mrpt::obs::CObservationVelodyneScan Class Reference

Detailed Description

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

A scan comprises one or more "velodyne packets" (refer to Velodyne user manual). Normally, a full 360 degrees sweep is included in one observation object. Note that if a pointcloud is generated inside this class, each point is annotated with per-point information about its exact azimuth and laser_id (ring number), an information that is loss when inserting the observation in a regular mrpt::maps::CPointsMap.

Main data fields:

---

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

Dual return mode is supported (see mrpt::hwdrivers::CVelodyneScanner).

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

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

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

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

• CObservationVelodyneScan::generatePointCloudAlongSE3Trajectory()

Note that this object has two timestamp fields:

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

Note

New in MRPT 1.4.0

See also

CObservation, mrpt::maps::CPointsMap, mrpt::hwdrivers::CVelodyneScanner

Definition at line 81 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Inheritance diagram for mrpt::obs::CObservationVelodyneScan:

Classes
struct	laser_return_t
struct	PointCloudStorageWrapper
	Derive from this class to generate pointclouds into custom containers. More...
struct	raw_block_t
	Raw Velodyne data block. More...
struct	TGeneratePointCloudParameters
struct	TGeneratePointCloudSE3Results
	Results for generatePointCloudAlongSE3Trajectory() More...
struct	TPointCloud
	See point_cloud and scan_packets. More...
struct	TVelodynePositionPacket
	Payload of one POSITION packet. More...
struct	TVelodyneRawPacket
	One unit of data from the scanner (the payload of one UDP DATA packet) More...

Public Member Functions
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...
void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=nullptr) const
	This method is equivalent to: More...
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...
std::string	getDescriptionAsTextValue () const
	Return by value version of getDescriptionAsText(std::ostream&) More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
Related to conversion to 3D point cloud
void	generatePointCloud (const TGeneratePointCloudParameters &params=TGeneratePointCloudParameters())
	Generates the point cloud into the point cloud data fields in CObservationVelodyneScan::point_cloud where it is stored in local coordinates wrt the sensor (neither the vehicle nor the world). More...
void	generatePointCloud (PointCloudStorageWrapper &dest, const TGeneratePointCloudParameters &params=TGeneratePointCloudParameters())
void	generatePointCloudAlongSE3Trajectory (const mrpt::poses::CPose3DInterpolator &vehicle_path, std::vector< mrpt::math::TPointXYZIu8 > &out_points, TGeneratePointCloudSE3Results &results_stats, const TGeneratePointCloudParameters &params=TGeneratePointCloudParameters())
	An alternative to generatePointCloud() for cases where the motion of the sensor as it grabs one scan (360 deg horiz FOV) cannot be ignored. More...
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...

Static Public Attributes
Raw scan fixed parameters
static const int	SIZE_BLOCK = 100
static const int	RAW_SCAN_SIZE = 3
static const int	SCANS_PER_BLOCK = 32
static const int	BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const uint16_t	ROTATION_MAX_UNITS
	hundredths of degrees More...
static constexpr float	ROTATION_RESOLUTION = 0.01f
	degrees More...
static constexpr float	DISTANCE_MAX = 130.0f
	meters More...
static constexpr float	DISTANCE_RESOLUTION = 0.002f
	meters More...
static const uint16_t	UPPER_BANK = 0xeeff
	Blocks 0-31. More...
static const uint16_t	LOWER_BANK = 0xddff
	Blocks 32-63. More...
static const int	SCANS_PER_FIRING = 16
static const int	PACKET_SIZE = 1206
static const int	POS_PACKET_SIZE = 512
static const int	BLOCKS_PER_PACKET = 12
static const int	PACKET_STATUS_SIZE = 4
static const int	SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const uint8_t	RETMODE_STRONGEST = 0x37
static const uint8_t	RETMODE_LAST = 0x38
static const uint8_t	RETMODE_DUAL = 0x39

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...

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...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CObservationVelodyneScan >
using	ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationVelodyneScan >
using	UniquePtr = std::unique_ptr< mrpt::obs ::CObservationVelodyneScan >
using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationVelodyneScan >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::obs" "::" "CObservationVelodyneScan"
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
double	minRange {1.0}
	The maximum range allowed by the device, in meters (e.g. More...
double	maxRange {130.0}
mrpt::poses::CPose3D	sensorPose
	The 6D pose of the sensor on the robot/vehicle frame of reference. More...
std::vector< TVelodyneRawPacket >	scan_packets
	The main content of this object: raw data packet from the LIDAR. More...
mrpt::obs::VelodyneCalibration	calibration
	The calibration data for the LIDAR device. More...
mrpt::system::TTimeStamp	originalReceivedTimestamp {INVALID_TIMESTAMP}
	The local computer-based timestamp based on the reception of the message in the computer. More...
bool	has_satellite_timestamp {false}
	If true, CObservation::timestamp has been generated from accurate satellite clock. More...
TPointCloud	point_cloud
	Optionally, raw data can be converted into a 3D point cloud (local coordinates wrt the sensor, not the vehicle) with intensity (graylevel) information. More...
mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const override
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

Member Typedef Documentation

ConstPtr

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

Definition at line 83 of file CObservationVelodyneScan.h.

ConstUniquePtr

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

Definition at line 83 of file CObservationVelodyneScan.h.

Ptr

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

A type for the associated smart pointer

Definition at line 83 of file CObservationVelodyneScan.h.

UniquePtr

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

Definition at line 83 of file CObservationVelodyneScan.h.

Member Function Documentation

_GetBaseClass()

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

staticprotected

clone()

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

inlinestatic

Definition at line 83 of file CObservationVelodyneScan.h.

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

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CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 83 of file CObservationVelodyneScan.h.

CreateObject()

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

static

CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 83 of file CObservationVelodyneScan.h.

duplicateGetSmartPtr()

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

inlineinherited

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

Definition at line 204 of file CObject.h.

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

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

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generatePointCloud() [1/2]

void Velo::generatePointCloud

(

const TGeneratePointCloudParameters &

params = TGeneratePointCloudParameters()

)

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

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

Note

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

See also

generatePointCloudAlongSE3Trajectory(), TGeneratePointCloudParameters

Definition at line 431 of file CObservationVelodyneScan.cpp.

References mrpt::obs::CObservationVelodyneScan::TPointCloud::azimuth, mrpt::obs::gnss::azimuth, mrpt::obs::CObservationVelodyneScan::TPointCloud::clear(), mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointAzimuth, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointTimestamp, mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePointsForLaserID, mrpt::obs::CObservationVelodyneScan::TPointCloud::intensity, mrpt::obs::CObservationVelodyneScan::TPointCloud::laser_id, params, point_cloud, mrpt::obs::CObservationVelodyneScan::TPointCloud::pointsForLaserID, mrpt::obs::CObservationVelodyneScan::TPointCloud::reserve(), ROTATION_MAX_UNITS, mrpt::round(), mrpt::obs::CObservationVelodyneScan::TPointCloud::timestamp, mrpt::obs::CObservationVelodyneScan::TPointCloud::x, mrpt::obs::CObservationVelodyneScan::TPointCloud::y, and mrpt::obs::CObservationVelodyneScan::TPointCloud::z.

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), and mrpt::maps::CPointsMap::internal_insertObservation().

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generatePointCloud() [2/2]

void Velo::generatePointCloud	(	PointCloudStorageWrapper &	dest,
		const TGeneratePointCloudParameters &	params = TGeneratePointCloudParameters()
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 425 of file CObservationVelodyneScan.cpp.

References params, and velodyne_scan_to_pointcloud().

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generatePointCloudAlongSE3Trajectory()

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

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

Parameters

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

See also

generatePointCloud(), TGeneratePointCloudParameters

Definition at line 495 of file CObservationVelodyneScan.cpp.

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

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getClassName()

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

inlinestatic

Definition at line 83 of file CObservationVelodyneScan.h.

getDescriptionAsText()

void Velo::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 114 of file CObservationVelodyneScan.cpp.

References mrpt::format().

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getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const

inherited

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

Definition at line 59 of file CObservation.cpp.

getOriginalReceivedTimeStamp()

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

overridevirtual

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also

getTimeStamp()

Reimplemented from mrpt::obs::CObservation.

Definition at line 38 of file CObservationVelodyneScan.cpp.

GetRuntimeClass()

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

static

getSensorPose() [1/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D &  out_sensorPose ) const

inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

setSensorPose

Definition at line 24 of file CObservation.cpp.

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

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getSensorPose() [2/2]

void mrpt::obs::CObservationVelodyneScan::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 389 of file CObservationVelodyneScan.h.

References sensorPose.

getTimeStamp()

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

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 66 of file CObservation.h.

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

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = nullptr  ) const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns

Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 99 of file CObservation.h.

load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also

unload

Reimplemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationImage, and mrpt::obs::CObservationPointCloud.

Definition at line 157 of file CObservation.h.

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

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serializeFrom() [1/2]

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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serializeFrom() [2/2]

void Velo::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 66 of file CObservationVelodyneScan.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadBuffer().

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serializeGetVersion()

uint8_t Velo::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 43 of file CObservationVelodyneScan.cpp.

serializeTo() [1/2]

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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serializeTo() [2/2]

void Velo::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 44 of file CObservationVelodyneScan.cpp.

References out.

setSensorPose() [1/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D &  newSensorPose )

inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

getSensorPose

Definition at line 31 of file CObservation.cpp.

setSensorPose() [2/2]

void mrpt::obs::CObservationVelodyneScan::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 393 of file CObservationVelodyneScan.h.

References sensorPose.

swap()

void CObservation::swap ( CObservation &  o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation.

It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 36 of file CObservation.cpp.

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

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

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unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also

load

Reimplemented in mrpt::obs::CObservation3DRangeScan, and mrpt::obs::CObservationPointCloud.

Definition at line 164 of file CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

BLOCK_DATA_SIZE

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

static

Definition at line 91 of file CObservationVelodyneScan.h.

BLOCKS_PER_PACKET

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

static

Definition at line 109 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

calibration

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

The calibration data for the LIDAR device.

See mrpt::hwdrivers::CVelodyneScanner and mrpt::obs::VelodyneCalibration for details.

Definition at line 216 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

className

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

static

Definition at line 83 of file CObservationVelodyneScan.h.

DISTANCE_MAX

constexpr float mrpt::obs::CObservationVelodyneScan::DISTANCE_MAX = 130.0f

static

meters

Definition at line 97 of file CObservationVelodyneScan.h.

DISTANCE_RESOLUTION

constexpr float mrpt::obs::CObservationVelodyneScan::DISTANCE_RESOLUTION = 0.002f

static

meters

Definition at line 98 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

has_satellite_timestamp

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

If true, CObservation::timestamp has been generated from accurate satellite clock.

Otherwise, no GPS data is available and timestamps are based on the local computer clock.

Definition at line 225 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne().

LOWER_BANK

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

static

Blocks 32-63.

Definition at line 103 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

maxRange

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

Definition at line 207 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

minRange

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

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

100m). Stored here by the driver while capturing based on the sensor model.

Definition at line 207 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

originalReceivedTimestamp

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

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

See also

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

Definition at line 221 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne().

PACKET_SIZE

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

static

Definition at line 107 of file CObservationVelodyneScan.h.

PACKET_STATUS_SIZE

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

static

Definition at line 110 of file CObservationVelodyneScan.h.

point_cloud

TPointCloud mrpt::obs::CObservationVelodyneScan::point_cloud

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

See axes convention in mrpt::obs::CObservationVelodyneScan

See also

generatePointCloud()

Definition at line 263 of file CObservationVelodyneScan.h.

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

POS_PACKET_SIZE

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

static

Definition at line 108 of file CObservationVelodyneScan.h.

RAW_SCAN_SIZE

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

static

Definition at line 89 of file CObservationVelodyneScan.h.

RETMODE_DUAL

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

static

Definition at line 115 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

RETMODE_LAST

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

static

Definition at line 114 of file CObservationVelodyneScan.h.

RETMODE_STRONGEST

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

static

Definition at line 113 of file CObservationVelodyneScan.h.

ROTATION_MAX_UNITS

const uint16_t mrpt::obs::CObservationVelodyneScan::ROTATION_MAX_UNITS

static

Initial value:

=
        36000

hundredths of degrees

Definition at line 93 of file CObservationVelodyneScan.h.

Referenced by generatePointCloud(), and velodyne_scan_to_pointcloud().

ROTATION_RESOLUTION

constexpr float mrpt::obs::CObservationVelodyneScan::ROTATION_RESOLUTION = 0.01f

static

degrees

Definition at line 96 of file CObservationVelodyneScan.h.

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationVelodyneScan::runtimeClassId

staticprotected

Definition at line 83 of file CObservationVelodyneScan.h.

scan_packets

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

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

See also

point_cloud

Definition at line 212 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

SCANS_PER_BLOCK

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

static

Definition at line 90 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

SCANS_PER_FIRING

const int mrpt::obs::CObservationVelodyneScan::SCANS_PER_FIRING = 16

static

Definition at line 105 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), and velodyne_scan_to_pointcloud().

SCANS_PER_PACKET

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

static

Definition at line 111 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne().

sensorLabel

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

inherited

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

Definition at line 62 of file CObservation.h.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation::swap(), and mrpt::ros1bridge::toROS().

sensorPose

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

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

Definition at line 209 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationRotatingScan::fromVelodyne(), generatePointCloudAlongSE3Trajectory(), getSensorPose(), mrpt::maps::CPointsMap::loadFromVelodyneScan(), and setSensorPose().

SIZE_BLOCK

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

static

Definition at line 88 of file CObservationVelodyneScan.h.

timestamp

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

inherited

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 60 of file CObservation.h.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::ros1bridge::fromROS(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::obs::CObservation::getOriginalReceivedTimeStamp(), mrpt::obs::CObservation::getTimeStamp(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::ros1bridge::toROS(), and velodyne_scan_to_pointcloud().

UPPER_BANK

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

static

Blocks 0-31.

Definition at line 101 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().