Detailed Description

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.

This kind of observations can carry one or more of these data fields:

3D point cloud (as float's).
Each 3D point has its associated (u,v) pixel coordinates in points3D_idxs_x & points3D_idxs_y (New in MRPT 1.4.0)
2D range image (as a matrix): Each entry in the matrix "rangeImage(ROW,COLUMN)" contains a distance or a depth (in meters), depending on range_is_depth.
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.
2D confidence image (as a mrpt::utils::CImage): For each pixel, a 0x00 and a 0xFF mean the lowest and highest confidence levels, respectively.
Semantic labels: Stored as a matrix of bitfields, each bit having a user-defined meaning.

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. By convention, a 3D point with its coordinates set to (0,0,0), will be considered as invalid. 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 (see mrpt::vision::checkerBoardStereoCalibration() or the ready-to-use GUI program kinect-calibrate):

cameraParams: Projection parameters of the depth camera.
cameraParamsIntensity: Projection parameters of the intensity (gray-level or RGB) camera.

In some cameras, like SwissRanger, both are the same. 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):

range_is_depth=true -> Kinect-like ranges: entries of rangeImage are distances along the +X axis
range_is_depth=false -> Ranges in rangeImage are actual distances in 3D.

The "intensity" channel may come from different channels in sesnsors as Kinect. Look at field intensityImageChannel to find out if the image was grabbed from the visible (RGB) or IR channels.

3D point clouds can be generated at any moment after grabbing with CObservation3DRangeScan::project3DPointsFromDepthImage() and CObservation3DRangeScan::project3DPointsFromDepthImageInto(), provided the correct calibration parameters. Note that project3DPointsFromDepthImage() will store the point cloud in sensor-centric local coordinates. Use project3DPointsFromDepthImageInto() to directly obtain vehicle or world coordinates.

Example of how to assign labels to pixels (for object segmentation, semantic information, etc.):

    // Assume obs of type CObservation3DRangeScan::Ptr
    obs->pixelLabels = CObservation3DRangeScan::TPixelLabelInfo::Ptr( new
*CObservation3DRangeScan::TPixelLabelInfo<NUM_BYTES>() );
    obs->pixelLabels->setSize(ROWS,COLS);
    obs->pixelLabels->setLabel(col,row, label_idx);   // label_idxs =
 [0,2^NUM_BYTES-1]
    //...

Note: Starting at serialization version 2 (MRPT 0.9.1+), the confidence channel is stored as an image instead of a matrix to optimize memory and disk space.; 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.; Starting at serialization version 5 (MRPT 0.9.5+), the new field range_is_depth; Starting at serialization version 6 (MRPT 0.9.5+), the new field intensityImageChannel; Starting at serialization version 7 (MRPT 1.3.1+), new fields for semantic labeling; Since MRPT 1.5.0, external files format can be selected at runtime with CObservation3DRangeScan::EXTERNALS_AS_TEXT

See also: mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CKinect, CObservation

Definition at line 225 of file CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.h>

Inheritance diagram for mrpt::obs::CObservation3DRangeScan:

Classes
struct	TCached3DProjTables
	Look-up-table struct for project3DPointsFromDepthImageInto() More...

struct	TPixelLabelInfo

struct	TPixelLabelInfoBase
	Virtual interface to all pixel-label information structs. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CObservation3DRangeScan ()
	Default constructor. More...

virtual	~CObservation3DRangeScan ()
	Destructor. More...

template<class POINTMAP >
void	project3DPointsFromDepthImageInto (POINTMAP &dest_pointcloud, const T3DPointsProjectionParams &projectParams, const TRangeImageFilterParams &filterParams=TRangeImageFilterParams())
	Project the RGB+D images into a 3D point cloud (with color if the target map supports it) and optionally at a given 3D pose. More...

void	project3DPointsFromDepthImage (const bool PROJ3D_USE_LUT=true)
	This method is equivalent to `project3DPointsFromDepthImageInto()` storing the projected 3D points (without color, in local sensor-centric coordinates) in this same class. More...

void	convertTo2DScan (mrpt::obs::CObservation2DRangeScan &out_scan2d, const T3DPointsTo2DScanParams &scanParams, const TRangeImageFilterParams &filterParams=TRangeImageFilterParams())
	Convert this 3D observation into an "equivalent 2D fake laser scan", with a configurable vertical FOV. More...

void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...

void	swap (CObservation3DRangeScan &o)
	Very efficient method to swap the contents of two observations. More...

void	getZoneAsObs (CObservation3DRangeScan &obs, const unsigned int &r1, const unsigned int &r2, const unsigned int &c1, const unsigned int &c2)
	Extract a ROI of the 3D observation as a new one. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const mrpt::poses::CPose3D robotPose=nullptr) const
	This method is equivalent to: More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Delayed-load manual control methods.
virtual void	load () const override
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...

virtual void	unload () override
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...

Point cloud external storage functions
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. More...

Range Matrix external storage functions
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. More...

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) More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	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). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static void	EXTERNALS_AS_TEXT (bool value)
	Whether external files (3D points, range and confidence) are to be saved as `.txt` text files (MATLAB compatible) or `*.bin` binary (faster). More...

static bool	EXTERNALS_AS_TEXT ()

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. More...

static TCached3DProjTables &	get_3dproj_lut ()
	3D point cloud projection look-up-table More...

