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mrpt::slam::CObservation3DRangeScan Class Reference


Detailed Description

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:

CObservation3DRangeScan_figRefSystem.png

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):

3D point clouds can be generated at any moment after grabbing with CObservation3DRangeScan::project3DPointsFromDepthImage()

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

Definition at line 90 of file CObservation3DRangeScan.h.

#include <mrpt/slam/CObservation3DRangeScan.h>

Inheritance diagram for mrpt::slam::CObservation3DRangeScan:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CObservation3DRangeScan ()
 Default constructor.
virtual ~CObservation3DRangeScan ()
 Destructor.
void project3DPointsFromDepthImage ()
 Compute the 3D points coordinates from the depth image (rangeImage) and the depth camera camera parameters (cameraParams).
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.
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 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)
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 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.

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

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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CObservation3DRangeScanPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 93 of file CObservation3DRangeScan.h.


Constructor & Destructor Documentation

mrpt::slam::CObservation3DRangeScan::CObservation3DRangeScan ( )

Default constructor.

virtual mrpt::slam::CObservation3DRangeScan::~CObservation3DRangeScan ( ) [virtual]

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation3DRangeScan::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

static CObservation3DRangeScanPtr mrpt::slam::CObservation3DRangeScan::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservation3DRangeScan::CreateObject ( ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CObservation3DRangeScan::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

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::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.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 187 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 
)
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.

See also:
unload

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 137 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 139 of file CObservation3DRangeScan.h.

bool mrpt::slam::CObservation3DRangeScan::points3D_isExternallyStored ( ) const [inline]

Definition at line 136 of file CObservation3DRangeScan.h.

void mrpt::slam::CObservation3DRangeScan::project3DPointsFromDepthImage ( )

Compute the 3D points coordinates from the depth image (rangeImage) and the depth camera camera parameters (cameraParams).

The formulas for the i'th point, with rangeImage pixel coordinates (r,c) are:

   x(i) = rangeImage(r,c)
   y(i) = (r_cx - c) * x(i) / r_fy
   z(i) = (r_cy - r) * x(i) / r_fx
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.

std::string mrpt::slam::CObservation3DRangeScan::rangeImage_getExternalStorageFile ( ) const [inline]

Definition at line 152 of file CObservation3DRangeScan.h.

std::string mrpt::slam::CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath ( ) const [inline]

Definition at line 154 of file CObservation3DRangeScan.h.

void mrpt::slam::CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath ( std::string &  out_path) const
bool mrpt::slam::CObservation3DRangeScan::rangeImage_isExternallyStored ( ) const [inline]

Definition at line 151 of file CObservation3DRangeScan.h.

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.

Parameters:
camera_offsetThe 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)
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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 193 of file CObservation3DRangeScan.h.

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).

See also:
load

Reimplemented from mrpt::slam::CObservation.


Member Data Documentation

Definition at line 93 of file CObservation3DRangeScan.h.

Projection parameters of the depth camera.

Definition at line 168 of file CObservation3DRangeScan.h.

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

Definition at line 169 of file CObservation3DRangeScan.h.

Definition at line 93 of file CObservation3DRangeScan.h.

Definition at line 93 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 166 of file CObservation3DRangeScan.h.

true means the field confidenceImage contains valid data

Definition at line 165 of file CObservation3DRangeScan.h.

true means the field intensityImage contains valid data

Definition at line 162 of file CObservation3DRangeScan.h.

true means the field points3D contains valid data.

Definition at line 130 of file CObservation3DRangeScan.h.

true means the field rangeImage contains valid data

Definition at line 147 of file CObservation3DRangeScan.h.

If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".

Definition at line 163 of file CObservation3DRangeScan.h.

3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>

Definition at line 97 of file CObservation3DRangeScan.h.

If set to true, m_points3D_external_file is valid.

Definition at line 96 of file CObservation3DRangeScan.h.

rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>

Definition at line 100 of file CObservation3DRangeScan.h.

If set to true, m_rangeImage_external_file is valid.

Definition at line 99 of file CObservation3DRangeScan.h.

The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)

Definition at line 178 of file CObservation3DRangeScan.h.

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

Definition at line 131 of file CObservation3DRangeScan.h.

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

Definition at line 132 of file CObservation3DRangeScan.h.

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

Definition at line 133 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 148 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 (0,0,0,0,0,0) 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 175 of file CObservation3DRangeScan.h.

The 6D pose of the sensor on the robot.

Definition at line 179 of file CObservation3DRangeScan.h.

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

Definition at line 180 of file CObservation3DRangeScan.h.




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