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:
The coordinates of the 3D point cloud are in meters with respect to the depth camera origin of coordinates (in SwissRanger, the front face of the camera: a small offset ~1cm in front of the physical focal point), with the +X axis pointing forward, +Y pointing left-hand and +Z pointing up. The field CObservation3DRangeScan::relativePoseIntensityWRTDepth describes the change of coordinates from the depth camera to the intensity (RGB or grayscale) camera. In a SwissRanger camera both cameras coincide, so this pose is just a rotation (0,0,0,-90deg,0,-90deg). But in Microsoft Kinect there is also an offset, as shown in this figure:
In any case, check the field relativePoseIntensityWRTDepth, or the method doDepthAndIntensityCamerasCoincide() to determine if both frames of reference coincide, since even for Kinect cameras both can coincide if the images have been rectified.
The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual. Optionally, the intensity and confidence channels can be set to delayed-load images for off-rawlog storage so it saves memory by having loaded in memory just the needed images. See the methods load() and unload(). Due to the intensive storage requirements of this kind of observations, this observation is the only one in MRPT for which it's recommended to always call "load()" and "unload()" before and after using the observation, *ONLY* when the observation was read from a rawlog dataset, in order to make sure that all the externally stored data fields are loaded and ready in memory.
Classes that grab observations of this type are:
There are two sets of calibration parameters:
In some cameras, like SwissRanger, both are the same. Also, it is possible in Kinect to rectify the range images such both cameras seem to coincide and then both sets of camera parameters will be identical.
Range data can be interpreted in two different ways depending on the 3D camera (this field is already set to the correct setting when grabbing observations from an mrpt::hwdrivers sensor):
3D point clouds can be generated at any moment after grabbing with CObservation3DRangeScan::project3DPointsFromDepthImage()
#include <mrpt/slam/CObservation3DRangeScan.h>
Public Member Functions | |
| CObservation3DRangeScan () | |
| Default constructor. | |
| virtual | ~CObservation3DRangeScan () |
| Destructor. | |
| void | project3DPointsFromDepthImage (const bool PROJ3D_USE_LUT=true) |
| Compute the 3D points coordinates from the depth image (rangeImage) and the depth camera camera parameters (cameraParams). | |
| void | resizePoints3DVectors (const size_t nPoints) |
| Use this method instead of resizing all three points3D_x, points3D_y & points3D_z to allow the usage of the internal memory pool. | |
| bool | points3D_isExternallyStored () const |
| std::string | points3D_getExternalStorageFile () const |
| void | points3D_getExternalStorageFileAbsolutePath (std::string &out_path) const |
| std::string | points3D_getExternalStorageFileAbsolutePath () const |
| void | points3D_convertToExternalStorage (const std::string &fileName, const std::string &use_this_base_dir) |
| Users won't normally want to call this, it's only used from internal MRPT programs. | |
| void | rangeImage_setSize (const int HEIGHT, const int WIDTH) |
| Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation. | |
| bool | rangeImage_isExternallyStored () const |
| std::string | rangeImage_getExternalStorageFile () const |
| void | rangeImage_getExternalStorageFileAbsolutePath (std::string &out_path) const |
| std::string | rangeImage_getExternalStorageFileAbsolutePath () const |
| void | rangeImage_convertToExternalStorage (const std::string &fileName, const std::string &use_this_base_dir) |
| Users won't normally want to call this, it's only used from internal MRPT programs. | |
| void | rangeImage_forceResetExternalStorage () |
| Forces marking this observation as non-externally stored - it doesn't anything else apart from reseting the corresponding flag (Users won't normally want to call this, it's only used from internal MRPT programs) | |
| bool | doDepthAndIntensityCamerasCoincide () const |
| Return true if relativePoseIntensityWRTDepth equals the pure rotation (0,0,0,-90deg,0,-90deg) (with a small comparison epsilon) | |
| 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. | |
| void | getZoneAsObs (CObservation3DRangeScan &obs, const unsigned int &r1, const unsigned int &r2, const unsigned int &c1, const unsigned int &c2) |
| template<class METRICMAP > | |
| bool | insertObservationInto (METRICMAP *theMap, const CPose3D *robotPose=NULL) const |
| This method is equivalent to: | |
| void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
| A general method to retrieve the sensor pose on the robot. | |
| void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
| A general method to change the sensor pose on the robot. | |
| mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
| Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). | |
| CObject * | clone () const |
| Cloning interface for smart pointers. | |
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. | |
| virtual void | unload () |
| Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). | |
Static Public Member Functions | |
| static double | recoverCameraCalibrationParameters (const CObservation3DRangeScan &in_obs, mrpt::utils::TCamera &out_camParams, const double camera_offset=0.01) |
| A Levenberg-Marquart-based optimizer to recover the calibration parameters of a 3D camera given a range (depth) image and the corresponding 3D point cloud. | |
Public Attributes | |
| bool | hasPoints3D |
| true means the field points3D contains valid data. | |
| std::vector< float > | points3D_x |
| If hasPoints3D=true, the X coordinates of the 3D point cloud detected by the camera. | |
| std::vector< float > | points3D_y |
| If hasPoints3D=true, the Y coordinates of the 3D point cloud detected by the camera. | |
| std::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 | range_is_depth |
| true: Kinect-like ranges: entries of rangeImage are distances along the +X axis; false: Ranges in rangeImage are actual distances in 3D. | |
| bool | hasIntensityImage |
| true means the field intensityImage contains valid data | |
| mrpt::utils::CImage | intensityImage |
| If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage". | |
| bool | hasConfidenceImage |
| true means the field confidenceImage contains valid data | |
| mrpt::utils::CImage | confidenceImage |
| If hasConfidenceImage=true, an image with the "confidence" value [range 0-255] as estimated by the capture drivers. | |
| mrpt::utils::TCamera | cameraParams |
| Projection parameters of the depth camera. | |
| mrpt::utils::TCamera | cameraParamsIntensity |
| Projection parameters of the intensity (graylevel or RGB) camera. | |
| mrpt::poses::CPose3D | relativePoseIntensityWRTDepth |
| Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this observation). | |
| 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. | |
Data common to any observation | |
| mrpt::system::TTimeStamp | timestamp |
| The associated time-stamp. | |
| std::string | sensorLabel |
| An arbitrary label that can be used to identify the sensor. | |
Static Public Attributes | |
| static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
| void | swap (CObservation &o) |
| 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. | |
| virtual void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0 |
| Introduces a pure virtual method responsible for writing to a CStream. | |
| virtual void | readFromStream (mrpt::utils::CStream &in, int version)=0 |
| Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. | |
Protected Attributes | |
| bool | m_points3D_external_stored |
| If set to true, m_points3D_external_file is valid. | |
| std::string | m_points3D_external_file |
| 3D points are in CImage::IMAGES_PATH_BASE+<this_file_name> | |
| bool | m_rangeImage_external_stored |
| If set to true, m_rangeImage_external_file is valid. | |
| std::string | m_rangeImage_external_file |
| rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name> | |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCObservation |
| class | mrpt::utils::CStream |
RTTI stuff | |
| typedef CObservation3DRangeScanPtr | SmartPtr |
| static mrpt::utils::CLASSINIT | _init_CObservation3DRangeScan |
| static mrpt::utils::TRuntimeClassId | classCObservation3DRangeScan |
| static const mrpt::utils::TRuntimeClassId * | classinfo |
| static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
| virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
| Returns information about the class of an object in runtime. | |
| virtual mrpt::utils::CObject * | duplicate () const |
| Returns a copy of the object, indepently of its class. | |
| static mrpt::utils::CObject * | CreateObject () |
| static CObservation3DRangeScanPtr | Create () |
A typedef for the associated smart pointer
Definition at line 107 of file CObservation3DRangeScan.h.
| mrpt::slam::CObservation3DRangeScan::CObservation3DRangeScan | ( | ) |
Default constructor.
| virtual mrpt::slam::CObservation3DRangeScan::~CObservation3DRangeScan | ( | ) | [virtual] |
Destructor.
| static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation3DRangeScan::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
| CObject* mrpt::utils::CObject::clone | ( | ) | const [inline, inherited] |
Cloning interface for smart pointers.
Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.
| static CObservation3DRangeScanPtr mrpt::slam::CObservation3DRangeScan::Create | ( | ) | [static] |
| static mrpt::utils::CObject* mrpt::slam::CObservation3DRangeScan::CreateObject | ( | ) | [static] |
| bool mrpt::slam::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide | ( | ) | const |
Return true if relativePoseIntensityWRTDepth equals the pure rotation (0,0,0,-90deg,0,-90deg) (with a small comparison epsilon)
| virtual mrpt::utils::CObject* mrpt::slam::CObservation3DRangeScan::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
| mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr | ( | ) | const [inline, inherited] |
| virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation3DRangeScan::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
| void mrpt::slam::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.
| 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.
Implements mrpt::slam::CObservation.
Definition at line 237 of file CObservation3DRangeScan.h.
| void mrpt::slam::CObservation3DRangeScan::getZoneAsObs | ( | CObservation3DRangeScan & | obs, |
| const unsigned int & | r1, | ||
| const unsigned int & | r2, | ||
| const unsigned int & | c1, | ||
| const unsigned int & | c2 | ||
| ) |
| bool mrpt::slam::CObservation::insertObservationInto | ( | METRICMAP * | theMap, |
| const CPose3D * | robotPose = NULL |
||
| ) | const [inline, inherited] |
This method is equivalent to:
map->insertObservation(this, robotPose)
| theMap | The map where this observation is to be inserted: the map will be updated. |
| robotPose | The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg) |
Definition at line 122 of file CObservation.h.
| virtual void mrpt::slam::CObservation3DRangeScan::load | ( | ) | const [virtual] |
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.
Reimplemented from mrpt::slam::CObservation.
| void mrpt::slam::CObservation3DRangeScan::points3D_convertToExternalStorage | ( | const std::string & | fileName, |
| const std::string & | use_this_base_dir | ||
| ) |
Users won't normally want to call this, it's only used from internal MRPT programs.
| std::string mrpt::slam::CObservation3DRangeScan::points3D_getExternalStorageFile | ( | ) | const [inline] |
Definition at line 176 of file CObservation3DRangeScan.h.
| void mrpt::slam::CObservation3DRangeScan::points3D_getExternalStorageFileAbsolutePath | ( | std::string & | out_path | ) | const |
| std::string mrpt::slam::CObservation3DRangeScan::points3D_getExternalStorageFileAbsolutePath | ( | ) | const [inline] |
Definition at line 178 of file CObservation3DRangeScan.h.
| bool mrpt::slam::CObservation3DRangeScan::points3D_isExternallyStored | ( | ) | const [inline] |
Definition at line 175 of file CObservation3DRangeScan.h.
| void mrpt::slam::CObservation3DRangeScan::project3DPointsFromDepthImage | ( | const bool | PROJ3D_USE_LUT = true | ) |
Compute the 3D points coordinates from the depth image (rangeImage) and the depth camera camera parameters (cameraParams).
There exist two set of formulas for projecting the i'th point, depending on the value of "range_is_depth". In all formulas below, "rangeImage" is the matrix of ranges and the pixel coordinates are (r,c).
1) [range_is_depth=true] With "range equals depth" or "Kinect-like depth mode": the range values are in fact distances along the "+X" axis, not real 3D ranges (this is the way Kinect reports ranges):
x(i) = rangeImage(r,c) y(i) = (r_cx - c) * x(i) / r_fx z(i) = (r_cy - r) * x(i) / r_fy
2) [range_is_depth=false] With "normal ranges": range means distance in 3D. This must be set when processing data from the SwissRange 3D camera, among others.
Ky = (r_cx - c)/r_fx Kz = (r_cy - r)/r_fy x(i) = rangeImage(r,c) / sqrt( 1 + Ky^2 + Kz^2 ) y(i) = Ky * x(i) z(i) = Kz * x(i)
| [in] | PROJ3D_USE_LUT | (Only when range_is_depth=true) Whether to use a Look-up-table (LUT) to speed up the conversion. It's thread safe in all situations except when you call this method from different threads and with different camera parameter matrices. In all other cases, it's a good idea to left it enabled. |
| void mrpt::slam::CObservation3DRangeScan::rangeImage_convertToExternalStorage | ( | const std::string & | fileName, |
| const std::string & | use_this_base_dir | ||
| ) |
Users won't normally want to call this, it's only used from internal MRPT programs.
| void mrpt::slam::CObservation3DRangeScan::rangeImage_forceResetExternalStorage | ( | ) | [inline] |
Forces marking this observation as non-externally stored - it doesn't anything else apart from reseting the corresponding flag (Users won't normally want to call this, it's only used from internal MRPT programs)
Definition at line 203 of file CObservation3DRangeScan.h.
| std::string mrpt::slam::CObservation3DRangeScan::rangeImage_getExternalStorageFile | ( | ) | const [inline] |
Definition at line 194 of file CObservation3DRangeScan.h.
| void mrpt::slam::CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath | ( | std::string & | out_path | ) | const |
| std::string mrpt::slam::CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath | ( | ) | const [inline] |
Definition at line 196 of file CObservation3DRangeScan.h.
| bool mrpt::slam::CObservation3DRangeScan::rangeImage_isExternallyStored | ( | ) | const [inline] |
Definition at line 193 of file CObservation3DRangeScan.h.
| void mrpt::slam::CObservation3DRangeScan::rangeImage_setSize | ( | const int | HEIGHT, |
| const int | WIDTH | ||
| ) |
Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation.
| virtual void mrpt::utils::CSerializable::readFromStream | ( | mrpt::utils::CStream & | in, |
| int | version | ||
| ) | [protected, pure virtual, inherited] |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
| in | The input binary stream where the object data must read from. |
| version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
| std::exception | On any error, see CStream::ReadBuffer |
Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.
| static double mrpt::slam::CObservation3DRangeScan::recoverCameraCalibrationParameters | ( | const CObservation3DRangeScan & | in_obs, |
| mrpt::utils::TCamera & | out_camParams, | ||
| const double | camera_offset = 0.01 |
||
| ) | [static] |
A Levenberg-Marquart-based optimizer to recover the calibration parameters of a 3D camera given a range (depth) image and the corresponding 3D point cloud.
| camera_offset | The offset (in meters) in the +X direction of the point cloud. It's 1cm for SwissRanger SR4000. |
| void mrpt::slam::CObservation3DRangeScan::resizePoints3DVectors | ( | const size_t | nPoints | ) |
Use this method instead of resizing all three points3D_x, points3D_y & points3D_z to allow the usage of the internal memory pool.
| void mrpt::slam::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.
| 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.
Implements mrpt::slam::CObservation.
Definition at line 243 of file CObservation3DRangeScan.h.
| void mrpt::slam::CObservation::swap | ( | CObservation & | o | ) | [protected, inherited] |
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.
| void mrpt::slam::CObservation3DRangeScan::swap | ( | CObservation3DRangeScan & | o | ) |
Very efficient method to swap the contents of two observations.
| virtual void mrpt::slam::CObservation3DRangeScan::unload | ( | ) | [virtual] |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented from mrpt::slam::CObservation.
| virtual void mrpt::utils::CSerializable::writeToStream | ( | mrpt::utils::CStream & | out, |
| int * | getVersion | ||
| ) | const [protected, pure virtual, inherited] |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
| out | The output binary stream where object must be dumped. |
| getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
| std::exception | On any error, see CStream::WriteBuffer |
Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.
friend class mrpt::utils::CStream [friend, inherited] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 84 of file CObservation.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservation3DRangeScan::_init_CObservation3DRangeScan [static, protected] |
Definition at line 107 of file CObservation3DRangeScan.h.
Projection parameters of the depth camera.
Definition at line 212 of file CObservation3DRangeScan.h.
Projection parameters of the intensity (graylevel or RGB) camera.
Definition at line 213 of file CObservation3DRangeScan.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited] |
const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation [static, inherited] |
Definition at line 84 of file CObservation.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CObservation3DRangeScan::classCObservation3DRangeScan [static] |
Definition at line 107 of file CObservation3DRangeScan.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited] |
Definition at line 56 of file CSerializable.h.
Definition at line 107 of file CObservation3DRangeScan.h.
If hasConfidenceImage=true, an image with the "confidence" value [range 0-255] as estimated by the capture drivers.
Definition at line 210 of file CObservation3DRangeScan.h.
true means the field confidenceImage contains valid data
Definition at line 209 of file CObservation3DRangeScan.h.
true means the field intensityImage contains valid data
Definition at line 206 of file CObservation3DRangeScan.h.
true means the field points3D contains valid data.
Definition at line 166 of file CObservation3DRangeScan.h.
true means the field rangeImage contains valid data
Definition at line 186 of file CObservation3DRangeScan.h.
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".
Definition at line 207 of file CObservation3DRangeScan.h.
3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
Definition at line 111 of file CObservation3DRangeScan.h.
bool mrpt::slam::CObservation3DRangeScan::m_points3D_external_stored [protected] |
If set to true, m_points3D_external_file is valid.
Definition at line 110 of file CObservation3DRangeScan.h.
rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
Definition at line 114 of file CObservation3DRangeScan.h.
bool mrpt::slam::CObservation3DRangeScan::m_rangeImage_external_stored [protected] |
If set to true, m_rangeImage_external_file is valid.
Definition at line 113 of file CObservation3DRangeScan.h.
The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
Definition at line 228 of file CObservation3DRangeScan.h.
If hasPoints3D=true, the X coordinates of the 3D point cloud detected by the camera.
Definition at line 167 of file CObservation3DRangeScan.h.
If hasPoints3D=true, the Y coordinates of the 3D point cloud detected by the camera.
Definition at line 168 of file CObservation3DRangeScan.h.
If hasPoints3D=true, the Z coordinates of the 3D point cloud detected by the camera.
Definition at line 169 of file CObservation3DRangeScan.h.
true: Kinect-like ranges: entries of rangeImage are distances along the +X axis; false: Ranges in rangeImage are actual distances in 3D.
Definition at line 188 of file CObservation3DRangeScan.h.
If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters)
Definition at line 187 of file CObservation3DRangeScan.h.
Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this observation).
In a SwissRanger camera, this will be (0,0,0,-90deg,0,-90deg) since both cameras coincide. In a Kinect, this will include a small lateral displacement and a rotation, according to the drawing on the top of this page.
Definition at line 220 of file CObservation3DRangeScan.h.
std::string mrpt::slam::CObservation::sensorLabel [inherited] |
An arbitrary label that can be used to identify the sensor.
Definition at line 100 of file CObservation.h.
The 6D pose of the sensor on the robot.
Definition at line 229 of file CObservation3DRangeScan.h.
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
Definition at line 230 of file CObservation3DRangeScan.h.
The associated time-stamp.
Definition at line 96 of file CObservation.h.
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