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obs/CObservation3DRangeScan.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 CObservation3DRangeScan_H
10 #define CObservation3DRangeScan_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/TEnumType.h>
21 #include <mrpt/utils/adapters.h>
24 
25 namespace mrpt
26 {
27 namespace obs
28 {
29  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservation3DRangeScan, CObservation,OBS_IMPEXP )
30 
31  namespace detail {
32  // Implemented in CObservation3DRangeScan_project3D_impl.h
33  template <class POINTMAP>
34  void project3DPointsFromDepthImageInto(CObservation3DRangeScan & src_obs,POINTMAP & dest_pointcloud,const bool takeIntoAccountSensorPoseOnRobot,const mrpt::poses::CPose3D * robotPoseInTheWorld,const bool PROJ3D_USE_LUT);
35  }
36 
37  /** 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.
38  *
39  * This kind of observations can carry one or more of these data fields:
40  * - 3D point cloud (as float's).
41  * - Each 3D point has its associated (u,v) pixel coordinates in \a points3D_idxs_x & \a points3D_idxs_y (New in MRPT 1.4.0)
42  * - 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.
43  * - 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.
44  * - 2D confidence image (as a mrpt::utils::CImage): For each pixel, a 0x00 and a 0xFF mean the lowest and highest confidence levels, respectively.
45  * - Semantic labels: Stored as a matrix of bitfields, each bit having a user-defined meaning.
46  *
47  * The coordinates of the 3D point cloud are in meters with respect to the depth camera origin of coordinates
48  * (in SwissRanger, the front face of the camera: a small offset ~1cm in front of the physical focal point),
49  * 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.
50  * The field CObservation3DRangeScan::relativePoseIntensityWRTDepth describes the change of coordinates from
51  * the depth camera to the intensity (RGB or grayscale) camera. In a SwissRanger camera both cameras coincide,
52  * so this pose is just a rotation (0,0,0,-90deg,0,-90deg). But in
53  * Microsoft Kinect there is also an offset, as shown in this figure:
54  *
55  * <div align=center>
56  * <img src="CObservation3DRangeScan_figRefSystem.png">
57  * </div>
58  *
59  * In any case, check the field \a relativePoseIntensityWRTDepth, or the method \a doDepthAndIntensityCamerasCoincide()
60  * to determine if both frames of reference coincide, since even for Kinect cameras both can coincide if the images
61  * have been rectified.
62  *
63  * The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual.
64  * Optionally, the intensity and confidence channels can be set to delayed-load images for off-rawlog storage so it saves
65  * memory by having loaded in memory just the needed images. See the methods load() and unload().
66  * Due to the intensive storage requirements of this kind of observations, this observation is the only one in MRPT
67  * for which it's recommended to always call "load()" and "unload()" before and after using the observation, *ONLY* when
68  * the observation was read from a rawlog dataset, in order to make sure that all the externally stored data fields are
69  * loaded and ready in memory.
70  *
71  * Classes that grab observations of this type are:
72  * - mrpt::hwdrivers::CSwissRanger3DCamera
73  * - mrpt::hwdrivers::CKinect
74  *
75  * There are two sets of calibration parameters (see mrpt::vision::checkerBoardStereoCalibration() or the ready-to-use GUI program <a href="http://www.mrpt.org/Application:kinect-calibrate" >kinect-calibrate</a>):
76  * - cameraParams: Projection parameters of the depth camera.
77  * - cameraParamsIntensity: Projection parameters of the intensity (gray-level or RGB) camera.
78  *
79  * In some cameras, like SwissRanger, both are the same. It is possible in Kinect to rectify the range images such both cameras
80  * seem to coincide and then both sets of camera parameters will be identical.
81  *
82  * Range data can be interpreted in two different ways depending on the 3D camera (this field is already set to the
83  * correct setting when grabbing observations from an mrpt::hwdrivers sensor):
84  * - range_is_depth=true -> Kinect-like ranges: entries of \a rangeImage are distances along the +X axis
85  * - range_is_depth=false -> Ranges in \a rangeImage are actual distances in 3D.
86  *
87  * The "intensity" channel may come from different channels in sesnsors as Kinect. Look at field \a intensityImageChannel to
88  * find out if the image was grabbed from the visible (RGB) or IR channels.
89  *
90  * 3D point clouds can be generated at any moment after grabbing with CObservation3DRangeScan::project3DPointsFromDepthImage() and CObservation3DRangeScan::project3DPointsFromDepthImageInto(), provided the correct
91  * calibration parameters.
92  *
93  * Example of how to assign labels to pixels (for object segmentation, semantic information, etc.):
94  *
95  * \code
96  * // Assume obs of type CObservation3DRangeScanPtr
97  * obs->pixelLabels = CObservation3DRangeScan::TPixelLabelInfoPtr( new CObservation3DRangeScan::TPixelLabelInfo<NUM_BYTES>() );
98  * obs->pixelLabels->setSize(ROWS,COLS);
99  * obs->pixelLabels->setLabel(col,row, label_idx); // label_idxs = [0,2^NUM_BYTES-1]
100  * //...
101  * \endcode
102  *
103  * \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.
104  * \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.
105  * \note Starting at serialization version 5 (MRPT 0.9.5+), the new field \a range_is_depth
106  * \note Starting at serialization version 6 (MRPT 0.9.5+), the new field \a intensityImageChannel
107  * \note Starting at serialization version 7 (MRPT 1.3.1+), new fields for semantic labeling
108  *
109  * \sa mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CKinect, CObservation
110  * \ingroup mrpt_obs_grp
111  */
113  {
114  // This must be added to any CSerializable derived class:
116 
117  protected:
118  bool m_points3D_external_stored; //!< If set to true, m_points3D_external_file is valid.
