Detailed Description

Observation classes for all kinds of robot sensors.

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Library `mrpt-obs`

This library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-obs-dev

See: Using MRPT from your CMake project

Key concepts:

Sensor observations: All sensor observations share a common virtual base class (mrpt::obs::CObservation). There are classes to store laser scanners, 3D range images, monocular and stereo images, GPS data, odometry, etc. A concept very related to observations is a mrpt::obs::CSensoryFrame, a set of observations which were collected approximately at the same instant.

Rawlogs (datasets): A robotics dataset can be loaded, edited and explored by means of the class mrpt::obs::CRawlog. See also: https://www.mrpt.org/Rawlog_Format

Actions: For convenience in many Bayesian filtering algorithms, robot actions (like 2D displacement characterized by an odometry increment) can be represented by means of "actions". See mrpt::obs::CAction.

"Simple maps": In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above). The advantage of maintaining such a "simple map" instead a metric map is that the metric maps can be rebuilt when needed with different parameters from the raw observations, which are never lost.

CARMEN logs tools: Utilities to read from CARMEN log files and load the observations there as MRPT observations. See mrpt::obs::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap.

See the list of classes in mrpt::obs

Classes
class	mrpt::obs::CObservationRotatingScan
	A `CObservation`-derived class for raw range data from a 2D or 3D rotating scanner. More...

class	mrpt::maps::CMetricMap
	Declares a virtual base class for all metric maps storage classes. More...

class	mrpt::maps::mrptEventMetricMapClear
	Event emitted by a metric up upon call of clear() More...

class	mrpt::maps::mrptEventMetricMapInsert
	Event emitted by a metric up upon a succesful call to insertObservation() More...

class	mrpt::maps::CSimpleMap
	This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More...

struct	mrpt::maps::TMetricMapInitializer
	Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See `mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile()` as an easy way of initialize this object, or construct with the factory methods `<metric_map_class>::MapDefinition()` and `TMetricMapInitializer::factory()` More...

class	mrpt::maps::TSetOfMetricMapInitializers
	A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. More...

class	mrpt::obs::CAction
	Declares a class for storing a robot action. More...

class	mrpt::obs::CActionCollection
	Declares a class for storing a collection of robot actions. More...

class	mrpt::obs::CActionRobotMovement2D
	Represents a probabilistic 2D movement of the robot mobile base. More...

class	mrpt::obs::CActionRobotMovement3D
	Represents a probabilistic 3D (6D) movement. More...

class	mrpt::obs::CObservation
	Declares a class that represents any robot's observation. More...

class	mrpt::obs::CObservation2DRangeScan
	A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...

class	mrpt::obs::CObservation3DRangeScan
	A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light depth RGBD sensor. More...

class	mrpt::obs::CObservation6DFeatures
	An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor. More...

class	mrpt::obs::CObservationBatteryState
	This represents a measurement of the batteries on the robot. More...

class	mrpt::obs::CObservationBeaconRanges
	Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...

class	mrpt::obs::CObservationBearingRange
	This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...

class	mrpt::obs::CObservationCANBusJ1939
	This class stores a message from a CAN BUS with the protocol J1939. More...

class	mrpt::obs::CObservationComment
	This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More...

class	mrpt::obs::CObservationGasSensors
	Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...

class	mrpt::obs::CObservationGPS
	This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receivers to Novatel/Topcon/... More...

class	mrpt::obs::CObservationImage
	Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More...

class	mrpt::obs::CObservationIMU
	This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More...

class	mrpt::obs::CObservationOdometry
	An observation of the current (cumulative) odometry for a wheeled robot. More...

class	mrpt::obs::CObservationRange
	Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...

class	mrpt::obs::CObservationRawDAQ
	Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More...

class	mrpt::obs::CObservationReflectivity
	Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More...

class	mrpt::obs::CObservationRFID
	This represents one or more RFID tags observed by a receiver. More...

class	mrpt::obs::CObservationRGBD360
	Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors. More...

class	mrpt::obs::CObservationRobotPose
	An observation providing an alternative robot pose from an external source. More...

class	mrpt::obs::CObservationSkeleton
	This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors. More...

class	mrpt::obs::CObservationStereoImages
	Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...

class	mrpt::obs::CObservationStereoImagesFeatures
	Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More...

