mrpt::slam::CObservation3DRangeScan Class Reference

Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. More...

#include <mrpt/slam/CObservation3DRangeScan.h>

Inheritance diagram for mrpt::slam::CObservation3DRangeScan:

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Collaboration diagram for mrpt::slam::CObservation3DRangeScan:

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List of all members.

Public Member Functions
	CObservation3DRangeScan ()
	Default constructor.
virtual	~CObservation3DRangeScan ()
	Destructor.
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
void	swap (CObservation3DRangeScan &o)
	Very efficient method to swap the contents of two observations.
Public Attributes
bool	hasPoints3D
	true means the field points3D contains valid data.
vector_float	points3D_x
	If hasPoints3D=true, the X coordinates of the 3D point cloud detected by the camera.
vector_float	points3D_y
	If hasPoints3D=true, the Y coordinates of the 3D point cloud detected by the camera.
vector_float	points3D_z
	If hasPoints3D=true, the Z coordinates of the 3D point cloud detected by the camera.
bool	hasRangeImage
	true means the field rangeImage contains valid data
mrpt::math::CMatrix	rangeImage
	If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters).
bool	hasIntensityImage
	true means the field intensityImage contains valid data
mrpt::utils::CImage	intensityImage
	If hasIntensityImage=true, a gray-level intensity image of the same size than "rangeImage".
bool	hasConfidenceImage
	true means the field confidenceImage contains valid data
mrpt::math::CMatrix	confidenceImage
	If hasConfidenceImage=true, a matrix of floats with the "confidence" value [range 0-1] as estimated by the capture drivers.
float	maxRange
	The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...).
CPose3D	sensorPose
	The 6D pose of the sensor on the robot.
float	stdError
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

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Detailed Description

Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g.

from a time of flight range camera). This kind of observations can carry one or more of these data fields:

• 3D point cloud (as float's instead of double's to save storage space - precision is not a problem in this case).
• 2D range image (as a matrix).
• 2D intensity image (as a CImage).
• 2D confidence image (as a matrix).

The coordinates of the 3D point cloud are in meters with respect to the optical center of the camera, with the +X axis pointing forward, +Y pointing left-hand and +Z pointing up.

The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual.

A class that grabs observations of this type is mrpt::hwdrivers::CSwissRanger3DCamera

See also:

mrpt::hwdrivers::CSwissRanger3DCamera, CObservation

Definition at line 63 of file CObservation3DRangeScan.h.

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Constructor & Destructor Documentation

mrpt::slam::CObservation3DRangeScan::CObservation3DRangeScan

(

)

Default constructor.

virtual mrpt::slam::CObservation3DRangeScan::~CObservation3DRangeScan

(

)

[virtual]

Destructor.

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Member Function Documentation

void mrpt::slam::CObservation3DRangeScan::getSensorPose

(

CPose3D &

out_sensorPose

)

const [inline, virtual]

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::slam::CObservation.

Definition at line 101 of file CObservation3DRangeScan.h.

void mrpt::slam::CObservation3DRangeScan::setSensorPose

(

const CPose3D &

newSensorPose

)

[inline, virtual]

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::slam::CObservation.

Definition at line 107 of file CObservation3DRangeScan.h.

void mrpt::slam::CObservation3DRangeScan::swap

(

CObservation3DRangeScan &

o

)

Very efficient method to swap the contents of two observations.

Reimplemented from mrpt::slam::CObservation.

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Member Data Documentation

mrpt::math::CMatrix mrpt::slam::CObservation3DRangeScan::confidenceImage

If hasConfidenceImage=true, a matrix of floats with the "confidence" value [range 0-1] as estimated by the capture drivers.

Definition at line 89 of file CObservation3DRangeScan.h.

bool mrpt::slam::CObservation3DRangeScan::hasConfidenceImage

true means the field confidenceImage contains valid data

Definition at line 88 of file CObservation3DRangeScan.h.

bool mrpt::slam::CObservation3DRangeScan::hasIntensityImage

true means the field intensityImage contains valid data

Definition at line 85 of file CObservation3DRangeScan.h.

bool mrpt::slam::CObservation3DRangeScan::hasPoints3D

true means the field points3D contains valid data.

Definition at line 77 of file CObservation3DRangeScan.h.

bool mrpt::slam::CObservation3DRangeScan::hasRangeImage

true means the field rangeImage contains valid data

Definition at line 82 of file CObservation3DRangeScan.h.

mrpt::utils::CImage mrpt::slam::CObservation3DRangeScan::intensityImage

If hasIntensityImage=true, a gray-level intensity image of the same size than "rangeImage".

Definition at line 86 of file CObservation3DRangeScan.h.

float mrpt::slam::CObservation3DRangeScan::maxRange

The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...).

Definition at line 92 of file CObservation3DRangeScan.h.

vector_float mrpt::slam::CObservation3DRangeScan::points3D_x

If hasPoints3D=true, the X coordinates of the 3D point cloud detected by the camera.

Definition at line 78 of file CObservation3DRangeScan.h.

vector_float mrpt::slam::CObservation3DRangeScan::points3D_y

If hasPoints3D=true, the Y coordinates of the 3D point cloud detected by the camera.

Definition at line 79 of file CObservation3DRangeScan.h.

vector_float mrpt::slam::CObservation3DRangeScan::points3D_z

If hasPoints3D=true, the Z coordinates of the 3D point cloud detected by the camera.

Definition at line 80 of file CObservation3DRangeScan.h.

mrpt::math::CMatrix mrpt::slam::CObservation3DRangeScan::rangeImage

If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters).

Definition at line 83 of file CObservation3DRangeScan.h.

CPose3D mrpt::slam::CObservation3DRangeScan::sensorPose

The 6D pose of the sensor on the robot.

Definition at line 93 of file CObservation3DRangeScan.h.

float mrpt::slam::CObservation3DRangeScan::stdError

The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

Definition at line 94 of file CObservation3DRangeScan.h.