119  std::string m_points3D_external_file; //!< 3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
120 
121  bool m_rangeImage_external_stored; //!< If set to true, m_rangeImage_external_file is valid.
122  std::string m_rangeImage_external_file; //!< rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
123 
124  public:
125  CObservation3DRangeScan( ); //!< Default constructor
126  virtual ~CObservation3DRangeScan( ); //!< Destructor
127 
128  /** @name Delayed-load manual control methods.
129  @{ */
130  /** Makes sure all images and other fields which may be externally stored are loaded in memory.
131  * 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.
132  * If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.
133  * \sa unload
134  */
135  virtual void load() const MRPT_OVERRIDE;
136  /** Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
137  * \sa load
138  */
139  virtual void unload() MRPT_OVERRIDE;
140  /** @} */
141 
142  /** 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.
143  * The 3D point coordinates are computed from the depth image (\a rangeImage) and the depth camera camera parameters (\a cameraParams).
144  * There exist two set of formulas for projecting the i'th point, depending on the value of "range_is_depth".
145  * In all formulas below, "rangeImage" is the matrix of ranges and the pixel coordinates are (r,c).
146  *
147  * 1) [range_is_depth=true] With "range equals depth" or "Kinect-like depth mode": the range values
148  * are in fact distances along the "+X" axis, not real 3D ranges (this is the way Kinect reports ranges):
149  *
150  * \code
151  * x(i) = rangeImage(r,c)
152  * y(i) = (r_cx - c) * x(i) / r_fx
153  * z(i) = (r_cy - r) * x(i) / r_fy
154  * \endcode
155  *
156  *
157  * 2) [range_is_depth=false] With "normal ranges": range means distance in 3D. This must be set when
158  * processing data from the SwissRange 3D camera, among others.
159  *
160  * \code
161  * Ky = (r_cx - c)/r_fx
162  * Kz = (r_cy - r)/r_fy
163  *
164  * x(i) = rangeImage(r,c) / sqrt( 1 + Ky^2 + Kz^2 )
165  * y(i) = Ky * x(i)
166  * z(i) = Kz * x(i)
167  * \endcode
168  *
169  * The color of each point is determined by projecting the 3D local point into the RGB image using \a cameraParamsIntensity.
170  *
171  * By default the local coordinates of points are directly stored into the local map, but if indicated so in \a takeIntoAccountSensorPoseOnRobot
172  * the points are transformed with \a sensorPose. Furthermore, if provided, those coordinates are transformed with \a robotPoseInTheWorld
173  *
174  * \param[in] PROJ3D_USE_LUT (Only when range_is_depth=true) Whether to use a Look-up-table (LUT) to speed up the conversion. It's thread safe in all situations <b>except</b> when you call this method from different threads <b>and</b> with different camera parameter matrices. In all other cases, it's a good idea to left it enabled.
175  * \tparam POINTMAP Supported maps are all those covered by mrpt::utils::PointCloudAdapter (mrpt::maps::CPointsMap and derived, mrpt::opengl::CPointCloudColoured, PCL point clouds,...)
176  *
177  * \note In MRPT < 0.9.5, this method always assumes that ranges were in Kinect-like format.
178  */
179  template <class POINTMAP>
181  POINTMAP & dest_pointcloud,
182  const bool takeIntoAccountSensorPoseOnRobot,
183  const mrpt::poses::CPose3D *robotPoseInTheWorld=NULL,
184  const bool PROJ3D_USE_LUT=true)
185  {
186  detail::project3DPointsFromDepthImageInto<POINTMAP>(*this,dest_pointcloud,takeIntoAccountSensorPoseOnRobot,robotPoseInTheWorld,PROJ3D_USE_LUT);
187  }
188 
189  /** This method is equivalent to \c project3DPointsFromDepthImageInto() storing the projected 3D points (without color, in local coordinates) in this same class.
190  * For new code it's recommended to use instead \c project3DPointsFromDepthImageInto() which is much more versatile.
191  */
192  inline void project3DPointsFromDepthImage(const bool PROJ3D_USE_LUT=true) {
193  this->project3DPointsFromDepthImageInto(*this,false,NULL,PROJ3D_USE_LUT);
194  }
195 
196 
197  /** Convert this 3D observation into an "equivalent 2D fake laser scan", with a configurable vertical FOV.
198  *
199  * The result is a 2D laser scan with more "rays" (N) than columns has the 3D observation (W), exactly: N = W * oversampling_ratio.
200  * This oversampling is required since laser scans sample the space at evenly-separated angles, while
201  * a range camera follows a tangent-like distribution. By oversampling we make sure we don't leave "gaps" unseen by the virtual "2D laser".
202  *
203  * All obstacles within a frustum are considered and the minimum distance is kept in each direction.
204  * The horizontal FOV of the frustum is automatically computed from the intrinsic parameters, but the
205  * vertical FOV must be provided by the user, and can be set to be assymetric which may be useful
206  * depending on the zone of interest where to look for obstacles.
207  *
208  * All spatial transformations are riguorosly taken into account in this class, using the depth camera
209  * intrinsic calibration parameters.
210  *
211  * The timestamp of the new object is copied from the 3D object.
212  * Obviously, a requisite for calling this method is the 3D observation having range data,
213  * i.e. hasRangeImage must be true. It's not needed to have RGB data nor the raw 3D point clouds
214  * for this method to work.
215  *
216  * \param[out] out_scan2d The resulting 2D equivalent scan.
217  * \param[in] sensorLabel The sensor label that will have the newly created observation.
218  * \param[in] angle_sup (Default=5deg) The upper half-FOV angle (in radians)
219  * \param[in] angle_sup (Default=5deg) The lower half-FOV angle (in radians)
220  * \param[in] oversampling_ratio (Default=1.2=120%) How many more laser scans rays to create (read above).