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

class	mrpt::obs::CObservationWindSensor
	Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More...

class	mrpt::obs::CObservationWirelessPower
	This represents a measurement of the wireless strength perceived by the robot. More...

class	mrpt::obs::CRawlog
	This class stores a rawlog (robotic datasets) in one of two possible formats: More...

class	mrpt::obs::CSensoryFrame
	Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. More...

class	mrpt::obs::CSinCosLookUpTableFor2DScans
	A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More...

struct	mrpt::obs::T2DScanProperties
	Auxiliary struct that holds all the relevant geometry information about a 2D scan. More...

struct	mrpt::obs::T3DPointsProjectionParams
	Used in CObservation3DRangeScan::unprojectInto() More...

struct	mrpt::obs::T3DPointsTo2DScanParams
	Used in CObservation3DRangeScan::convertTo2DScan() More...

struct	mrpt::obs::TPixelLabelInfoBase
	Virtual interface to all pixel-label semantic information structs. More...

struct	mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >
	Pixel-wise semantic label struct. More...

struct	mrpt::obs::VelodyneCalibration
	Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan. More...

Namespaces
	mrpt::obs::stock_observations
	A few stock observations for easy reuse in unit tests, examples, etc.

Macros
#define	INVALID_BEACON_ID (-1)
	Used for CObservationBeaconRange, CBeacon, etc. More...

#define	INVALID_LANDMARK_ID (-1)
	Used for CObservationBearingRange::TMeasurement::beaconID and others. More...

Enumerations
enum	mrpt::obs::TIMUDataIndex { mrpt::obs::IMU_X_ACC = 0, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_Z_ACC, mrpt::obs::IMU_YAW_VEL, mrpt::obs::IMU_WZ = IMU_YAW_VEL, mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_WY = IMU_PITCH_VEL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_WX = IMU_ROLL_VEL, mrpt::obs::IMU_X_VEL, mrpt::obs::IMU_Y_VEL, mrpt::obs::IMU_Z_VEL, mrpt::obs::IMU_YAW, mrpt::obs::IMU_PITCH, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_X, mrpt::obs::IMU_Y, mrpt::obs::IMU_Z, mrpt::obs::IMU_MAG_X, mrpt::obs::IMU_MAG_Y, mrpt::obs::IMU_MAG_Z, mrpt::obs::IMU_PRESSURE, mrpt::obs::IMU_ALTITUDE, mrpt::obs::IMU_TEMPERATURE, mrpt::obs::IMU_ORI_QUAT_X, mrpt::obs::IMU_ORI_QUAT_Y, mrpt::obs::IMU_ORI_QUAT_Z, mrpt::obs::IMU_ORI_QUAT_W, mrpt::obs::IMU_YAW_VEL_GLOBAL, mrpt::obs::IMU_PITCH_VEL_GLOBAL, mrpt::obs::IMU_ROLL_VEL_GLOBAL, mrpt::obs::IMU_X_ACC_GLOBAL, mrpt::obs::IMU_Y_ACC_GLOBAL, mrpt::obs::IMU_Z_ACC_GLOBAL, mrpt::obs::COUNT_IMU_DATA_FIELDS }
	Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU) More...

Functions
bool	mrpt::obs::carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::obs::CObservation::Ptr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)
	Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More...

template<class OBSERVATION_T >
OBSERVATION_T::Ptr	mrpt::obs::utils::getObservation (mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation, bool priority_to_sf=true)
	Given an mrpt::obs::CSensoryFrame and a mrpt::obs::CObservation pointer if a OBSERVATION_T type observation is included and return a pointer to that instance. More...

void	mrpt::obs::stock_observations::example2DRangeScan (mrpt::obs::CObservation2DRangeScan &s, int i=0)
	Example 2D lidar scans (form a venerable SICK LMS200). More...

void	mrpt::obs::stock_observations::exampleImage (mrpt::img::CImage &im, int i=0)
	Example images (an 800x640 image pair from a Bumblebee 1) Implemented indices: 0,1. More...