Public Attributes
Confidence "channel"
bool	hasConfidenceImage
	true means the field confidenceImage contains valid data More...

mrpt::utils::CImage	confidenceImage
	If hasConfidenceImage=true, an image with the "confidence" value [range 0-255] as estimated by the capture drivers. More...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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. More...

Protected Attributes
bool	m_points3D_external_stored
	If set to true, m_points3D_external_file is valid. More...

std::string	m_points3D_external_file
	3D points are in CImage::getImagesPathBase()+<this_file_name> More...

bool	m_rangeImage_external_stored
	If set to true, m_rangeImage_external_file is valid. More...

std::string	m_rangeImage_external_file
	rangeImage is in CImage::getImagesPathBase()+<this_file_name> More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. More...

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...

mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...

virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
using	Ptr = std::shared_ptr< CObservation3DRangeScan >

using	ConstPtr = std::shared_ptr< const CObservation3DRangeScan >

static mrpt::utils::CLASSINIT	_init_CObservation3DRangeScan

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CObservation3DRangeScan"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Point cloud
bool	hasPoints3D
	true means the field points3D contains valid data. More...

std::vector< float >	points3D_x
	If hasPoints3D=true, the (X,Y,Z) coordinates of the 3D point cloud detected by the camera. More...

std::vector< float >	points3D_y

std::vector< float >	points3D_z

std::vector< uint16_t >	points3D_idxs_x
	If hasPoints3D=true, the (x,y) pixel coordinates for each (X,Y,Z) point in points3D_x, points3D_y, points3D_z. More...

std::vector< uint16_t >	points3D_idxs_y

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. More...

size_t	getScanSize () const
	Get the size of the scan pointcloud. More...

Range (depth) image
bool	hasRangeImage
	true means the field rangeImage contains valid data More...

mrpt::math::CMatrix	rangeImage
	If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) More...

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. More...

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. More...

Intensity (RGB) channels
enum	TIntensityChannelID { CH_VISIBLE = 0, CH_IR = 1 }
	Enum type for intensityImageChannel. More...

bool	hasIntensityImage
	true means the field intensityImage contains valid data More...

mrpt::utils::CImage	intensityImage
	If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage". More...

TIntensityChannelID	intensityImageChannel
	The source of the intensityImage; typically the visible channel. More...

Pixel-wise classification labels (for semantic labeling, etc.)
TPixelLabelInfoBase::Ptr	pixelLabels
	All information about pixel labeling is stored in this (smart pointer to) structure; refer to TPixelLabelInfo for details on the contents User is responsible of creating a new object of the desired data type. More...

bool	hasPixelLabels () const
	Returns true if the field CObservation3DRangeScan::pixelLabels contains a non-NULL smart pointer. More...

Sensor parameters
mrpt::utils::TCamera	cameraParams
	Projection parameters of the depth camera. More...

mrpt::utils::TCamera	cameraParamsIntensity
	Projection parameters of the intensity (graylevel or RGB) camera. More...

mrpt::poses::CPose3D	relativePoseIntensityWRTDepth
	Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this observation). More...

float	maxRange
	The maximum range allowed by the device, in meters (e.g. More...

mrpt::poses::CPose3D	sensorPose
	The 6D pose of the sensor on the robot. More...

float	stdError
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. More...

bool	doDepthAndIntensityCamerasCoincide () const
	Return true if relativePoseIntensityWRTDepth equals the pure rotation (0,0,0,-90deg,0,-90deg) (with a small comparison epsilon) More...

void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...

void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::obs::CObservation3DRangeScan::ConstPtr = std::shared_ptr<const CObservation3DRangeScan >

Definition at line 227 of file CObservation3DRangeScan.h.

◆ Ptr

using mrpt::obs::CObservation3DRangeScan::Ptr = std::shared_ptr< CObservation3DRangeScan >

A typedef for the associated smart pointer

Definition at line 227 of file CObservation3DRangeScan.h.

Member Enumeration Documentation

◆ TIntensityChannelID

enum mrpt::obs::CObservation3DRangeScan::TIntensityChannelID

Enum type for intensityImageChannel.

Enumerator
CH_VISIBLE	Grayscale or RGB visible channel of the camera sensor.
CH_IR	Infrarred (IR) channel.

Definition at line 491 of file CObservation3DRangeScan.h.

Constructor & Destructor Documentation

◆ CObservation3DRangeScan()

CObservation3DRangeScan::CObservation3DRangeScan ( )

Default constructor.

Definition at line 168 of file CObservation3DRangeScan.cpp.

◆ ~CObservation3DRangeScan()

CObservation3DRangeScan::~CObservation3DRangeScan ( )

virtual

Destructor.

Definition at line 192 of file CObservation3DRangeScan.cpp.

References mempool_donate_range_matrix(), and mempool_donate_xyz_buffers().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation3DRangeScan::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::obs::CObservation3DRangeScan::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ convertTo2DScan()

void CObservation3DRangeScan::convertTo2DScan	(	mrpt::obs::CObservation2DRangeScan &	out_scan2d,
		const T3DPointsTo2DScanParams &	scanParams,
		const TRangeImageFilterParams &	filterParams = `TRangeImageFilterParams()`
	)

Convert this 3D observation into an "equivalent 2D fake laser scan", with a configurable vertical FOV.