221  *
222  * \sa The example in http://www.mrpt.org/Example_Kinect_To_2D_laser_scan
223  */
224  void convertTo2DScan(
226  const std::string & sensorLabel,
227  const double angle_sup = mrpt::utils::DEG2RAD(5),
228  const double angle_inf = mrpt::utils::DEG2RAD(5),
229  const double oversampling_ratio = 1.2 );
230 
231 
232  bool hasPoints3D; //!< true means the field points3D contains valid data.
233  std::vector<float> points3D_x,points3D_y,points3D_z; //!< If hasPoints3D=true, the (X,Y,Z) coordinates of the 3D point cloud detected by the camera. \sa resizePoints3DVectors
234  std::vector<uint16_t> points3D_idxs_x, points3D_idxs_y; //!< //!< If hasPoints3D=true, the (x,y) pixel coordinates for each (X,Y,Z) point in \a points3D_x, points3D_y, points3D_z
235 
236  /** Use this method instead of resizing all three \a points3D_x, \a points3D_y & \a points3D_z to allow the usage of the internal memory pool. */
237  void resizePoints3DVectors(const size_t nPoints);
238 
239  /** \name 3D points external storage functions
240  * @{ */
241  inline bool points3D_isExternallyStored() const { return m_points3D_external_stored; }
242  inline std::string points3D_getExternalStorageFile() const { return m_points3D_external_file; }
243  void points3D_getExternalStorageFileAbsolutePath(std::string &out_path) const;
244  inline std::string points3D_getExternalStorageFileAbsolutePath() const {
245  std::string tmp;
246  points3D_getExternalStorageFileAbsolutePath(tmp);
247  return tmp;
248  }
249  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.
250  /** @} */
251 
252  /** \name Range (depth) image
253  * @{ */
254  bool hasRangeImage; //!< true means the field rangeImage contains valid data
255  mrpt::math::CMatrix rangeImage; //!< If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) \sa range_is_depth
256  bool range_is_depth; //!< true: Kinect-like ranges: entries of \a rangeImage are distances along the +X axis; false: Ranges in \a rangeImage are actual distances in 3D.
257 
258  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.
259  /** @} */
260 
261  /** \name Range Matrix external storage functions
262  * @{ */
263  inline bool rangeImage_isExternallyStored() const { return m_rangeImage_external_stored; }
264  inline std::string rangeImage_getExternalStorageFile() const { return m_rangeImage_external_file; }
265  void rangeImage_getExternalStorageFileAbsolutePath(std::string &out_path) const;
267  std::string tmp;
268  rangeImage_getExternalStorageFileAbsolutePath(tmp);
269  return tmp;
270  }
271  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.
272  /** 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) */
273  void rangeImage_forceResetExternalStorage() { m_rangeImage_external_stored=false; }
274  /** @} */
275 
276 
277  /** \name Intensity (RGB) channels
278  * @{ */
279  /** Enum type for intensityImageChannel */
281  {
282  CH_VISIBLE = 0, //!< Grayscale or RGB visible channel of the camera sensor.
283  CH_IR = 1 //!< Infrarred (IR) channel
284  };
285 
286  bool hasIntensityImage; //!< true means the field intensityImage contains valid data
287  mrpt::utils::CImage intensityImage; //!< If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage"
288  TIntensityChannelID intensityImageChannel; //!< The source of the intensityImage; typically the visible channel \sa TIntensityChannelID
289  /** @} */
290 
291  /** \name Confidence "channel"
292  * @{ */
293  bool hasConfidenceImage; //!< true means the field confidenceImage contains valid data
294  mrpt::utils::CImage confidenceImage; //!< If hasConfidenceImage=true, an image with the "confidence" value [range 0-255] as estimated by the capture drivers.
295  /** @} */
296 
297  /** \name Pixel-wise classification labels (for semantic labeling, etc.)
298  * @{ */
299  /** Returns true if the field CObservation3DRangeScan::pixelLabels contains a non-NULL smart pointer.
300  * To enhance a 3D point cloud with labeling info, just assign an appropiate object to \a pixelLabels
301  */
302  bool hasPixelLabels() const { return pixelLabels.present(); }
303 
304  /** Virtual interface to all pixel-label information structs. See CObservation3DRangeScan::pixelLabels */
306  {
307  typedef std::map<uint32_t,std::string> TMapLabelID2Name;
308 
309  /** The 'semantic' or human-friendly name of the i'th bit in pixelLabels(r,c) can be found in pixelLabelNames[i] as a std::string */
311 
312  const std::string & getLabelName(unsigned int label_idx) const {
313  std::map<uint32_t,std::string>::const_iterator it = pixelLabelNames.find(label_idx);
314  if (it==pixelLabelNames.end()) throw std::runtime_error("Error: label index has no defined name");
315  return it->second;
316  }
317  void setLabelName(unsigned int label_idx, const std::string &name) { pixelLabelNames[label_idx]=name; }
318  /** Check the existence of a label by returning its associated index.