Macro Definition Documentation

◆ INVALID_BEACON_ID

#define INVALID_BEACON_ID (-1)

Used for CObservationBeaconRange, CBeacon, etc.

Definition at line 23 of file CObservation.h.

Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

◆ INVALID_LANDMARK_ID

#define INVALID_LANDMARK_ID (-1)

Used for CObservationBearingRange::TMeasurement::beaconID and others.

Definition at line 27 of file CObservation.h.

Referenced by mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::obs::CObservationBearingRange::serializeFrom(), mrpt::obs::CObservationBearingRange::serializeTo(), and mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

Enumeration Type Documentation

◆ TIMUDataIndex

enum mrpt::obs::TIMUDataIndex

Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)

Enumerator
IMU_X_ACC	x-axis acceleration (local/vehicle frame) (m/sec²)
IMU_Y_ACC	y-axis acceleration (local/vehicle frame) (m/sec²)
IMU_Z_ACC	z-axis acceleration (local/vehicle frame) (m/sec²)
IMU_YAW_VEL	yaw angular velocity (local/vehicle frame) (rad/sec)
IMU_WZ	angular velocity - z (local/vehicle frame) (rad/sec)
IMU_PITCH_VEL	pitch angular velocity (local/vehicle frame) (rad/sec)
IMU_WY	angular velocity - y (local/vehicle frame) (rad/sec)
IMU_ROLL_VEL	roll angular velocity (local/vehicle frame) (rad/sec)
IMU_WX	angular velocity - x (local/vehicle frame) (rad/sec)
IMU_X_VEL	x-axis velocity (global/navigation frame) (m/sec)
IMU_Y_VEL	y-axis velocity (global/navigation frame) (m/sec)
IMU_Z_VEL	z-axis velocity (global/navigation frame) (m/sec)
IMU_YAW	orientation yaw absolute value (global/navigation frame) (rad)
IMU_PITCH	orientation pitch absolute value (global/navigation frame) (rad)
IMU_ROLL	orientation roll absolute value (global/navigation frame) (rad)
IMU_X	x absolute value (global/navigation frame) (meters)
IMU_Y	y absolute value (global/navigation frame) (meters)
IMU_Z	z absolute value (global/navigation frame) (meters)
IMU_MAG_X	x magnetic field value (local/vehicle frame) (gauss)
IMU_MAG_Y	y magnetic field value (local/vehicle frame) (gauss)
IMU_MAG_Z	z magnetic field value (local/vehicle frame) (gauss)
IMU_PRESSURE	air pressure (Pascals)
IMU_ALTITUDE	altitude from an altimeter (meters)
IMU_TEMPERATURE	temperature (degrees Celsius)
IMU_ORI_QUAT_X	Orientation Quaternion X (global/navigation frame)
IMU_ORI_QUAT_Y	Orientation Quaternion Y (global/navigation frame)
IMU_ORI_QUAT_Z	Orientation Quaternion Z (global/navigation frame)
IMU_ORI_QUAT_W	Orientation Quaternion W (global/navigation frame)
IMU_YAW_VEL_GLOBAL	yaw angular velocity (global/navigation frame) (rad/sec)
IMU_PITCH_VEL_GLOBAL	pitch angular velocity (global/navigation frame) (rad/sec)
IMU_ROLL_VEL_GLOBAL	roll angular velocity (global/navigation frame) (rad/sec)
IMU_X_ACC_GLOBAL	x-axis acceleration (global/navigation frame) (m/sec²)
IMU_Y_ACC_GLOBAL	y-axis acceleration (global/navigation frame) (m/sec²)
IMU_Z_ACC_GLOBAL	z-axis acceleration (global/navigation frame) (m/sec²)
COUNT_IMU_DATA_FIELDS

Definition at line 23 of file CObservationIMU.h.

Function Documentation

◆ carmen_log_parse_line()

bool mrpt::obs::carmen_log_parse_line	(	std::istream &	in_stream,
		std::vector< mrpt::obs::CObservation::Ptr > &	out_imported_observations,
		const mrpt::system::TTimeStamp &	time_start_log
	)

Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation.

