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21 class CObservationVelodyneScan;
22 class CObservation2DRangeScan;
23 class CObservationPointCloud;
mrpt::math::CMatrix_u8 intensityImage
Optionally, an intensity channel.
#define INVALID_TIMESTAMP
Represents an invalid timestamp, where applicable.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
double minRange
The maximum range allowed by the device, in meters (e.g.
double rangeResolution
Real-world scale (in meters) of integer units in range images (e.g.
std::map< std::string, mrpt::math::CMatrix_u16 > rangeOtherLayers
Optional additional layers, e.g.
mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const override
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accura...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
uint16_t rowCount
Number of "Lidar rings" (e.g.
This namespace contains representation of robot actions and observations.
void fromVelodyne(const mrpt::obs::CObservationVelodyneScan &o)
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
std::string lidarModel
The driver should fill in this observation.
A CObservation-derived class for raw range data from a 2D or 3D rotating scanner.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define MRPT_DECLARE_TTYPENAME_PTR_NAMESPACE(_TYPE, __NS)
bool fromGeneric(const mrpt::obs::CObservation &o)
Will convert from another observation if it's any of the supported source types (see fromVelodyne(),...
void fromScan2D(const mrpt::obs::CObservation2DRangeScan &o)
double sweepDuration
Time(in seconds) that passed since startAzimuth to* endAzimuth.
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
mrpt::system::TTimeStamp originalReceivedTimestamp
The local computer-based timestamp based on the reception of the message in the computer.
mrpt::math::CMatrix_u16 rangeImage
The NxM matrix of distances (ranges) for each direction (columns) and for each laser "ring" (rows).
mrpt::poses::CPose3D sensorPose
The SE(3) pose of the sensor on the robot/vehicle frame of reference.
Declares a class that represents any robot's observation.
An observation from any sensor that can be summarized as a pointcloud.
void fromPointCloud(const mrpt::obs::CObservationPointCloud &o)
double startAzimuth
Azimuth of the first and last columns in ranges, with respect to the sensor forward direction.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
uint16_t columnCount
Number of lidar "firings" for this scan.
A CObservation-derived class for RAW DATA (and optionally, point cloud) of scans from 3D Velodyne LID...
bool has_satellite_timestamp
If true, CObservation::timestamp has been generated from accurate satellite clock.
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