319  * -1 if it does not exist. */
320  int checkLabelNameExistence(const std::string &name) const {
322  for ( it = pixelLabelNames.begin() ; it != pixelLabelNames.end(); it++ )
323  if ( it->second == name )
324  return it->first;
325  return -1;
326  }
327 
328  /** Resizes the matrix pixelLabels to the given size, setting all bitfields to zero (that is, all pixels are assigned NONE category). */
329  virtual void setSize(const int NROWS, const int NCOLS) =0;
330  /** Mark the pixel(row,col) as classified in the category \a label_idx, which may be in the range 0 to MAX_NUM_LABELS-1
331  * Note that 0 is a valid label index, it does not mean "no label" \sa unsetLabel, unsetAll */
332  virtual void setLabel(const int row, const int col, uint8_t label_idx) =0;
333  virtual void getLabels( const int row, const int col, uint8_t &labels ) =0;
334  /** For the pixel(row,col), removes its classification into the category \a label_idx, which may be in the range 0 to 7
335  * Note that 0 is a valid label index, it does not mean "no label" \sa setLabel, unsetAll */
336  virtual void unsetLabel(const int row, const int col, uint8_t label_idx)=0;
337  /** Removes all categories for pixel(row,col) \sa setLabel, unsetLabel */
338  virtual void unsetAll(const int row, const int col, uint8_t label_idx) =0;
339  /** Checks whether pixel(row,col) has been clasified into category \a label_idx, which may be in the range 0 to 7
340  * \sa unsetLabel, unsetAll */
341  virtual bool checkLabel(const int row, const int col, uint8_t label_idx) const =0;
342 
343  void writeToStream(mrpt::utils::CStream &out) const;
344  static TPixelLabelInfoBase* readAndBuildFromStream(mrpt::utils::CStream &in);
345 
346  /// std stream interface
347  friend std::ostream& operator<<( std::ostream& out, const TPixelLabelInfoBase& obj )
348  {
349  obj.Print( out );
350  return out;
351  }
352 
353  TPixelLabelInfoBase(unsigned int BITFIELD_BYTES_) :
354  BITFIELD_BYTES (BITFIELD_BYTES_)
355  {
356  }
357 
358  virtual ~TPixelLabelInfoBase() {}
359 
360  const uint8_t BITFIELD_BYTES; //!< Minimum number of bytes required to hold MAX_NUM_DIFFERENT_LABELS bits.
361 
362  protected:
363  virtual void internal_readFromStream(mrpt::utils::CStream &in) = 0;
364  virtual void internal_writeToStream(mrpt::utils::CStream &out) const = 0;
365  virtual void Print( std::ostream& ) const =0;
366  };
367  typedef stlplus::smart_ptr<TPixelLabelInfoBase> TPixelLabelInfoPtr; //!< Used in CObservation3DRangeScan::pixelLabels
368 
369  template <unsigned int BYTES_REQUIRED_>
371  {
372  enum {
373  BYTES_REQUIRED = BYTES_REQUIRED_ // ((MAX_LABELS-1)/8)+1
374  };
375 
376  /** Automatically-determined integer type of the proper size such that all labels fit as one bit (max: 64) */
378 
379  /** Each pixel may be assigned between 0 and MAX_NUM_LABELS-1 'labels' by
380  * setting to 1 the corresponding i'th bit [0,MAX_NUM_LABELS-1] in the byte in pixelLabels(r,c).
381  * That is, each pixel is assigned an 8*BITFIELD_BYTES bit-wide bitfield of possible categories.
382  * \sa hasPixelLabels
383  */
384  typedef Eigen::Matrix<bitmask_t,Eigen::Dynamic,Eigen::Dynamic> TPixelLabelMatrix;
386 
387  void setSize(const int NROWS, const int NCOLS) MRPT_OVERRIDE {
388  pixelLabels = TPixelLabelMatrix::Zero(NROWS,NCOLS);
389  }
390  void setLabel(const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE {
391  pixelLabels(row,col) |= static_cast<bitmask_t>(1) << label_idx;
392  }
393  void getLabels( const int row, const int col, uint8_t &labels ) MRPT_OVERRIDE
394  {
395  labels = pixelLabels(row,col);
396  }
397 
398  void unsetLabel(const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE {
399  pixelLabels(row,col) &= ~(static_cast<bitmask_t>(1) << label_idx);
400  }
401  void unsetAll(const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE {
402  pixelLabels(row,col) = 0;
403  }
404  bool checkLabel(const int row, const int col, uint8_t label_idx) const MRPT_OVERRIDE {
405  return (pixelLabels(row,col) & (static_cast<bitmask_t>(1) << label_idx)) != 0;
406  }
407 
408  // Ctor: pass identification to parent for deserialization
410  {
411  }
412 
413  protected:
415  {
416  {
417  uint32_t nR,nC;
418  in >> nR >> nC;
419  pixelLabels.resize(nR,nC);
420  for (uint32_t c=0;c<nC;c++)
421  for (uint32_t r=0;r<nR;r++)
422  in >> pixelLabels.coeffRef(r,c);
423  }
424  in >> pixelLabelNames;
425  }
427  {
428  {
429  const uint32_t nR=static_cast<uint32_t>(pixelLabels.rows());
430  const uint32_t nC=static_cast<uint32_t>(pixelLabels.cols());
431  out << nR << nC;
432  for (uint32_t c=0;c<nC;c++)
433  for (uint32_t r=0;r<nR;r++)
434  out << pixelLabels.coeff(r,c);
435  }
436  out << pixelLabelNames;
437  }
438  void Print( std::ostream& out ) const MRPT_OVERRIDE
439  {
440  {
441  const uint32_t nR=static_cast<uint32_t>(pixelLabels.rows());
442  const uint32_t nC=static_cast<uint32_t>(pixelLabels.cols());
443  out << "Number of rows: " << nR << std::endl;
444  out << "Number of cols: " << nC << std::endl;
445  out << "Matrix of labels: " << std::endl;
446  for (uint32_t c=0;c<nC;c++)
447  {
448  for (uint32_t r=0;r<nR;r++)
449  out << pixelLabels.coeff(r,c) << " ";
450 
451  out << std::endl;
452  }
453  }
454  out << std::endl;
455  out << "Label indices and names: " << std::endl;
457  for ( it = pixelLabelNames.begin(); it != pixelLabelNames.end(); it++)
458  out << it->first << " " << it->second << std::endl;
459  }
460  }; // end TPixelLabelInfo
461 
462  /** All information about pixel labeling is stored in this (smart pointer to) structure; refer to TPixelLabelInfo for details on the contents
463  * User is responsible of creating a new object of the desired data type. It will be automatically (de)serialized no matter its specific type. */
465 
466  /** @} */
467 
468  /** \name Sensor parameters
469  * @{ */
470  mrpt::utils::TCamera cameraParams; //!< Projection parameters of the depth camera.
