Detailed Description

This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finders).

Physical devices may be interfaced through a serial port, a USB connection,etc. but this class abstract those details throught the "binding" of the specific scanner driver to a given I/O channel, which must be set by calling "hwdrivers::C2DRangeFinderAbstract::bindIO". See also the derived classes.

There is support for "exclusion polygons", areas where points, if detected, should be marked as invalid. Those areas are useful in cases where the scanner always detects part of the vehicle itself, and those points want to be ignored (see C2DRangeFinderAbstract::loadExclusionAreas).

See also: comms::CSerialPort

Definition at line 43 of file C2DRangeFinderAbstract.h.

#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>

Inheritance diagram for mrpt::hwdrivers::C2DRangeFinderAbstract:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObservations

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObsPair

Public Member Functions
	C2DRangeFinderAbstract ()
	Default constructor. More...

virtual	~C2DRangeFinderAbstract ()
	Destructor. More...

void	showPreview (bool enable=true)
	Enables GUI visualization in real-time. More...

void	bindIO (mrpt::utils::CStream *streamIO)
	Binds the object to a given I/O channel. More...

void	getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
	Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...

void	doProcess ()
	Main method for a CGenericSensor. More...

virtual void	doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)=0
	Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More...

virtual bool	turnOn ()=0
	Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. More...

virtual bool	turnOff ()=0
	Disables the scanning mode (this can be used to turn the device in low energy mode, if available) 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::utils::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

virtual void	initialize ()
	This method can or cannot be implemented in the derived class, depending on the need for it. More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages (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

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 CGenericSensor::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	loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...

void	filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
	Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...

void	filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
	Mark as invalid those ranges in a set of forbiden angle ranges. More...

void	processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
	Must be called inside the capture method to allow optional GUI preview of scans. More...

void	appendObservations (const std::vector< mrpt::utils::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::utils::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

virtual void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)=0
	Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes) More...

Protected Attributes
utils::CStream *	m_stream
	The I/O channel (will be nullptr if not bound). More...

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state

bool	m_verbose

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

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate
	See CGenericSensor. More...

size_t	m_max_queue_len
	See CGenericSensor. More...

size_t	m_grab_decimation
	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...

Private Attributes
mrpt::obs::CObservation2DRangeScan	m_lastObservation

bool	m_lastObservationIsNew

bool	m_hardwareError

std::mutex	m_csChangeStream
	For being thread-safe. More...

std::mutex	m_csLastObservation

mrpt::obs::CObservation2DRangeScan::Ptr	m_nextObservation
	A dynamic object used as buffer in doProcess. More...

mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges	m_lstExclusionPolys
	A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". More...

std::vector< std::pair< double, double > >	m_lstExclusionAngles
	A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. More...

bool	m_showPreview
	If true, shows a 3D window with a preview of the grabber data. More...

mrpt::gui::CDisplayWindow3D::Ptr	m_win

Member Typedef Documentation

◆ Ptr

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

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 78 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 80 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

Definition at line 85 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ C2DRangeFinderAbstract()

C2DRangeFinderAbstract::C2DRangeFinderAbstract ( )

Default constructor.

Definition at line 25 of file C2DRangeFinderAbstract.cpp.

◆ ~C2DRangeFinderAbstract()

C2DRangeFinderAbstract::~C2DRangeFinderAbstract ( )

virtual

Destructor.

Definition at line 39 of file C2DRangeFinderAbstract.cpp.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::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::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), 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::utils::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 53 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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◆ bindIO()

void C2DRangeFinderAbstract::bindIO ( mrpt::utils::CStream * streamIO )

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See also: comms::CSerialPort

Definition at line 43 of file C2DRangeFinderAbstract.cpp.

References m_csChangeStream, and m_stream.

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

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◆ 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 103 of file CGenericSensor.cpp.

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

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

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◆ createSensorPtr()

static CGenericSensor::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 220 of file CGenericSensor.h.

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

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◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )

virtual

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

Definition at line 70 of file C2DRangeFinderAbstract.cpp.

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

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◆ doProcessSimple()

virtual void mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::obs::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)

pure virtual

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.

Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.

Referenced by doProcess().

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◆ 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.

◆ filterByExclusionAngles()

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan & obs ) const

protected

Mark as invalid those ranges in a set of forbiden angle ranges.

See also: loadExclusionAreas

Definition at line 183 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAngles(), and m_lstExclusionAngles.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and mrpt::hwdrivers::CSickLaserSerial::doProcessSimple().

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◆ filterByExclusionAreas()

void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan & obs ) const

protected

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also: loadExclusionAreas

Definition at line 174 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAreas(), and m_lstExclusionPolys.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and mrpt::hwdrivers::CSickLaserSerial::doProcessSimple().

