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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) 2005-2017, 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>
14 #include <mrpt/obs/CObservation.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 
22 namespace mrpt
23 {
24 namespace obs
25 {
26  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRGBD360, CObservation, OBS_IMPEXP )
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.
105  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationRGBD360, CObservation, OBS_IMPEXP )
106 
107 
108  } // End of namespace
109 
110 } // End of namespace
111 
112 #endif
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
Definition: datetime.h:30
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#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...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Declares a class that represents any robot's observation.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)



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