471  mrpt::utils::TCamera cameraParamsIntensity; //!< Projection parameters of the intensity (graylevel or RGB) camera.
472 
473  /** Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this observation).
474  * In a SwissRanger camera, this will be (0,0,0,-90deg,0,-90deg) since both cameras coincide.
475  * In a Kinect, this will include a small lateral displacement and a rotation, according to the drawing on the top of this page.
476  * \sa doDepthAndIntensityCamerasCoincide
477  */
479 
480  /** Return true if \a relativePoseIntensityWRTDepth equals the pure rotation (0,0,0,-90deg,0,-90deg) (with a small comparison epsilon)
481  * \sa relativePoseIntensityWRTDepth
482  */
483  bool doDepthAndIntensityCamerasCoincide() const;
484 
485  float maxRange; //!< The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
486  mrpt::poses::CPose3D sensorPose; //!< The 6D pose of the sensor on the robot.
487  float stdError; //!< The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
488 
489  // See base class docs
490  void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = sensorPose; }
491  // See base class docs
492  void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
493 
494  /** @} */ // end sensor params
495 
496  // See base class docs
497  void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
498 
499  void swap(CObservation3DRangeScan &o); //!< Very efficient method to swap the contents of two observations.
500 
501  void getZoneAsObs( CObservation3DRangeScan &obs, const unsigned int &r1, const unsigned int &r2, const unsigned int &c1, const unsigned int &c2 );
502 
503  /** 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.
504  * \param camera_offset The offset (in meters) in the +X direction of the point cloud. It's 1cm for SwissRanger SR4000.
505  * \return The final average reprojection error per pixel (typ <0.05 px)
506  */
507  static double recoverCameraCalibrationParameters(
508  const CObservation3DRangeScan &in_obs,
509  mrpt::utils::TCamera &out_camParams,
510  const double camera_offset = 0.01 );
511 
512  /** Look-up-table struct for project3DPointsFromDepthImageInto() */
514  {
517  };
518  static TCached3DProjTables m_3dproj_lut; //!< 3D point cloud projection look-up-table \sa project3DPointsFromDepthImage
519 
520  }; // End of class def.
522 
523 
524  } // End of namespace
525 
526  namespace utils
527  {
528  // Specialization must occur in the same namespace
529  MRPT_DECLARE_TTYPENAME_PTR_NAMESPACE(CObservation3DRangeScan, mrpt::obs)
530 
531  // Enum <-> string converter:
532  template <>
534  {
536  static void fill(bimap<enum_t,std::string> &m_map)
537  {
540  }
541  };
542  }
543 
544  namespace utils
545  {
546  /** Specialization mrpt::utils::PointCloudAdapter<CObservation3DRangeScan> \ingroup mrpt_adapters_grp */
547  template <>
548  class PointCloudAdapter< mrpt::obs::CObservation3DRangeScan> : public detail::PointCloudAdapterHelperNoRGB<mrpt::obs::CObservation3DRangeScan,float>
549  {
550  private:
552  public:
553  typedef float coords_t; //!< The type of each point XYZ coordinates
554  static const int HAS_RGB = 0; //!< Has any color RGB info?
555  static const int HAS_RGBf = 0; //!< Has native RGB info (as floats)?
556  static const int HAS_RGBu8 = 0; //!< Has native RGB info (as uint8_t)?
557 
558  /** Constructor (accept a const ref for convenience) */
559  inline PointCloudAdapter(const mrpt::obs::CObservation3DRangeScan &obj) : m_obj(*const_cast<mrpt::obs::CObservation3DRangeScan*>(&obj)) { }
560  /** Get number of points */
561  inline size_t size() const { return m_obj.points3D_x.size(); }
562  /** Set number of points (to uninitialized values) */
563  inline void resize(const size_t N) {
564  if (N) m_obj.hasPoints3D = true;
565  m_obj.resizePoints3DVectors(N);
566  }
567 
568  /** Get XYZ coordinates of i'th point */
569  template <typename T>
570  inline void getPointXYZ(const size_t idx, T &x,T &y, T &z) const {
571  x=m_obj.points3D_x[idx];
572  y=m_obj.points3D_y[idx];
573  z=m_obj.points3D_z[idx];
574  }
575  /** Set XYZ coordinates of i'th point */
576  inline void setPointXYZ(const size_t idx, const coords_t x,const coords_t y, const coords_t z) {
577  m_obj.points3D_x[idx]=x;
578  m_obj.points3D_y[idx]=y;
579  m_obj.points3D_z[idx]=z;
580  }
581  }; // end of PointCloudAdapter<CObservation3DRangeScan>
582  }
583 } // End of namespace
584 
586 
587 #endif
mrpt::utils::PointCloudAdapter
An adapter to different kinds of point cloud object.
Definition: adapters.h:38
mrpt::obs::CObservation3DRangeScan::TIntensityChannelID
TIntensityChannelID
Enum type for intensityImageChannel.
Definition: obs/CObservation3DRangeScan.h:280
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::coords_t
float coords_t
The type of each point XYZ coordinates.
Definition: obs/CObservation3DRangeScan.h:553
mrpt::utils::uint_select_by_bytecount
Usage: uint_select_by_bytecount<N>::type var; allows defining var as a unsigned integer with,...
