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).
Definition at line 38 of file C2DRangeFinderAbstract.h.
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>
Public Types | |
enum | TSensorState { ssInitializing = 0, ssWorking, ssError } |
The current state of the sensor. More... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | 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 §ion) |
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 CGenericSensorPtr | 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::CSerializablePtr > &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::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. More... | |
virtual void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)=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 NULL 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 |
synch::CCriticalSection | m_csChangeStream |
For being thread-safe. More... | |
synch::CCriticalSection | m_csLastObservation |
mrpt::obs::CObservation2DRangeScanPtr | 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::CDisplayWindow3DPtr | m_win |
|
inherited |
Definition at line 68 of file CGenericSensor.h.
|
inherited |
Definition at line 69 of file CGenericSensor.h.
|
inherited |
The current state of the sensor.
Enumerator | |
---|---|
ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::C2DRangeFinderAbstract::C2DRangeFinderAbstract | ( | ) |
Default constructor.
|
virtual |
Destructor.
|
inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
|
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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
void mrpt::hwdrivers::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.
|
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:
|
inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor.
|
virtual |
Main method for a CGenericSensor.
Implements mrpt::hwdrivers::CGenericSensor.
Reimplemented in mrpt::hwdrivers::CLMS100Eth.
|
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::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.
|
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 92 of file CGenericSensor.h.
|
protected |
Mark as invalid those ranges in a set of forbiden angle ranges.
|
protected |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
|
inlineinherited |
Definition at line 233 of file CGenericSensor.h.
References MRPT_MAKE_ALIGNED_OPERATOR_NEW.
void mrpt::hwdrivers::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).
|
inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
|
inlineinherited |
Definition at line 84 of file CGenericSensor.h.
|
pure virtualinherited |
|
inlineinherited |
Definition at line 86 of file CGenericSensor.h.
|
inlineinherited |
The current state of the sensor.
Definition at line 82 of file CGenericSensor.h.
|
inlinevirtualinherited |
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CVelodyneScanner, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CIbeoLuxETH, and mrpt::hwdrivers::CRoboPeakLidar.
Definition at line 200 of file CGenericSensor.h.
|
inlineinherited |
Definition at line 93 of file CGenericSensor.h.
References mrpt::utils::registerClass().
|
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".
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')
|
inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
|
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)
This | method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
Implemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CVelodyneScanner, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CBoardSonars, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CIbeoLuxETH, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CRoboPeakLidar, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CEnoseModular, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CGillAnemometer, mrpt::hwdrivers::CRaePID, and mrpt::hwdrivers::CWirelessPower.
|
protected |
Must be called inside the capture method to allow optional GUI preview of scans.
|
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.
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
|
inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
|
inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
|
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.
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 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
|
inlineinherited |
Definition at line 87 of file CGenericSensor.h.
|
inline |
Enables GUI visualization in real-time.
Definition at line 95 of file C2DRangeFinderAbstract.h.
References mrpt::obs::utils::getObservation().
|
pure virtual |
Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.
|
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.
Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.
|
private |
For being thread-safe.
Definition at line 47 of file C2DRangeFinderAbstract.h.
|
private |
Definition at line 47 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
|
protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
|
protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 117 of file CGenericSensor.h.
|
protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
|
private |
Definition at line 43 of file C2DRangeFinderAbstract.h.
|
private |
Definition at line 41 of file C2DRangeFinderAbstract.h.
|
private |
Definition at line 42 of file C2DRangeFinderAbstract.h.
|
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 52 of file C2DRangeFinderAbstract.h.
|
private |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
Definition at line 51 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
|
private |
A dynamic object used as buffer in doProcess.
Definition at line 49 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 129 of file CGenericSensor.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
|
private |
If true, shows a 3D window with a preview of the grabber data.
Definition at line 54 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
Definition at line 124 of file CGenericSensor.h.
|
protected |
The I/O channel (will be NULL if not bound).
Definition at line 58 of file C2DRangeFinderAbstract.h.
|
protectedinherited |
Definition at line 125 of file CGenericSensor.h.
|
private |
Definition at line 55 of file C2DRangeFinderAbstract.h.
Page generated by Doxygen 1.8.13 for MRPT 1.5.3 at Tue Aug 22 01:03:35 UTC 2017 |