The result is a 2D laser scan with more "rays" (N) than columns has the 3D observation (W), exactly: N = W * oversampling_ratio. This oversampling is required since laser scans sample the space at evenly-separated angles, while a range camera follows a tangent-like distribution. By oversampling we make sure we don't leave "gaps" unseen by the virtual "2D laser".

All obstacles within a frustum are considered and the minimum distance is kept in each direction. The horizontal FOV of the frustum is automatically computed from the intrinsic parameters, but the vertical FOV must be provided by the user, and can be set to be assymetric which may be useful depending on the zone of interest where to look for obstacles.

All spatial transformations are riguorosly taken into account in this class, using the depth camera intrinsic calibration parameters.

The timestamp of the new object is copied from the 3D object. Obviously, a requisite for calling this method is the 3D observation having range data, i.e. hasRangeImage must be true. It's not needed to have RGB data nor the raw 3D point clouds for this method to work.

If scanParams.use_origin_sensor_pose is true, the points will be projected to 3D and then reprojected as seen from a different sensorPose at the vehicle frame origin. Otherwise (the default), the output 2D observation will share the sensorPose of the input 3D scan (using a more efficient algorithm that avoids trigonometric functions).

Parameters

[out] out_scan2d The resulting 2D equivalent scan.

See also: The example in http://www.mrpt.org/tutorials/mrpt-examples/example-kinect-to-2d-laser-demo/

Definition at line 966 of file CObservation3DRangeScan.cpp.

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◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CObservation3DRangeScan::Create ( Args &&... args )

inlinestatic

Definition at line 227 of file CObservation3DRangeScan.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservation3DRangeScan::CreateObject ( )

static

◆ doDepthAndIntensityCamerasCoincide()

bool CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide ( ) const

Return true if relativePoseIntensityWRTDepth equals the pure rotation (0,0,0,-90deg,0,-90deg) (with a small comparison epsilon)

See also: relativePoseIntensityWRTDepth

Definition at line 951 of file CObservation3DRangeScan.cpp.

References DEG2RAD, mrpt::poses::CPose3D::getRotationMatrix(), mrpt::poses::CPose3D::m_coords, and relativePoseIntensityWRTDepth.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().

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◆ EXTERNALS_AS_TEXT() [1/2]

void CObservation3DRangeScan::EXTERNALS_AS_TEXT ( bool value )

static

Whether external files (3D points, range and confidence) are to be saved as .txt text files (MATLAB compatible) or *.bin binary (faster).

Loading always will determine the type by inspecting the file extension.

Note: Default=false

Definition at line 46 of file CObservation3DRangeScan.cpp.

References EXTERNALS_AS_TEXT_value.

◆ EXTERNALS_AS_TEXT() [2/2]

bool CObservation3DRangeScan::EXTERNALS_AS_TEXT ( )

static

Definition at line 50 of file CObservation3DRangeScan.cpp.

References EXTERNALS_AS_TEXT_value.

◆ get_3dproj_lut()

CObservation3DRangeScan::TCached3DProjTables & CObservation3DRangeScan::get_3dproj_lut ( )

static

3D point cloud projection look-up-table

See also: project3DPointsFromDepthImage

Definition at line 40 of file CObservation3DRangeScan.cpp.

References lut_3dproj.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().

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◆ getDescriptionAsText()

void CObservation3DRangeScan::getDescriptionAsText ( std::ostream & o ) const

overridevirtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note: If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.; This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

Definition at line 1135 of file CObservation3DRangeScan.cpp.

References cameraParams, cameraParamsIntensity, confidenceImage, mrpt::utils::CConfigFileMemory::getContent(), mrpt::obs::CObservation::getDescriptionAsText(), mrpt::utils::CImage::getExternalStorageFile(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), hasConfidenceImage, hasIntensityImage, hasPixelLabels(), hasPoints3D, hasRangeImage, intensityImage, intensityImageChannel, mrpt::utils::CImage::isExternallyStored(), load(), maxRange, pixelLabels, points3D_getExternalStorageFile(), points3D_isExternallyStored(), points3D_x, rangeImage_getExternalStorageFile(), rangeImage_isExternallyStored(), relativePoseIntensityWRTDepth, mrpt::utils::TCamera::saveToConfigFile(), and sensorPose.

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◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also: getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 69 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation3DRangeScan::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::obs::CObservation3DRangeScan::GetRuntimeClassIdStatic ( )

static

◆ getScanSize()

size_t CObservation3DRangeScan::getScanSize ( ) const

Get the size of the scan pointcloud.

Note: Method is added for compatibility with its CObservation2DRangeScan counterpart

Definition at line 914 of file CObservation3DRangeScan.cpp.

References points3D_x.

◆ getSensorPose() [1/2]

void 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.

See also: setSensorPose

Definition at line 31 of file CObservation.cpp.

◆ getSensorPose() [2/2]

void mrpt::obs::CObservation3DRangeScan::getSensorPose ( mrpt::poses::CPose3D & out_sensorPose ) const

inlineoverridevirtual

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.

See also: setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 769 of file CObservation3DRangeScan.h.

References sensorPose.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 64 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ getZoneAsObs()

void CObservation3DRangeScan::getZoneAsObs	(	CObservation3DRangeScan &	obs,
		const unsigned int &	r1,
		const unsigned int &	r2,
		const unsigned int &	c1,
		const unsigned int &	c2
	)

Extract a ROI of the 3D observation as a new one.

Note: PixelLabels are not copied to the output subimage.

Definition at line 796 of file CObservation3DRangeScan.cpp.

References ASSERT_, cameraParams, confidenceImage, mrpt::utils::CImage::extract_patch(), hasConfidenceImage, hasIntensityImage, hasPoints3D, hasRangeImage, intensityImage, intensityImageChannel, maxRange, mrpt::utils::TCamera::ncols, mrpt::utils::TCamera::nrows, points3D_x, points3D_y, points3D_z, rangeImage, sensorPose, and stdError.

Referenced by mrpt::detectors::CFaceDetection::detectObjects_Impl().

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◆ hasPixelLabels()

bool mrpt::obs::CObservation3DRangeScan::hasPixelLabels ( ) const

inline

Returns true if the field CObservation3DRangeScan::pixelLabels contains a non-NULL smart pointer.

To enhance a 3D point cloud with labeling info, just assign an appropiate object to pixelLabels

Definition at line 525 of file CObservation3DRangeScan.h.

References pixelLabels.

Referenced by getDescriptionAsText(), and writeToStream().

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◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

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 nullptr (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also: CMetricMap, CMetricMap::insertObservation

Definition at line 96 of file CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

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◆ load()

void CObservation3DRangeScan::load ( ) const

overridevirtual

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.

See also: unload

Reimplemented from mrpt::obs::CObservation.

Definition at line 454 of file CObservation3DRangeScan.cpp.

References ASSERT_EQUAL_, mrpt::system::extractFileExtension(), hasPoints3D, hasRangeImage, loadFromTextFile(), m_points3D_external_stored, m_rangeImage_external_stored, points3D_getExternalStorageFileAbsolutePath(), points3D_x, points3D_y, points3D_z, rangeImage, rangeImage_getExternalStorageFileAbsolutePath(), and mrpt::system::strCmpI().

Referenced by getDescriptionAsText(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), and mrpt::maps::CColouredOctoMap::internal_insertObservation().

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◆ operator delete() [1/3]

void mrpt::obs::CObservation3DRangeScan::operator delete ( void * ptr )

inlinenoexcept

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservation3DRangeScan::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator delete() [3/3]

void mrpt::obs::CObservation3DRangeScan::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator delete[]()

void mrpt::obs::CObservation3DRangeScan::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator new() [1/3]

static void* mrpt::obs::CObservation3DRangeScan::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator new() [2/3]

void* mrpt::obs::CObservation3DRangeScan::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator new() [3/3]

void* mrpt::obs::CObservation3DRangeScan::operator new ( size_t size )

inline

Definition at line 227 of file CObservation3DRangeScan.h.

◆ operator new[]()

void* mrpt::obs::CObservation3DRangeScan::operator new[] ( size_t size )

inline

Definition at line 227 of file CObservation3DRangeScan.h.

◆ points3D_convertToExternalStorage()

void 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.

See also: EXTERNALS_AS_TEXT

Definition at line 551 of file CObservation3DRangeScan.cpp.

References ASSERT_, CFileGZOutputStream, EXTERNALS_AS_TEXT_value, mrpt::system::fileNameChangeExtension(), m_points3D_external_file, m_points3D_external_stored, mrpt::math::MATRIX_FORMAT_FIXED, points3D_getExternalStorageFileAbsolutePath(), points3D_idxs_x, points3D_idxs_y, points3D_isExternallyStored(), points3D_x, points3D_y, points3D_z, and mrpt::utils::vector_strong_clear().

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◆ points3D_getExternalStorageFile()

std::string mrpt::obs::CObservation3DRangeScan::points3D_getExternalStorageFile ( ) const

inline

Definition at line 421 of file CObservation3DRangeScan.h.

References m_points3D_external_file.

Referenced by getDescriptionAsText().

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◆ points3D_getExternalStorageFileAbsolutePath() [1/2]

void CObservation3DRangeScan::points3D_getExternalStorageFileAbsolutePath ( std::string & out_path ) const

Definition at line 530 of file CObservation3DRangeScan.cpp.

References ASSERT_, and m_points3D_external_file.

◆ points3D_getExternalStorageFileAbsolutePath() [2/2]

std::string mrpt::obs::CObservation3DRangeScan::points3D_getExternalStorageFileAbsolutePath ( ) const

inline

Definition at line 427 of file CObservation3DRangeScan.h.

Referenced by load(), and points3D_convertToExternalStorage().

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◆ points3D_isExternallyStored()

bool mrpt::obs::CObservation3DRangeScan::points3D_isExternallyStored ( ) const

inline

Definition at line 417 of file CObservation3DRangeScan.h.

References m_points3D_external_stored.

Referenced by getDescriptionAsText(), and points3D_convertToExternalStorage().

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◆ project3DPointsFromDepthImage()

void mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImage ( const bool PROJ3D_USE_LUT = true )

inline

This method is equivalent to project3DPointsFromDepthImageInto() storing the projected 3D points (without color, in local sensor-centric coordinates) in this same class.

For new code it's recommended to use instead project3DPointsFromDepthImageInto() which is much more versatile.

Definition at line 330 of file CObservation3DRangeScan.h.

References project3DPointsFromDepthImageInto().

Referenced by mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), and mrpt::hwdrivers::CKinect::getNextObservation().

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◆ project3DPointsFromDepthImageInto()

template<class POINTMAP >

void mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto	(	POINTMAP &	dest_pointcloud,
		const T3DPointsProjectionParams &	projectParams,
		const TRangeImageFilterParams &	filterParams = `TRangeImageFilterParams()`
	)

inline

Project the RGB+D images into a 3D point cloud (with color if the target map supports it) and optionally at a given 3D pose.

The 3D point coordinates are computed 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)

The color of each point is determined by projecting the 3D local point into the RGB image using cameraParamsIntensity.

By default the local (sensor-centric) coordinates of points are directly stored into the local map, but if indicated so in takeIntoAccountSensorPoseOnRobot the points are transformed with sensorPose. Furthermore, if provided, those coordinates are transformed with robotPoseInTheWorld

Template Parameters

POINTMAP Supported maps are all those covered by mrpt::utils::PointCloudAdapter (mrpt::maps::CPointsMap and derived, mrpt::opengl::CPointCloudColoured, PCL point clouds,...)

Note: In MRPT < 0.9.5, this method always assumes that ranges were in Kinect-like format.

Definition at line 316 of file CObservation3DRangeScan.h.

Referenced by convertTo2DScan(), project3DPointsFromDepthImage(), and TEST().

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◆ rangeImage_convertToExternalStorage()

void 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.

See also: EXTERNALS_AS_TEXT

Definition at line 600 of file CObservation3DRangeScan.cpp.

References ASSERT_, CFileGZOutputStream, EXTERNALS_AS_TEXT_value, mrpt::system::fileNameChangeExtension(), m_rangeImage_external_file, m_rangeImage_external_stored, mrpt::math::MATRIX_FORMAT_FIXED, rangeImage, rangeImage_getExternalStorageFileAbsolutePath(), and rangeImage_isExternallyStored().

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◆ rangeImage_forceResetExternalStorage()

void mrpt::obs::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 482 of file CObservation3DRangeScan.h.

References m_rangeImage_external_stored.

◆ rangeImage_getExternalStorageFile()

std::string mrpt::obs::CObservation3DRangeScan::rangeImage_getExternalStorageFile ( ) const

inline

Definition at line 462 of file CObservation3DRangeScan.h.

References m_rangeImage_external_file.

Referenced by getDescriptionAsText().

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◆ rangeImage_getExternalStorageFileAbsolutePath() [1/2]

void CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath ( std::string & out_path ) const

Definition at line 510 of file CObservation3DRangeScan.cpp.

References ASSERT_, and m_rangeImage_external_file.

◆ rangeImage_getExternalStorageFileAbsolutePath() [2/2]

std::string mrpt::obs::CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath ( ) const

inline

Definition at line 468 of file CObservation3DRangeScan.h.

Referenced by load(), and rangeImage_convertToExternalStorage().

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◆ rangeImage_isExternallyStored()

bool mrpt::obs::CObservation3DRangeScan::rangeImage_isExternallyStored ( ) const

inline

Definition at line 458 of file CObservation3DRangeScan.h.

References m_rangeImage_external_stored.

Referenced by getDescriptionAsText(), and rangeImage_convertToExternalStorage().

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◆ rangeImage_setSize()

void 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.

Definition at line 922 of file CObservation3DRangeScan.cpp.

References mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), CObservation3DRangeScan_Ranges_MemPoolParams::H, CObservation3DRangeScan_Ranges_MemPoolData::rangeImage, rangeImage, mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::request_memory(), and CObservation3DRangeScan_Ranges_MemPoolParams::W.

Referenced by fillSampleObs(), and readFromStream().

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◆ readFromStream()

void CObservation3DRangeScan::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

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.

Parameters

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.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 272 of file CObservation3DRangeScan.cpp.

References cameraParams, cameraParamsIntensity, CH_VISIBLE, confidenceImage, hasConfidenceImage, hasIntensityImage, hasPoints3D, hasRangeImage, intensityImage, intensityImageChannel, m_points3D_external_file, m_points3D_external_stored, m_rangeImage_external_file, m_rangeImage_external_stored, maxRange, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, pixelLabels, points3D_idxs_x, points3D_idxs_y, points3D_x, points3D_y, points3D_z, range_is_depth, rangeImage, rangeImage_setSize(), mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::readAndBuildFromStream(), relativePoseIntensityWRTDepth, resizePoints3DVectors(), mrpt::obs::CObservation::sensorLabel, sensorPose, stdError, and mrpt::obs::CObservation::timestamp.

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◆ recoverCameraCalibrationParameters()

double CObservation3DRangeScan::recoverCameraCalibrationParameters	(	const CObservation3DRangeScan &	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.

Parameters

camera_offset The offset (in meters) in the +X direction of the point cloud. It's 1cm for SwissRanger SR4000.

Returns: The final average reprojection error per pixel (typ <0.05 px)

Definition at line 740 of file CObservation3DRangeScan.cpp.

References ASSERT_, CALIB_DECIMAT, mrpt::obs::detail::cam2vec(), mrpt::obs::detail::cost_func(), mrpt::utils::TCamera::focalLengthMeters, hasPoints3D, hasRangeImage, mrpt::utils::TCamera::intrinsicParams, MRPT_END, MRPT_START, mrpt::utils::TCamera::ncols, mrpt::utils::TCamera::nrows, points3D_x, points3D_y, points3D_z, rangeImage, mrpt::math::square(), and mrpt::obs::detail::vec2cam().

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◆ resizePoints3DVectors()

void CObservation3DRangeScan::resizePoints3DVectors ( const size_t WH )

Use this method instead of resizing all three points3D_x, points3D_y & points3D_z to allow the usage of the internal memory pool.

Definition at line 859 of file CObservation3DRangeScan.cpp.

References mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), CObservation3DRangeScan_Points_MemPoolData::idxs_x, CObservation3DRangeScan_Points_MemPoolData::idxs_y, points3D_idxs_x, points3D_idxs_y, points3D_x, points3D_y, points3D_z, CObservation3DRangeScan_Points_MemPoolData::pts_x, CObservation3DRangeScan_Points_MemPoolData::pts_y, CObservation3DRangeScan_Points_MemPoolData::pts_z, mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::request_memory(), mrpt::utils::vector_strong_clear(), and CObservation3DRangeScan_Points_MemPoolParams::WH.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), and mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::resize().

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◆ setSensorPose() [1/2]

void 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.

See also: getSensorPose

Definition at line 38 of file CObservation.cpp.

◆ setSensorPose() [2/2]

void mrpt::obs::CObservation3DRangeScan::setSensorPose ( const mrpt::poses::CPose3D & newSensorPose )

inlineoverridevirtual

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.

See also: getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 774 of file CObservation3DRangeScan.h.

References sensorPose.

◆ swap() [1/2]

void CObservation::swap ( CObservation & o )

protectedinherited

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.

Definition at line 43 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and swap().

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◆ swap() [2/2]

void CObservation3DRangeScan::swap ( CObservation3DRangeScan & o )

Very efficient method to swap the contents of two observations.

Definition at line 417 of file CObservation3DRangeScan.cpp.

References cameraParams, cameraParamsIntensity, confidenceImage, hasConfidenceImage, hasIntensityImage, hasPoints3D, hasRangeImage, intensityImage, intensityImageChannel, m_points3D_external_file, m_points3D_external_stored, m_rangeImage_external_file, m_rangeImage_external_stored, maxRange, pixelLabels, points3D_idxs_x, points3D_idxs_y, points3D_x, points3D_y, points3D_z, rangeImage, relativePoseIntensityWRTDepth, sensorPose, stdError, mrpt::obs::CObservation::swap(), and mrpt::utils::CImage::swap().

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CKinect::getNextObservation().

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◆ unload()

void CObservation3DRangeScan::unload ( )

overridevirtual

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also: load

Reimplemented from mrpt::obs::CObservation.

Definition at line 495 of file CObservation3DRangeScan.cpp.

References confidenceImage, hasPoints3D, hasRangeImage, intensityImage, m_points3D_external_stored, m_rangeImage_external_stored, points3D_x, points3D_y, points3D_z, rangeImage, mrpt::utils::CImage::unload(), and mrpt::utils::vector_strong_clear().

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void CObservation3DRangeScan::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

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.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, 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.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 203 of file CObservation3DRangeScan.cpp.

References ASSERT_, cameraParams, cameraParamsIntensity, confidenceImage, hasConfidenceImage, hasIntensityImage, hasPixelLabels(), hasPoints3D, hasRangeImage, intensityImage, intensityImageChannel, m_points3D_external_file, m_points3D_external_stored, m_rangeImage_external_file, m_rangeImage_external_stored, maxRange, pixelLabels, points3D_idxs_x, points3D_idxs_y, points3D_x, points3D_y, points3D_z, range_is_depth, rangeImage, relativePoseIntensityWRTDepth, mrpt::obs::CObservation::sensorLabel, sensorPose, stdError, mrpt::obs::CObservation::timestamp, and mrpt::utils::CStream::WriteBufferFixEndianness().

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Member Data Documentation

◆ _init_CObservation3DRangeScan

mrpt::utils::CLASSINIT mrpt::obs::CObservation3DRangeScan::_init_CObservation3DRangeScan

staticprotected

Definition at line 227 of file CObservation3DRangeScan.h.

◆ cameraParams

mrpt::utils::TCamera mrpt::obs::CObservation3DRangeScan::cameraParams

Projection parameters of the depth camera.

Definition at line 739 of file CObservation3DRangeScan.h.

Referenced by convertTo2DScan(), getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), getZoneAsObs(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), swap(), and writeToStream().

◆ cameraParamsIntensity

mrpt::utils::TCamera mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity

Projection parameters of the intensity (graylevel or RGB) camera.

Definition at line 741 of file CObservation3DRangeScan.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), swap(), and writeToStream().

◆ className

constexpr const char* mrpt::obs::CObservation3DRangeScan::className = "CObservation3DRangeScan"

static

Definition at line 227 of file CObservation3DRangeScan.h.

◆ confidenceImage

mrpt::utils::CImage mrpt::obs::CObservation3DRangeScan::confidenceImage

If hasConfidenceImage=true, an image with the "confidence" value [range 0-255] as estimated by the capture drivers.

Definition at line 515 of file CObservation3DRangeScan.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), getZoneAsObs(), readFromStream(), swap(), unload(), and writeToStream().

◆ hasConfidenceImage

bool mrpt::obs::CObservation3DRangeScan::hasConfidenceImage

true means the field confidenceImage contains valid data

Definition at line 512 of file CObservation3DRangeScan.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), getZoneAsObs(), readFromStream(), swap(), and writeToStream().

◆ hasIntensityImage

bool mrpt::obs::CObservation3DRangeScan::hasIntensityImage

true means the field intensityImage contains valid data

Definition at line 500 of file CObservation3DRangeScan.h.

Referenced by getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), getZoneAsObs(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), swap(), and writeToStream().

◆ hasPoints3D

bool mrpt::obs::CObservation3DRangeScan::hasPoints3D

true means the field points3D contains valid data.

Definition at line 397 of file CObservation3DRangeScan.h.

Referenced by mrpt::detectors::CFaceDetection::detectObjects_Impl(), getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), getZoneAsObs(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), load(), readFromStream(), recoverCameraCalibrationParameters(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::resize(), swap(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), unload(), and writeToStream().

◆ hasRangeImage

bool mrpt::obs::CObservation3DRangeScan::hasRangeImage

true means the field rangeImage contains valid data

Definition at line 442 of file CObservation3DRangeScan.h.

Referenced by convertTo2DScan(), fillSampleObs(), getDescriptionAsText(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), getZoneAsObs(), load(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), recoverCameraCalibrationParameters(), swap(), unload(), and writeToStream().

◆ intensityImage

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 503 of file CObservation3DRangeScan.h.

Referenced by mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), getZoneAsObs(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), swap(), unload(), and writeToStream().

◆ intensityImageChannel

TIntensityChannelID mrpt::obs::CObservation3DRangeScan::intensityImageChannel

The source of the intensityImage; typically the visible channel.

See also: TIntensityChannelID

Definition at line 506 of file CObservation3DRangeScan.h.

Referenced by getDescriptionAsText(), getZoneAsObs(), readFromStream(), swap(), and writeToStream().

◆ m_points3D_external_file

std::string mrpt::obs::CObservation3DRangeScan::m_points3D_external_file

protected

3D points are in CImage::getImagesPathBase()+<this_file_name>

Definition at line 233 of file CObservation3DRangeScan.h.

Referenced by points3D_convertToExternalStorage(), points3D_getExternalStorageFile(), points3D_getExternalStorageFileAbsolutePath(), readFromStream(), swap(), and writeToStream().

◆ m_points3D_external_stored

bool mrpt::obs::CObservation3DRangeScan::m_points3D_external_stored

protected

If set to true, m_points3D_external_file is valid.

Definition at line 231 of file CObservation3DRangeScan.h.

Referenced by load(), points3D_convertToExternalStorage(), points3D_isExternallyStored(), readFromStream(), swap(), unload(), and writeToStream().

◆ m_rangeImage_external_file

std::string mrpt::obs::CObservation3DRangeScan::m_rangeImage_external_file

protected

rangeImage is in CImage::getImagesPathBase()+<this_file_name>

Definition at line 238 of file CObservation3DRangeScan.h.

Referenced by rangeImage_convertToExternalStorage(), rangeImage_getExternalStorageFile(), rangeImage_getExternalStorageFileAbsolutePath(), readFromStream(), swap(), and writeToStream().

◆ m_rangeImage_external_stored

bool mrpt::obs::CObservation3DRangeScan::m_rangeImage_external_stored

protected

If set to true, m_rangeImage_external_file is valid.

Definition at line 236 of file CObservation3DRangeScan.h.

Referenced by load(), rangeImage_convertToExternalStorage(), rangeImage_forceResetExternalStorage(), rangeImage_isExternallyStored(), readFromStream(), swap(), unload(), and writeToStream().

◆ maxRange

float mrpt::obs::CObservation3DRangeScan::maxRange

The maximum range allowed by the device, in meters (e.g.

8.0m, 5.0m,...)

Definition at line 761 of file CObservation3DRangeScan.h.

Referenced by convertTo2DScan(), getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), getZoneAsObs(), readFromStream(), swap(), and writeToStream().

◆ pixelLabels

TPixelLabelInfoBase::Ptr mrpt::obs::CObservation3DRangeScan::pixelLabels

All information about pixel labeling is stored in this (smart pointer to) structure; refer to TPixelLabelInfo for details on the contents User is responsible of creating a new object of the desired data type.

It will be automatically (de)serialized no matter its specific type.

Definition at line 732 of file CObservation3DRangeScan.h.

Referenced by getDescriptionAsText(), hasPixelLabels(), readFromStream(), swap(), and writeToStream().

◆ points3D_idxs_x

std::vector<uint16_t> mrpt::obs::CObservation3DRangeScan::points3D_idxs_x

If hasPoints3D=true, the (x,y) pixel coordinates for each (X,Y,Z) point in points3D_x, points3D_y, points3D_z.

Definition at line 403 of file CObservation3DRangeScan.h.

Referenced by mempool_donate_xyz_buffers(), points3D_convertToExternalStorage(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), resizePoints3DVectors(), swap(), and writeToStream().

◆ points3D_idxs_y

std::vector<uint16_t> mrpt::obs::CObservation3DRangeScan::points3D_idxs_y

Definition at line 403 of file CObservation3DRangeScan.h.

