpenFromUSBMode(), loadConfig_sensorSpecific(), open(), and setOpenFromUSB().

m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by getNextObservation(), and setPathForExternalImages().

m_preview_window

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_preview_window {false}

protected

Show preview window while grabbing.

Definition at line 283 of file CSwissRanger3DCamera.h.

Referenced by enablePreviewWindow(), getNextObservation(), isEnabledPreviewWindow(), and loadConfig_sensorSpecific().

m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

m_rows

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_rows {0}

protected

Size of camera images, set on open()

Definition at line 276 of file CSwissRanger3DCamera.h.

Referenced by open(), and rows().

m_save_3d

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_3d {true}

protected

Save the 3D point cloud (default: true)

Definition at line 256 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and setSave3D().

m_save_confidence

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_confidence {false}

protected

Save the estimated confidence 2D image (default: false)

Definition at line 262 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), internal_resendParamsToCamera(), loadConfig_sensorSpecific(), and setSaveConfidenceImage().

m_save_intensity_img

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_intensity_img {true}

protected

Save the 2D intensity image (default: true)

Definition at line 260 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and setSaveIntensityImage().

m_save_range_img

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_range_img {true}

protected

Save the 2D range image (default: true)

Definition at line 258 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and setSaveRangeImage().

m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::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(), getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

m_sensorPoseOnRobot

mrpt::poses::CPose3D mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorPoseOnRobot

protected

Definition at line 253 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getState(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), and mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ().

m_usb_serial

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_usb_serial {0}

protected

Definition at line 272 of file CSwissRanger3DCamera.h.

Referenced by loadConfig_sensorSpecific(), and open().

m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CGenericSensor::enableVerbose(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGenericSensor::isVerboseEnabled(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().

m_win_int

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_int

protected

Definition at line 284 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation().

m_win_range

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_range

protected

Definition at line 284 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation().