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obs/CObservationRGBD360.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CObservationRGBD360_H
10#define CObservationRGBD360_H
11
13#include <mrpt/utils/CImage.h>
16#include <mrpt/poses/CPose3D.h>
17#include <mrpt/poses/CPose2D.h>
18#include <mrpt/math/CPolygon.h>
19#include <mrpt/math/CMatrix.h>
20#include <mrpt/utils/adapters.h>
21
22namespace mrpt
23{
24namespace obs
25{
27
28// namespace detail {
29// // Implemented in CObservationRGBD360_project3D_impl.h
30// template <class POINTMAP>
31// void project3DPointsFromDepthImageInto(CObservationRGBD360 &src_obs, POINTMAP &dest_pointcloud, const bool takeIntoAccountSensorPoseOnRobot, const mrpt::poses::CPose3D * robotPoseInTheWorld, const bool PROJ3D_USE_LUT);
32// }
33
34 /** Declares a class derived from "CObservation" that
35 * encapsules an omnidirectional RGBD measurement from a set of RGBD sensors.
36 * This kind of observations can carry one or more of these data fields:
37 * - 3D point cloud (as float's).
38 * - 2D range image (as a matrix): Each entry in the matrix "rangeImage(ROW,COLUMN)" contains a distance or a depth (in meters), depending on \a range_is_depth.
39 * - 2D intensity (grayscale or RGB) image (as a mrpt::utils::CImage): For SwissRanger cameras, a logarithmic A-law compression is used to convert the original 16bit intensity to a more standard 8bit graylevel.
40 *
41 * The coordinates of the 3D point cloud are in millimeters with respect to the RGB camera origin of coordinates
42 *
43 * The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual.
44 * Optionally, the intensity and confidence channels can be set to delayed-load images for off-rawlog storage so it saves
45 * memory by having loaded in memory just the needed images. See the methods load() and unload().
46 * Due to the intensive storage requirements of this kind of observations, this observation is the only one in MRPT
47 * for which it's recommended to always call "load()" and "unload()" before and after using the observation, *ONLY* when
48 * the observation was read from a rawlog dataset, in order to make sure that all the externally stored data fields are
49 * loaded and ready in memory.
50 *
51 * Classes that grab observations of this type are:
52 * - mrpt::hwdrivers::CSwissRanger3DCamera
53 * - mrpt::hwdrivers::CKinect
54 *
55 *
56 * 3D point clouds can be generated at any moment after grabbing with CObservationRGBD360::project3DPointsFromDepthImage() and CObservationRGBD360::project3DPointsFromDepthImageInto(), provided the correct
57 * calibration parameters.
58 *
59 * \note Starting at serialization version 3 (MRPT 0.9.1+), the 3D point cloud and the rangeImage can both be stored externally to save rawlog space.
60 * \note Starting at serialization version 5 (MRPT 0.9.5+), the new field \a range_is_depth
61 * \note Starting at serialization version 6 (MRPT 0.9.5+), the new field \a intensityImageChannel
62 *
63 * \sa mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::COpenNI2_RGBD360, CObservation
64 * \ingroup mrpt_obs_grp
65 */
67 {
68 // This must be added to any CSerializable derived class:
70
71 protected:
72 bool m_points3D_external_stored; //!< If set to true, m_points3D_external_file is valid.
73 std::string m_points3D_external_file; //!< 3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
74
75 bool m_rangeImage_external_stored; //!< If set to true, m_rangeImage_external_file is valid.
76 std::string m_rangeImage_external_file; //!< rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
77
78 public:
79 CObservationRGBD360( ); //!< Default constructor
80 virtual ~CObservationRGBD360( ); //!< Destructor
81
82 static const unsigned int NUM_SENSORS = 2;
83
84 mrpt::system::TTimeStamp timestamps[NUM_SENSORS];
85
86 bool hasRangeImage; //!< true means the field rangeImage contains valid data
87 mrpt::math::CMatrix rangeImages[NUM_SENSORS]; //!< If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) \sa range_is_depth
88
89 void rangeImage_setSize(const int HEIGHT, const int WIDTH, const unsigned sensor_id); //!< Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation.
90
91 bool hasIntensityImage; //!< true means the field intensityImage contains valid data
92 mrpt::utils::CImage intensityImages[NUM_SENSORS]; //!< If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage"
93 mrpt::utils::TCamera sensorParamss[NUM_SENSORS]; //!< Projection parameters of the 8 RGBD sensor.
94
95 float maxRange; //!< The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
96 mrpt::poses::CPose3D sensorPose; //!< The 6D pose of the sensor on the robot.
97 float stdError; //!< The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
98
99 // See base class docs
100 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = sensorPose; }
101 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
102 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
103
104 }; // End of class def.
106
107
108 } // End of namespace
109
110} // End of namespace
111
112#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
This class is a "CSerializable" wrapper for "CMatrixFloat".
Definition CMatrix.h:31
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::poses::CPose3D sensorPose
The 6D pose of the sensor on the robot.
float maxRange
The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
std::string m_points3D_external_file
3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
virtual ~CObservationRGBD360()
Destructor.
CObservationRGBD360()
Default constructor.
void rangeImage_setSize(const int HEIGHT, const int WIDTH, const unsigned sensor_id)
Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the ...
std::string m_rangeImage_external_file
rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
bool hasRangeImage
true means the field rangeImage contains valid data
bool hasIntensityImage
true means the field intensityImage contains valid data
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
float stdError
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
bool m_points3D_external_stored
If set to true, m_points3D_external_file is valid.
bool m_rangeImage_external_stored
If set to true, m_rangeImage_external_file is valid.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition CPose3D.h:73
A class for storing images as grayscale or RGB bitmaps.
Definition CImage.h:102
Structure to hold the parameters of a pinhole camera model.
Definition TCamera.h:32
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
Definition datetime.h:30
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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