Back to list of all libraries | See all modules
mrpt-obs
In this library there are five key elements or groups of elements:
Sensor observations: All sensor observations share a common virtual base class (mrpt::obs::CObservation). There are classes to store laser scanners, 3D range images, monocular and stereo images, GPS data, odometry, etc. A concept very related to observations is a mrpt::obs::CSensoryFrame, a set of observations which were collected approximately at the same instant.
Rawlogs (datasets): A robotics dataset can be loaded, edited and explored by means of the class mrpt::obs::CRawlog. See also: http://www.mrpt.org/Rawlog_Format
Actions: For convenience in many Bayesian filtering algorithms, robot actions (like 2D displacement characterized by an odometry increment) can be represented by means of "actions". See mrpt::obs::CAction.
"Simple maps": In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above). The advantage of maintaining such a "simple map" instead a metric map is that the metric maps can be rebuilt when needed with different parameters from the raw observations, which are never lost.
CARMEN logs tools: Utilities to read from CARMEN log files and load the observations there as MRPT observations. See mrpt::obs::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap.
See the list of classes in mrpt::obs
Classes | |
class | mrpt::maps::CMetricMap |
Declares a virtual base class for all metric maps storage classes. More... | |
class | mrpt::maps::mrptEventMetricMapClear |
Event emitted by a metric up upon call of clear() More... | |
class | mrpt::maps::mrptEventMetricMapInsert |
Event emitted by a metric up upon a succesful call to insertObservation() More... | |
class | mrpt::maps::CSimpleMap |
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More... | |
struct | mrpt::maps::TMetricMapInitializer |
Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() as an easy way of initialize this object, or construct with the factory methods <metric_map_class>::MapDefinition() and TMetricMapInitializer::factory() More... | |
class | mrpt::maps::TSetOfMetricMapInitializers |
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. More... | |
class | mrpt::obs::CAction |
Declares a class for storing a robot action. More... | |
class | mrpt::obs::CActionCollection |
Declares a class for storing a collection of robot actions. More... | |
struct | mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel |
Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/. More... | |
struct | mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel |
Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/. More... | |
struct | mrpt::obs::CActionRobotMovement2D::TMotionModelOptions |
The parameter to be passed to "computeFromOdometry". More... | |
class | mrpt::obs::CActionRobotMovement2D |
Represents a probabilistic 2D movement of the robot mobile base. More... | |
class | mrpt::obs::CActionRobotMovement3D |
Represents a probabilistic 3D (6D) movement. More... | |
class | mrpt::obs::CObservation |
Declares a class that represents any robot's observation. More... | |
struct | mrpt::obs::T2DScanProperties |
Auxiliary struct that holds all the relevant geometry information about a 2D scan. More... | |
class | mrpt::obs::CObservation2DRangeScan |
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More... | |
struct | mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase |
Virtual interface to all pixel-label information structs. More... | |
struct | mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ > |
struct | mrpt::obs::CObservation3DRangeScan::TCached3DProjTables |
Look-up-table struct for project3DPointsFromDepthImageInto() More... | |
class | mrpt::obs::CObservation3DRangeScan |
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor. More... | |
struct | mrpt::obs::CObservation6DFeatures::TMeasurement |
Each one of the measurements. More... | |
class | mrpt::obs::CObservation6DFeatures |
An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor. More... | |
class | mrpt::obs::CObservationBatteryState |
This represents a measurement of the batteries on the robot. More... | |
struct | mrpt::obs::CObservationBeaconRanges::TMeasurement |
Each one of the measurements: More... | |
class | mrpt::obs::CObservationBeaconRanges |
Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More... | |
struct | mrpt::obs::CObservationBearingRange::TMeasurement |
Each one of the measurements: More... | |
class | mrpt::obs::CObservationBearingRange |
This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More... | |
class | mrpt::obs::CObservationCANBusJ1939 |
This class stores a message from a CAN BUS with the protocol J1939. More... | |
class | mrpt::obs::CObservationComment |
This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More... | |
struct | mrpt::obs::CObservationGasSensors::TObservationENose |
The structure for each e-nose. More... | |
struct | mrpt::obs::CObservationGasSensors::CMOSmodel::TdataMap |
The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1) More... | |
class | mrpt::obs::CObservationGasSensors::CMOSmodel |
Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings from the modelation of a MOS gas sensor readings. More... | |
class | mrpt::obs::CObservationGasSensors |
Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More... | |
struct | mrpt::obs::CObservationGPS::TUTCTime |
A UTC time-stamp structure for GPS messages. More... | |
struct | mrpt::obs::CObservationGPS::TGPSDatum_GGA |
The GPS datum for GGA commands. More... | |
struct | mrpt::obs::CObservationGPS::TGPSDatum_RMC |
The GPS datum for RMC commands. More... | |
struct | mrpt::obs::CObservationGPS::TGPSDatum_PZS |
The GPS datum for TopCon's mmGPS devices. More... | |
struct | mrpt::obs::CObservationGPS::TGPSDatum_SATS |
A generic structure for statistics about tracked satelites and their positions. More... | |
class | mrpt::obs::CObservationGPS |
Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More... | |
class | mrpt::obs::CObservationImage |
Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More... | |
class | mrpt::obs::CObservationIMU |
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More... | |
class | mrpt::obs::CObservationOdometry |
An observation of the current (cumulative) odometry for a wheeled robot. More... | |
struct | mrpt::obs::CObservationRange::TMeasurement |
class | mrpt::obs::CObservationRange |
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More... | |