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◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 290 of file CGenericSensor.h.

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

◆ getObservation()

void C2DRangeFinderAbstract::getObservation	(	bool &	outThereIsObservation,
		mrpt::obs::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

Definition at line 53 of file C2DRangeFinderAbstract.cpp.

References m_csLastObservation, m_hardwareError, m_lastObservation, and m_lastObservationIsNew.

◆ 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 91 of file CGenericSensor.cpp.

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

◆ 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()

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( void )

inlinevirtualinherited

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.

Definition at line 249 of file CGenericSensor.h.

◆ isVerboseEnabled()

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

inlineinherited

Definition at line 107 of file CGenericSensor.h.

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

◆ loadCommonParams()

void C2DRangeFinderAbstract::loadCommonParams	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protected

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

exclusionZoneu_x
exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

This also loads any other common params (e.g. 'preview')

See also: filterByExclusionAreas

Definition at line 98 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, DEG2RAD, mrpt::format(), m_lstExclusionAngles, m_lstExclusionPolys, M_PI, m_showPreview, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific().

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◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::utils::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 132 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::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)

protectedpure virtualinherited

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::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.

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

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◆ processPreview()

void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan & obs )

protected

Must be called inside the capture method to allow optional GUI preview of scans.

Definition at line 189 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_showPreview, m_win, and mrpt::opengl::CPlanarLaserScan::setScan().

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and mrpt::hwdrivers::CSickLaserSerial::doProcessSimple().

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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 121 of file CGenericSensor.cpp.

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

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

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◆ 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 279 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 286 of file CGenericSensor.h.

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

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( 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.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 268 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ 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.

◆ showPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool enable = true )

inline

Enables GUI visualization in real-time.

Definition at line 120 of file C2DRangeFinderAbstract.h.

References m_showPreview.

◆ turnOff()

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOff ( )

pure virtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns: If everything works "true", or "false" if there is any error.

Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.

◆ turnOn()

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOn ( )

pure virtual

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Returns: If everything works "true", or "false" if there is any error.

Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.

Member Data Documentation

◆ m_csChangeStream

std::mutex mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream

private

For being thread-safe.

Definition at line 53 of file C2DRangeFinderAbstract.h.

Referenced by bindIO().

◆ m_csLastObservation

std::mutex mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation

private

Definition at line 53 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ 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 mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

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

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

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

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_hardwareError

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError

private

Definition at line 49 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_lastObservation

mrpt::obs::CObservation2DRangeScan mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation

private

Definition at line 47 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_lastObservationIsNew

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew

private

Definition at line 48 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_lstExclusionAngles

std::vector<std::pair<double, double> > mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles

private

A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.

Definition at line 64 of file C2DRangeFinderAbstract.h.

Referenced by filterByExclusionAngles(), and loadCommonParams().

◆ m_lstExclusionPolys

mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys

private

A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".

Definition at line 61 of file C2DRangeFinderAbstract.h.

Referenced by filterByExclusionAreas(), and loadCommonParams().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

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

◆ m_nextObservation

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation

private

A dynamic object used as buffer in doProcess.

Definition at line 56 of file C2DRangeFinderAbstract.h.

Referenced by doProcess().

◆ 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 mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

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_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_showPreview

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview

private

If true, shows a 3D window with a preview of the grabber data.

Definition at line 67 of file C2DRangeFinderAbstract.h.

Referenced by loadCommonParams(), processPreview(), and showPreview().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_stream

utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream

protected

The I/O channel (will be nullptr if not bound).

Definition at line 72 of file C2DRangeFinderAbstract.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 149 of file CGenericSensor.h.

◆ m_win

mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::C2DRangeFinderAbstract::m_win

private

Definition at line 68 of file C2DRangeFinderAbstract.h.

Referenced by processPreview().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ C2DRangeFinderAbstract()

◆ ~C2DRangeFinderAbstract()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ bindIO()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ doProcessSimple()

◆ enableVerbose()

◆ filterByExclusionAngles()

◆ filterByExclusionAreas()

◆ getExternalImageJPEGQuality()

◆ getObservation()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadCommonParams()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ processPreview()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ showPreview()

◆ turnOff()

◆ turnOn()

Member Data Documentation

◆ m_csChangeStream

◆ m_csLastObservation

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_hardwareError

◆ m_lastObservation

◆ m_lastObservationIsNew

◆ m_lstExclusionAngles

◆ m_lstExclusionPolys

◆ m_max_queue_len

◆ m_nextObservation

◆ m_path_for_external_images

◆ m_process_rate

◆ m_sensorLabel

◆ m_showPreview

◆ m_state

◆ m_stream

◆ m_verbose

◆ m_win