MRPT  1.9.9
List of all members | Public Member Functions | Protected Member Functions
mrpt::obs::CObservationRotatingScan Class Reference

Detailed Description

A CObservation-derived class for raw range data from a 2D or 3D rotating scanner.

This class is the preferred alternative to CObservationVelodyneScan and CObservation2DRangeScan in MRPT 2.x, since it exposes range data as an organized matrix, more convenient for feature detection directly on "range images". This class can also import data from KITTI dataset-like binary files containing unorganized (non "undistorted", i.e. without compensation for lidar motion) point clouds, which get organized into a 2D range image for easier filtering and postprocessing.

Check out the main data fields in the list of members below.

Note that this object has two timestamp fields:

Both timestamps correspond to the firing of the first laser in the first CObservationRotatingScan::scan_packets packet.

API for accurate reconstruction of point clouds from raw range images:

Note
New in MRPT 2.0.0
See also
CObservation, mrpt::hwdrivers::CVelodyneScanner

Definition at line 60 of file CObservationRotatingScan.h.

#include <mrpt/obs/CObservationRotatingScan.h>

Inheritance diagram for mrpt::obs::CObservationRotatingScan:

Public Member Functions

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...
 
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 mxArraywriteToMatlab () 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...
 
"Convert from" API
void fromVelodyne (const mrpt::obs::CObservationVelodyneScan &o)
 
void fromScan2D (const mrpt::obs::CObservation2DRangeScan &o)
 
void fromPointCloud (const mrpt::obs::CObservationPointCloud &o)
 
bool fromGeneric (const mrpt::obs::CObservation &o)
 Will convert from another observation if it's any of the supported source types (see fromVelodyne(), fromScan2D(), fromPointCloud()) and return true, or will return false otherwise if there is no known way to convert from the passed object. 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...
 

Public Attributes

Scan range data
uint16_t rowCount {0}
 Number of "Lidar rings" (e.g. More...
 
uint16_t columnCount {0}
 Number of lidar "firings" for this scan. More...
 
mrpt::math::CMatrix_u16 rangeImage {0, 0}
 The NxM matrix of distances (ranges) for each direction (columns) and for each laser "ring" (rows). More...
 
mrpt::math::CMatrix_u8 intensityImage {0, 0}
 Optionally, an intensity channel. More...
 
std::map< std::string, mrpt::math::CMatrix_u16rangeOtherLayers
 Optional additional layers, e.g. More...
 
double rangeResolution
 Real-world scale (in meters) of integer units in range images (e.g. More...
 
double startAzimuth {-M_PI}
 Azimuth of the first and last columns in ranges, with respect to the sensor forward direction. More...
 
double azimuthSpan {2 * M_PI}
 
double sweepDuration {.0}
 Time(in seconds) that passed since startAzimuth to* endAzimuth. More...
 
std::string lidarModel {"UNKNOWN_SCANNER"}
 The driver should fill in this observation. More...
 
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 SE(3) pose of the sensor on the robot/vehicle frame of reference. 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...
 

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...
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::obs ::CObservationRotatingScan >
 
using ConstPtr = std::shared_ptr< const mrpt::obs ::CObservationRotatingScan >
 
using UniquePtr = std::unique_ptr< mrpt::obs ::CObservationRotatingScan >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservationRotatingScan >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::obs" "::" "CObservationRotatingScan"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. 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...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 62 of file CObservationRotatingScan.h.

◆ ConstUniquePtr

Definition at line 62 of file CObservationRotatingScan.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 62 of file CObservationRotatingScan.h.

◆ UniquePtr

Definition at line 62 of file CObservationRotatingScan.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationRotatingScan::_GetBaseClass ( )
staticprotected

◆ clone()

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

Definition at line 62 of file CObservationRotatingScan.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::obs::CObservationRotatingScan::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 62 of file CObservationRotatingScan.h.

◆ CreateObject()

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

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::obs::CObservationRotatingScan::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 62 of file CObservationRotatingScan.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::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ fromGeneric()

bool RotScan::fromGeneric ( const mrpt::obs::CObservation o)

Will convert from another observation if it's any of the supported source types (see fromVelodyne(), fromScan2D(), fromPointCloud()) and return true, or will return false otherwise if there is no known way to convert from the passed object.

Definition at line 416 of file CObservationRotatingScan.cpp.

References MRPT_END, and MRPT_START.

◆ fromPointCloud()

void RotScan::fromPointCloud ( const mrpt::obs::CObservationPointCloud o)

Definition at line 408 of file CObservationRotatingScan.cpp.

References MRPT_END, MRPT_START, MRPT_TODO(), and THROW_EXCEPTION.

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◆ fromScan2D()

void RotScan::fromScan2D ( const mrpt::obs::CObservation2DRangeScan o)

◆ fromVelodyne()

void RotScan::fromVelodyne ( const mrpt::obs::CObservationVelodyneScan o)

◆ getClassName()

static constexpr auto mrpt::obs::CObservationRotatingScan::getClassName ( )
inlinestatic

Definition at line 62 of file CObservationRotatingScan.h.

◆ getDescriptionAsText()

void RotScan::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 110 of file CObservationRotatingScan.cpp.

References mrpt::system::dateTimeToString(), mrpt::format(), and mrpt::RAD2DEG().