Referenced by mempool_donate_xyz_buffers(), points3D_convertToExternalStorage(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), resizePoints3DVectors(), swap(), and writeToStream().

◆ points3D_x

std::vector<float> mrpt::obs::CObservation3DRangeScan::points3D_x

If hasPoints3D=true, the (X,Y,Z) coordinates of the 3D point cloud detected by the camera.

See also: resizePoints3DVectors

Definition at line 400 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::cost_func(), getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::getPointXYZ(), getScanSize(), getZoneAsObs(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), load(), mempool_donate_xyz_buffers(), points3D_convertToExternalStorage(), readFromStream(), recoverCameraCalibrationParameters(), resizePoints3DVectors(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::setPointXYZ(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::size(), swap(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), TEST(), unload(), and writeToStream().

◆ points3D_y

std::vector<float> mrpt::obs::CObservation3DRangeScan::points3D_y

Definition at line 400 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::cost_func(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::getPointXYZ(), getZoneAsObs(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), load(), mempool_donate_xyz_buffers(), points3D_convertToExternalStorage(), readFromStream(), recoverCameraCalibrationParameters(), resizePoints3DVectors(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::setPointXYZ(), swap(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), unload(), and writeToStream().

◆ points3D_z

std::vector<float> mrpt::obs::CObservation3DRangeScan::points3D_z

Definition at line 400 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::cost_func(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::getPointXYZ(), getZoneAsObs(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), load(), mempool_donate_xyz_buffers(), points3D_convertToExternalStorage(), readFromStream(), recoverCameraCalibrationParameters(), resizePoints3DVectors(), mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::setPointXYZ(), swap(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), unload(), and writeToStream().

◆ range_is_depth

bool mrpt::obs::CObservation3DRangeScan::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.

Definition at line 449 of file CObservation3DRangeScan.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), and writeToStream().

◆ rangeImage

mrpt::math::CMatrix mrpt::obs::CObservation3DRangeScan::rangeImage

If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters)

See also: range_is_depth

Definition at line 445 of file CObservation3DRangeScan.h.

Referenced by convertTo2DScan(), mrpt::obs::detail::cost_func(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), fillSampleObs(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), getZoneAsObs(), load(), mempool_donate_range_matrix(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), rangeImage_convertToExternalStorage(), rangeImage_setSize(), readFromStream(), recoverCameraCalibrationParameters(), swap(), unload(), and writeToStream().

◆ relativePoseIntensityWRTDepth

mrpt::poses::CPose3D mrpt::obs::CObservation3DRangeScan::relativePoseIntensityWRTDepth

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.

See also: doDepthAndIntensityCamerasCoincide

Definition at line 751 of file CObservation3DRangeScan.h.

Referenced by doDepthAndIntensityCamerasCoincide(), getDescriptionAsText(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_prepareOneRange(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), swap(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation3DRangeScan::runtimeClassId

staticprotected

Definition at line 227 of file CObservation3DRangeScan.h.

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 60 of file CObservation.h.

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservation3DRangeScan::sensorPose

The 6D pose of the sensor on the robot.

Definition at line 763 of file CObservation3DRangeScan.h.

Referenced by convertTo2DScan(), getDescriptionAsText(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), getSensorPose(), getZoneAsObs(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), readFromStream(), setSensorPose(), swap(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and writeToStream().

◆ stdError

float mrpt::obs::CObservation3DRangeScan::stdError

The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

Definition at line 766 of file CObservation3DRangeScan.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), getZoneAsObs(), readFromStream(), swap(), and writeToStream().

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

inherited

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also: getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 58 of file CObservation.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Data common to any observation

RTTI stuff

Point cloud

Range (depth) image

Intensity (RGB) channels

Pixel-wise classification labels (for semantic labeling, etc.)

Sensor parameters

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ TIntensityChannelID

Constructor & Destructor Documentation

◆ CObservation3DRangeScan()

◆ ~CObservation3DRangeScan()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ convertTo2DScan()

◆ Create()

◆ CreateObject()

◆ doDepthAndIntensityCamerasCoincide()

◆ EXTERNALS_AS_TEXT() [1/2]

◆ EXTERNALS_AS_TEXT() [2/2]

◆ get_3dproj_lut()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScanSize()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ getZoneAsObs()

◆ hasPixelLabels()

◆ insertObservationInto()

◆ load()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ points3D_convertToExternalStorage()

◆ points3D_getExternalStorageFile()

◆ points3D_getExternalStorageFileAbsolutePath() [1/2]

◆ points3D_getExternalStorageFileAbsolutePath() [2/2]

◆ points3D_isExternallyStored()

◆ project3DPointsFromDepthImage()

◆ project3DPointsFromDepthImageInto()

◆ rangeImage_convertToExternalStorage()

◆ rangeImage_forceResetExternalStorage()

◆ rangeImage_getExternalStorageFile()

◆ rangeImage_getExternalStorageFileAbsolutePath() [1/2]

◆ rangeImage_getExternalStorageFileAbsolutePath() [2/2]

◆ rangeImage_isExternallyStored()

◆ rangeImage_setSize()

◆ readFromStream()

◆ recoverCameraCalibrationParameters()

◆ resizePoints3DVectors()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap() [1/2]

◆ swap() [2/2]

◆ unload()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CObservation3DRangeScan

◆ cameraParams

◆ cameraParamsIntensity