Definition: integer_select.h:31
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::internal_readFromStream
void internal_readFromStream(mrpt::utils::CStream &in) MRPT_OVERRIDE
Definition: obs/CObservation3DRangeScan.h:414
mrpt::obs::CObservation3DRangeScan::range_is_depth
bool range_is_depth
true: Kinect-like ranges: entries of rangeImage are distances along the +X axis; false: Ranges in ran...
Definition: obs/CObservation3DRangeScan.h:256
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::setSize
void setSize(const int NROWS, const int NCOLS) MRPT_OVERRIDE
Resizes the matrix pixelLabels to the given size, setting all bitfields to zero (that is,...
Definition: obs/CObservation3DRangeScan.h:387
mrpt::obs::CObservation3DRangeScan::hasPoints3D
bool hasPoints3D
true means the field points3D contains valid data.
Definition: obs/CObservation3DRangeScan.h:232
mrpt::obs::CObservation3DRangeScan::points3D_getExternalStorageFile
std::string points3D_getExternalStorageFile() const
Definition: obs/CObservation3DRangeScan.h:242
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::resize
void resize(const size_t N)
Set number of points (to uninitialized values)
Definition: obs/CObservation3DRangeScan.h:563
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::TPixelLabelInfo
TPixelLabelInfo()
Definition: obs/CObservation3DRangeScan.h:409
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::unsetLabel
void unsetLabel(const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE
For the pixel(row,col), removes its classification into the category label_idx, which may be in the r...
Definition: obs/CObservation3DRangeScan.h:398
integer_select.h
mrpt::obs::CObservation3DRangeScan::setSensorPose
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
Definition: obs/CObservation3DRangeScan.h:492
mrpt::obs::CObservation2DRangeScan
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Definition: obs/CObservation2DRangeScan.h:40
mrpt::math::dynamic_vector
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
Definition: eigen_frwds.h:35
mrpt::obs::CObservation3DRangeScan::confidenceImage
mrpt::utils::CImage confidenceImage
If hasConfidenceImage=true, an image with the "confidence" value [range 0-255] as estimated by the ca...
Definition: obs/CObservation3DRangeScan.h:294
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::~TPixelLabelInfoBase
virtual ~TPixelLabelInfoBase()
Definition: obs/CObservation3DRangeScan.h:358
CObservation.h
mrpt::obs::CObservation3DRangeScan::points3D_getExternalStorageFileAbsolutePath
std::string points3D_getExternalStorageFileAbsolutePath() const
Definition: obs/CObservation3DRangeScan.h:244
mrpt::obs::CObservation3DRangeScan::m_points3D_external_stored
bool m_points3D_external_stored
If set to true, m_points3D_external_file is valid.
Definition: obs/CObservation3DRangeScan.h:118
mrpt::obs::CObservation3DRangeScan::points3D_z
std::vector< float > points3D_z
If hasPoints3D=true, the (X,Y,Z) coordinates of the 3D point cloud detected by the camera.
Definition: obs/CObservation3DRangeScan.h:233
mrpt::obs::CObservation3DRangeScan::rangeImage_getExternalStorageFileAbsolutePath
std::string rangeImage_getExternalStorageFileAbsolutePath() const
Definition: obs/CObservation3DRangeScan.h:266
mrpt::utils::TEnumTypeFiller< mrpt::obs::CObservation3DRangeScan::TIntensityChannelID >::fill
static void fill(bimap< enum_t, std::string > &m_map)
Definition: obs/CObservation3DRangeScan.h:536
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase
Virtual interface to all pixel-label information structs.
Definition: obs/CObservation3DRangeScan.h:305
mrpt::utils::TEnumTypeFiller< mrpt::obs::CObservation3DRangeScan::TIntensityChannelID >::enum_t
mrpt::obs::CObservation3DRangeScan::TIntensityChannelID enum_t
Definition: obs/CObservation3DRangeScan.h:535
CMatrix.h
mrpt::utils::bimap
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
Definition: bimap.h:28
mrpt::obs::detail::project3DPointsFromDepthImageInto
void project3DPointsFromDepthImageInto(CObservation3DRangeScan &src_obs, POINTMAP &dest_pointcloud, const bool takeIntoAccountSensorPoseOnRobot, const mrpt::poses::CPose3D *robotPoseInTheWorld, const bool PROJ3D_USE_LUT)
Definition: CObservation3DRangeScan_project3D_impl.h:22
stl_serialization.h
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::BITFIELD_BYTES
const uint8_t BITFIELD_BYTES
Minimum number of bytes required to hold MAX_NUM_DIFFERENT_LABELS bits.
Definition: obs/CObservation3DRangeScan.h:360
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:16
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo
Definition: obs/CObservation3DRangeScan.h:370
mrpt::obs::CObservation3DRangeScan::getSensorPose
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
Definition: obs/CObservation3DRangeScan.h:490
mrpt::obs::CObservation3DRangeScan::hasPixelLabels
bool hasPixelLabels() const
Returns true if the field CObservation3DRangeScan::pixelLabels contains a non-NULL smart pointer.
Definition: obs/CObservation3DRangeScan.h:302
const_iterator
const typedef Scalar * const_iterator
Definition: eigen_plugins.h:24
mrpt::obs::CObservation3DRangeScan::rangeImage_isExternallyStored
bool rangeImage_isExternallyStored() const
Definition: obs/CObservation3DRangeScan.h:263
mrpt::obs::CObservation3DRangeScan::cameraParams
mrpt::utils::TCamera cameraParams
Projection parameters of the depth camera.
Definition: obs/CObservation3DRangeScan.h:470
mrpt::utils::CImage
A class for storing images as grayscale or RGB bitmaps.