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◆ getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const
inherited

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

Definition at line 55 of file CObservation.cpp.

◆ getOriginalReceivedTimeStamp()

mrpt::system::TTimeStamp RotScan::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 31 of file CObservationRotatingScan.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservationRotatingScan::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::CObservationRotatingScan::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.

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationRotatingScan::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 166 of file CObservationRotatingScan.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
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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, 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]

void RotScan::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 65 of file CObservationRotatingScan.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t RotScan::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 36 of file CObservationRotatingScan.cpp.

◆ serializeTo() [1/2]

void RotScan::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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 37 of file CObservationRotatingScan.cpp.

References ASSERT_EQUAL_, and out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ 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::CObservationRotatingScan::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 170 of file CObservationRotatingScan.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(), and mrpt::obs::CObservation3DRangeScan::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

◆ azimuthSpan

double mrpt::obs::CObservationRotatingScan::azimuthSpan {2 * M_PI}

Definition at line 108 of file CObservationRotatingScan.h.

◆ className

constexpr const char* mrpt::obs::CObservationRotatingScan::className = "mrpt::obs" "::" "CObservationRotatingScan"
static

Definition at line 62 of file CObservationRotatingScan.h.

◆ columnCount

uint16_t mrpt::obs::CObservationRotatingScan::columnCount {0}

Number of lidar "firings" for this scan.

It is assumed that firings occur at a fixed rate. Consecutive scans ("scan"=instance of this class) may have different number of firings, and different start and end azimuth. All matrices defined below have this number of columns.

Definition at line 79 of file CObservationRotatingScan.h.

◆ has_satellite_timestamp

bool mrpt::obs::CObservationRotatingScan::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 138 of file CObservationRotatingScan.h.

◆ intensityImage

mrpt::math::CMatrix_u8 mrpt::obs::CObservationRotatingScan::intensityImage {0, 0}

Optionally, an intensity channel.

Matrix with a 0x0 size if not provided.

Definition at line 91 of file CObservationRotatingScan.h.

◆ lidarModel

std::string mrpt::obs::CObservationRotatingScan::lidarModel {"UNKNOWN_SCANNER"}

The driver should fill in this observation.

Definition at line 114 of file CObservationRotatingScan.h.

◆ maxRange

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

Definition at line 119 of file CObservationRotatingScan.h.

◆ minRange

double mrpt::obs::CObservationRotatingScan::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 119 of file CObservationRotatingScan.h.

◆ originalReceivedTimestamp

mrpt::system::TTimeStamp mrpt::obs::CObservationRotatingScan::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 132 of file CObservationRotatingScan.h.

◆ rangeImage

mrpt::math::CMatrix_u16 mrpt::obs::CObservationRotatingScan::rangeImage {0, 0}

The NxM matrix of distances (ranges) for each direction (columns) and for each laser "ring" (rows).

Matrix element are integers for efficiency of post-processing filters, etc. Zero means no return (i.e. invalid range). This member must be always provided, containing the ranges for the STRONGEST ray returns.

Definition at line 87 of file CObservationRotatingScan.h.

◆ rangeOtherLayers

std::map<std::string, mrpt::math::CMatrix_u16> mrpt::obs::CObservationRotatingScan::rangeOtherLayers

Optional additional layers, e.g.

LAST return, etc. for lidars with multiple returns per firing. A descriptive name of what the alternative range means as std::map Key, e.g. FIRST, SECOND.

Definition at line 96 of file CObservationRotatingScan.h.

◆ rangeResolution

double mrpt::obs::CObservationRotatingScan::rangeResolution

Real-world scale (in meters) of integer units in range images (e.g.

0.002 means 1 range unit is 2 millimeters)

Definition at line 100 of file CObservationRotatingScan.h.

◆ rowCount

uint16_t mrpt::obs::CObservationRotatingScan::rowCount {0}

Number of "Lidar rings" (e.g.

16 for a Velodyne VLP16, etc.). This should be constant for a given LiDAR scanner. All matrices in imageLayer_* have this number of rows.

Definition at line 72 of file CObservationRotatingScan.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservationRotatingScan::runtimeClassId
staticprotected

Definition at line 62 of file CObservationRotatingScan.h.

◆ 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::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(), fromScan2D(), fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::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::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), and mrpt::obs::CObservation::swap().

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationRotatingScan::sensorPose

The SE(3) pose of the sensor on the robot/vehicle frame of reference.

Definition at line 123 of file CObservationRotatingScan.h.

Referenced by getSensorPose(), and setSensorPose().

◆ startAzimuth

double mrpt::obs::CObservationRotatingScan::startAzimuth {-M_PI}

Azimuth of the first and last columns in ranges, with respect to the sensor forward direction.

Note that startAzimuth may be possitive or negative, and azimuthSpan can be too to reflect the direction of rotation of the scanner: >0 is CCW, <0 is CW.

Definition at line 108 of file CObservationRotatingScan.h.

◆ sweepDuration

double mrpt::obs::CObservationRotatingScan::sweepDuration {.0}

Time(in seconds) that passed since startAzimuth to* endAzimuth.

Definition at line 111 of file CObservationRotatingScan.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::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(), fromScan2D(), 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::CPhidgetInterfaceKitProximitySensors::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::CObservation3DRangeScan::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation3DRangeScan::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), and velodyne_scan_to_pointcloud().




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