class | mrpt::obs::CObservationRawDAQ |
Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More... | |
class | mrpt::obs::CObservationReflectivity |
Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More... | |
struct | mrpt::obs::CObservationRFID::TTagReading |
Each of the individual readings of a RFID tag. More... | |
class | mrpt::obs::CObservationRFID |
This represents one or more RFID tags observed by a receiver. More... | |
class | mrpt::obs::CObservationRGBD360 |
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors. More... | |
struct | mrpt::obs::CObservationSkeleton::TSkeletonJoint |
A generic joint for the skeleton observation. More... | |
class | mrpt::obs::CObservationSkeleton |
This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors. More... | |
class | mrpt::obs::CObservationStereoImages |
Observation class for either a pair of left+right or left+disparity images from a stereo camera. More... | |
class | mrpt::obs::CObservationStereoImagesFeatures |
Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More... | |
class | mrpt::obs::CObservationWindSensor |
Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More... | |
class | mrpt::obs::CObservationWirelessPower |
This represents a measurement of the wireless strength perceived by the robot. More... | |
class | mrpt::obs::CRawlog::iterator |
A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More... | |
class | mrpt::obs::CRawlog::const_iterator |
A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More... | |
class | mrpt::obs::CRawlog |
This class stores a rawlog (robotic datasets) in one of two possible formats: More... | |
class | mrpt::obs::CSensoryFrame |
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. More... | |
struct | mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues |
A pair of vectors with the cos and sin values. More... | |
class | mrpt::obs::CSinCosLookUpTableFor2DScans |
A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More... | |
Namespaces | |
mrpt::obs | |
This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps. | |
Macros | |
#define | INVALID_LANDMARK_ID (-1) |
Used for CObservationBearingRange::TMeasurement::beaconID. More... | |
#define | INVALID_BEACON_ID (-1) |
Used for CObservationBeaconRange. More... | |
Functions | |
bool OBS_IMPEXP | mrpt::obs::carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::obs::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log) |
Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More... | |
Intensity (RGB) channels | |
enum | mrpt::obs::CObservation3DRangeScan::TIntensityChannelID { mrpt::obs::CObservation3DRangeScan::CH_VISIBLE = 0, mrpt::obs::CObservation3DRangeScan::CH_IR = 1 } |
Enum type for intensityImageChannel. More... | |
bool | mrpt::obs::CObservation3DRangeScan::hasIntensityImage |
true means the field intensityImage contains valid data More... | |
mrpt::utils::CImage | mrpt::obs::CObservation3DRangeScan::intensityImage |
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage". More... | |
TIntensityChannelID | mrpt::obs::CObservation3DRangeScan::intensityImageChannel |
The source of the intensityImage; typically the visible channel. More... | |
#define INVALID_BEACON_ID (-1) |
Used for CObservationBeaconRange.
Definition at line 35 of file obs/CObservation.h.
#define INVALID_LANDMARK_ID (-1) |
Used for CObservationBearingRange::TMeasurement::beaconID.
Definition at line 30 of file obs/CObservation.h.
anonymous enum |
Enumerator | |
---|---|
BYTES_REQUIRED |
Definition at line 372 of file obs/CObservation3DRangeScan.h.
Enumerator | |
---|---|
mmGaussian | |
mmThrun |
Definition at line 62 of file obs/CActionRobotMovement2D.h.
The type of each entry in a rawlog.
Enumerator | |
---|---|
etSensoryFrame | |
etActionCollection | |
etObservation |
Definition at line 72 of file obs/CRawlog.h.
A list of posible ways for estimating the content of a CActionRobotMovement3D object.
Enumerator | |
---|---|
emOdometry | |
emVisualOdometry |
Definition at line 36 of file obs/CActionRobotMovement3D.h.
A list of posible ways for estimating the content of a CActionRobotMovement2D object.
Enumerator | |
---|---|
emOdometry | |
emScan2DMatching |
Definition at line 37 of file obs/CActionRobotMovement2D.h.
Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)
Definition at line 28 of file obs/CObservationIMU.h.
Enum type for intensityImageChannel.
Enumerator | |
---|---|
CH_VISIBLE |
Grayscale or RGB visible channel of the camera sensor. |
CH_IR |
Infrarred (IR) channel. |
Definition at line 280 of file obs/CObservation3DRangeScan.h.
bool OBS_IMPEXP mrpt::obs::carmen_log_parse_line | ( | std::istream & | in_stream, |
std::vector< mrpt::obs::CObservationPtr > & | out_imported_observations, | ||
const mrpt::system::TTimeStamp & | time_start_log | ||
) |
Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation.
The first word in each line determines the type of that entry. Supported line entries in this class are the following:
Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.
The following entry types will be IGNORED, since with the tags above will be enough in most applications.
About the PARAM entries: This functions has an internal static status consisting on some PARAM values which have effects on the future read observations. When the function finds one of these, it stores the parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. Currently, only these parameters are processed:
time_start_log | The real timestamp that corresponds to a "0" in the CARMEN log (you can get a mrpt::system::now() once and pass that same value with each call). |
References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html
std::runtime_error | On any invalid line found. |
bool mrpt::obs::CObservation3DRangeScan::hasIntensityImage |
true means the field intensityImage contains valid data
Definition at line 286 of file obs/CObservation3DRangeScan.h.
Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().
mrpt::utils::CImage mrpt::obs::CObservation3DRangeScan::intensityImage |
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".
Definition at line 287 of file obs/CObservation3DRangeScan.h.
Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().
TIntensityChannelID mrpt::obs::CObservation3DRangeScan::intensityImageChannel |
The source of the intensityImage; typically the visible channel.
Definition at line 288 of file obs/CObservation3DRangeScan.h.
Page generated by Doxygen 1.8.9.1 for MRPT 1.3.2 SVN:Unversioned directory at Tue Dec 8 09:49:21 UTC 2015 |