The first word in each line determines the type of that entry. Supported line entries in this class are the following:

"ROBOTLASER(.*)": A joint odometry-laser entry. This function will return both an mrpt::obs::CObservationOdometry and an mrpt::obs::CObservation2DRangeScan
"FLASER": (Idem)
"RLASER": (Idem)
"PARAM": This case is special (read below).

Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.

The following entry types will be IGNORED, since with the tags above will be enough in most applications.

"ODOM"
"RAWLASER"

About the PARAM entries: This functions has an internal static status consisting on some PARAM values which have effects on the future read observations. When the function finds one of these, it stores the parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. Currently, only these parameters are processed:

"robot_front_laser_max"
"laser_front_laser_resolution"
"robot_rear_laser_max"
"laser_rear_laser_resolution"

Parameters

time_start_log The real timestamp that corresponds to a "0" in the CARMEN log (you can get a mrpt::system::now() once and pass that same value with each call).

References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html

Returns: true on success, false on end-of-file (EOF).

Exceptions

std::runtime_error On any invalid line found.

global parameters loaded in previous calls.

Definition at line 26 of file carmen_log_tools.cpp.

References mrpt::d2f(), mrpt::DEG2RAD(), mrpt::system::lowerCase(), mrpt::math::TPose2D::phi, mrpt::system::strStartsI(), THROW_EXCEPTION_FMT, trim(), val, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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◆ example2DRangeScan()

void mrpt::obs::stock_observations::example2DRangeScan	(	mrpt::obs::CObservation2DRangeScan &	s,
		int	i = `0`
	)

Example 2D lidar scans (form a venerable SICK LMS200).

Implemented indices: 0,1.

Definition at line 23 of file stock_observations.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::obs::CObservation2DRangeScan::loadFromVectors(), M_PIf, and mrpt::obs::CObservation2DRangeScan::rightToLeft.

Referenced by ICPTests::align2scans(), and TEST().

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◆ exampleImage()

void mrpt::obs::stock_observations::exampleImage	(	mrpt::img::CImage &	im,
		int	i = `0`
	)

Example images (an 800x640 image pair from a Bumblebee 1) Implemented indices: 0,1.

Definition at line 175 of file stock_observations.cpp.

References mrpt::serialization::archiveFrom(), mrpt::io::CMemoryStream::assignMemoryNotOwn(), sample_image1, sample_image2, and THROW_EXCEPTION.

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◆ getObservation()

template<class OBSERVATION_T >

OBSERVATION_T::Ptr mrpt::obs::utils::getObservation	(	mrpt::obs::CSensoryFrame::Ptr &	observations,
		mrpt::obs::CObservation::Ptr &	observation,
		bool	priority_to_sf = `true`
	)

Given an mrpt::obs::CSensoryFrame and a mrpt::obs::CObservation pointer if a OBSERVATION_T type observation is included and return a pointer to that instance.

Note: Pointer to a single instance is going to be returned. If a suitable observation exists in both the CSensoryFrame and CObservation the outcome is decided by the priority_to_sf flag

Returns: Pointer to the observation of the given type. Otherwise, an empty Ptr object is returned if a valid observation is not found.

Definition at line 31 of file obs_utils.h.

Referenced by mrpt::hwdrivers::CWirelessPower::doProcess(), mrpt::hwdrivers::CImpinjRFID::doProcess(), mrpt::hwdrivers::CBoardSonars::doProcess(), mrpt::hwdrivers::CEnoseModular::doProcess(), mrpt::hwdrivers::CBoardENoses::doProcess(), and mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::doProcess().

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Detailed Description

Library `mrpt-obs`

Classes

Namespaces

Macros

Enumerations

Functions

Macro Definition Documentation

◆ INVALID_BEACON_ID

◆ INVALID_LANDMARK_ID

Enumeration Type Documentation

◆ TIMUDataIndex

Function Documentation

◆ carmen_log_parse_line()

◆ example2DRangeScan()

◆ exampleImage()

◆ getObservation()