Definition: CImage.h:101
mrpt::obs::CObservation3DRangeScan::points3D_y
std::vector< float > points3D_y
Definition: obs/CObservation3DRangeScan.h:233
CPose2D.h
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::TMapLabelID2Name
std::map< uint32_t, std::string > TMapLabelID2Name
Definition: obs/CObservation3DRangeScan.h:307
mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImage
void project3DPointsFromDepthImage(const bool PROJ3D_USE_LUT=true)
This method is equivalent to project3DPointsFromDepthImageInto() storing the projected 3D points (wit...
Definition: obs/CObservation3DRangeScan.h:192
stlplus::smart_ptr< TPixelLabelInfoBase >
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:18
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::TPixelLabelMatrix
Eigen::Matrix< bitmask_t, Eigen::Dynamic, Eigen::Dynamic > TPixelLabelMatrix
Each pixel may be assigned between 0 and MAX_NUM_LABELS-1 'labels' by setting to 1 the corresponding ...
Definition: obs/CObservation3DRangeScan.h:384
mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kzs
mrpt::math::CVectorFloat Kzs
Definition: obs/CObservation3DRangeScan.h:515
mrpt::obs::CObservation3DRangeScan::m_3dproj_lut
static TCached3DProjTables m_3dproj_lut
3D point cloud projection look-up-table
Definition: obs/CObservation3DRangeScan.h:518
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::Print
virtual void Print(std::ostream &) const =0
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::m_obj
mrpt::obs::CObservation3DRangeScan & m_obj
Definition: obs/CObservation3DRangeScan.h:551
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::setPointXYZ
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
Definition: obs/CObservation3DRangeScan.h:576
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoPtr
stlplus::smart_ptr< TPixelLabelInfoBase > TPixelLabelInfoPtr
Used in CObservation3DRangeScan::pixelLabels.
Definition: obs/CObservation3DRangeScan.h:367
mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors
void resizePoints3DVectors(const size_t nPoints)
Use this method instead of resizing all three points3D_x, points3D_y & points3D_z to allow the usage ...
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::checkLabelNameExistence
int checkLabelNameExistence(const std::string &name) const
Check the existence of a label by returning its associated index.
Definition: obs/CObservation3DRangeScan.h:320
mrpt::obs::CObservation3DRangeScan::relativePoseIntensityWRTDepth
mrpt::poses::CPose3D relativePoseIntensityWRTDepth
Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this ...
Definition: obs/CObservation3DRangeScan.h:478
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::bitmask_t
mrpt::utils::uint_select_by_bytecount< BYTES_REQUIRED >::type bitmask_t
Automatically-determined integer type of the proper size such that all labels fit as one bit (max: 64...
Definition: obs/CObservation3DRangeScan.h:377
mrpt::utils::DEG2RAD
double DEG2RAD(const double x)
Degrees to radians.
Definition: bits.h:69
mrpt::utils::bimap::insert
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
Definition: bimap.h:69
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::getPointXYZ
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
Definition: obs/CObservation3DRangeScan.h:570
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::setLabelName
void setLabelName(unsigned int label_idx, const std::string &name)
Definition: obs/CObservation3DRangeScan.h:317
CObservation3DRangeScan_project3D_impl.h
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::operator<<
friend std::ostream & operator<<(std::ostream &out, const TPixelLabelInfoBase &obj)
std stream interface
Definition: obs/CObservation3DRangeScan.h:347
mrpt::obs::CObservation3DRangeScan::sensorPose
mrpt::poses::CPose3D sensorPose
The 6D pose of the sensor on the robot.
Definition: obs/CObservation3DRangeScan.h:486
mrpt::math::CMatrix
This class is a "CSerializable" wrapper for "CMatrixFloat".
Definition: CMatrix.h:30
mrpt::obs::CObservation3DRangeScan
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
Definition: obs/CObservation3DRangeScan.h:112
mrpt::utils::CStream
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::size
size_t size() const
Get number of points.
Definition: obs/CObservation3DRangeScan.h:561
mrpt::obs::CObservation3DRangeScan::intensityImageChannel
TIntensityChannelID intensityImageChannel
The source of the intensityImage; typically the visible channel.
Definition: obs/CObservation3DRangeScan.h:288
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::Print
void Print(std::ostream &out) const MRPT_OVERRIDE
Definition: obs/CObservation3DRangeScan.h:438
CObservation2DRangeScan.h
mrpt::poses::CPose3D
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
MRPT_DECLARE_TTYPENAME_PTR_NAMESPACE
#define MRPT_DECLARE_TTYPENAME_PTR_NAMESPACE(_TYPE, __NS)
Definition: TTypeName.h:72
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::pixelLabels
TPixelLabelMatrix pixelLabels
Definition: obs/CObservation3DRangeScan.h:385
mrpt::obs::CObservation3DRangeScan::hasIntensityImage
bool hasIntensityImage
true means the field intensityImage contains valid data
Definition: obs/CObservation3DRangeScan.h:286
mrpt::obs::CObservation3DRangeScan::m_rangeImage_external_file
std::string m_rangeImage_external_file
rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>
Definition: obs/CObservation3DRangeScan.h:122
DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Definition: CSerializable.h:174
mrpt::obs::CObservation3DRangeScan::points3D_x
std::vector< float > points3D_x
Definition: obs/CObservation3DRangeScan.h:233
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::TPixelLabelInfoBase
TPixelLabelInfoBase(unsigned int BITFIELD_BYTES_)
Definition: obs/CObservation3DRangeScan.h:353
TEnumType.h
mrpt::obs::CObservation3DRangeScan::hasRangeImage
bool hasRangeImage
true means the field rangeImage contains valid data
Definition: obs/CObservation3DRangeScan.h:254
mrpt::obs::CObservation3DRangeScan::stdError
float stdError
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
Definition: obs/CObservation3DRangeScan.h:487
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::setLabel
void setLabel(const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE
Mark the pixel(row,col) as classified in the category label_idx, which may be in the range 0 to MAX_N...
Definition: obs/CObservation3DRangeScan.h:390
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::checkLabel
bool checkLabel(const int row, const int col, uint8_t label_idx) const MRPT_OVERRIDE
Checks whether pixel(row,col) has been clasified into category label_idx, which may be in the range 0...
Definition: obs/CObservation3DRangeScan.h:404
mrpt::obs::CObservation3DRangeScan::points3D_idxs_y
std::vector< uint16_t > points3D_idxs_y
//!< If hasPoints3D=true, the (x,y) pixel coordinates for each (X,Y,Z) point in points3D_x,...
Definition: obs/CObservation3DRangeScan.h:234
mrpt::obs::CObservation3DRangeScan::intensityImage
mrpt::utils::CImage intensityImage
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".
Definition: obs/CObservation3DRangeScan.h:287
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::getLabels
void getLabels(const int row, const int col, uint8_t &labels) MRPT_OVERRIDE
Definition: obs/CObservation3DRangeScan.h:393
mrpt::utils::PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >::PointCloudAdapter
PointCloudAdapter(const mrpt::obs::CObservation3DRangeScan &obj)
Constructor (accept a const ref for convenience)
Definition: obs/CObservation3DRangeScan.h:559
setSize
EIGEN_STRONG_INLINE void setSize(size_t row, size_t col)
Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...
Definition: eigen_plugins.h:280
mrpt::obs::CObservation3DRangeScan::pixelLabels
TPixelLabelInfoPtr pixelLabels
All information about pixel labeling is stored in this (smart pointer to) structure; refer to TPixelL...
Definition: obs/CObservation3DRangeScan.h:464
CPolygon.h
mrpt::obs::CObservation3DRangeScan::TCached3DProjTables
Look-up-table struct for project3DPointsFromDepthImageInto()
Definition: obs/CObservation3DRangeScan.h:513
CPose3D.h
mrpt::obs::CObservation3DRangeScan::CH_IR
@ CH_IR
Infrarred (IR) channel.
Definition: obs/CObservation3DRangeScan.h:283
DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE
#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...
Definition: CSerializable.h:170
mrpt::obs::CObservation3DRangeScan::rangeImage_getExternalStorageFile
std::string rangeImage_getExternalStorageFile() const
Definition: obs/CObservation3DRangeScan.h:264
mrpt::obs::CObservation3DRangeScan::maxRange
float maxRange
The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
Definition: obs/CObservation3DRangeScan.h:485
mrpt::obs::CObservation3DRangeScan::hasConfidenceImage
bool hasConfidenceImage
true means the field confidenceImage contains valid data
Definition: obs/CObservation3DRangeScan.h:293
mrpt::obs::CObservation3DRangeScan::m_points3D_external_file
std::string m_points3D_external_file
3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>
Definition: obs/CObservation3DRangeScan.h:119
CImage.h
mrpt::utils::TCamera
Structure to hold the parameters of a pinhole camera model.
Definition: TCamera.h:31
mrpt::obs::CObservation3DRangeScan::rangeImage
mrpt::math::CMatrix rangeImage
If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters)
Definition: obs/CObservation3DRangeScan.h:255
DEFINE_SERIALIZABLE
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Definition: CSerializable.h:147
mrpt::obs::CObservation3DRangeScan::CH_VISIBLE
@ CH_VISIBLE
Grayscale or RGB visible channel of the camera sensor.
Definition: obs/CObservation3DRangeScan.h:282
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::getLabelName
const std::string & getLabelName(unsigned int label_idx) const
Definition: obs/CObservation3DRangeScan.h:312
mrpt::obs::CObservation
Declares a class that represents any robot's observation.
Definition: obs/CObservation.h:47
mrpt::obs::CObservation3DRangeScan::points3D_isExternallyStored
bool points3D_isExternallyStored() const
Definition: obs/CObservation3DRangeScan.h:241
mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::prev_camParams
mrpt::utils::TCamera prev_camParams
Definition: obs/CObservation3DRangeScan.h:516
adapters.h
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::internal_writeToStream
void internal_writeToStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
Definition: obs/CObservation3DRangeScan.h:426
CSerializable.h
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo::unsetAll
void unsetAll(const int row, const int col, uint8_t label_idx) MRPT_OVERRIDE
Removes all categories for pixel(row,col)
Definition: obs/CObservation3DRangeScan.h:401
mrpt::obs::CObservation3DRangeScan::rangeImage_forceResetExternalStorage
void rangeImage_forceResetExternalStorage()
Forces marking this observation as non-externally stored - it doesn't anything else apart from reseti...
Definition: obs/CObservation3DRangeScan.h:273
MRPT_OVERRIDE
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity
mrpt::utils::TCamera cameraParamsIntensity
Projection parameters of the intensity (graylevel or RGB) camera.
Definition: obs/CObservation3DRangeScan.h:471
mrpt::utils::TEnumTypeFiller
Only specializations of this class are defined for each enum type of interest.
Definition: TEnumType.h:23
mrpt::utils::detail::PointCloudAdapterHelperNoRGB
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
Definition: adapters.h:48
mrpt::obs::CObservation3DRangeScan::m_rangeImage_external_stored
bool m_rangeImage_external_stored
If set to true, m_rangeImage_external_file is valid.
Definition: obs/CObservation3DRangeScan.h:121
mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase::pixelLabelNames
TMapLabelID2Name pixelLabelNames
The 'semantic' or human-friendly name of the i'th bit in pixelLabels(r,c) can be found in pixelLabelN...
Definition: obs/CObservation3DRangeScan.h:310



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