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mrpt::obs::CObservationRGBD360 Class Reference

Detailed Description

Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors.

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

The coordinates of the 3D point cloud are in millimeters with respect to the RGB camera origin of coordinates

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:

3D point clouds can be generated at any moment after grabbing with CObservationRGBD360::project3DPointsFromDepthImage() and CObservationRGBD360::project3DPointsFromDepthImageInto(), provided the correct calibration parameters.

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.
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
See also
mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::COpenNI2_RGBD360, CObservation

Definition at line 66 of file obs/CObservationRGBD360.h.

#include <mrpt/obs/CObservationRGBD360.h>

Inheritance diagram for mrpt::obs::CObservationRGBD360:
Inheritance graph

Public Member Functions

 CObservationRGBD360 ()
 Default constructor.
 
virtual ~CObservationRGBD360 ()
 Destructor.
 
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.
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
 A general method to change the sensor pose on the robot.
 
void getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
 Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
 This method is equivalent to:
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot.
 
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).
 

Public Attributes

mrpt::system::TTimeStamp timestamps [NUM_SENSORS]
 
bool hasRangeImage
 true means the field rangeImage contains valid data
 
mrpt::math::CMatrix rangeImages [NUM_SENSORS]
 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 intensityImages [NUM_SENSORS]
 If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".
 
mrpt::utils::TCamera sensorParamss [NUM_SENSORS]
 Projection parameters of the 8 RGBD sensor.
 
float maxRange
 The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
 
mrpt::poses::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.
 

Static Public Attributes

static const unsigned int NUM_SENSORS = 2
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCObservation
 

Protected Member Functions

void swap (CObservation &o)
 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.
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

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 <br>

typedef CObservationRGBD360Ptr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationRGBD360
 
static mrpt::utils::TRuntimeClassId classCObservationRGBD360
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationRGBD360Ptr Create ()
 

Data common to any observation

mrpt::system::TTimeStamp timestamp
 The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor.
 
mrpt::system::TTimeStamp getTimeStamp () const
 Returns CObservation::timestamp for all kind of observations.
 
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.
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 69 of file obs/CObservationRGBD360.h.

Constructor & Destructor Documentation

◆ CObservationRGBD360()

mrpt::obs::CObservationRGBD360::CObservationRGBD360 ( )

Default constructor.

◆ ~CObservationRGBD360()

virtual mrpt::obs::CObservationRGBD360::~CObservationRGBD360 ( )
virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationRGBD360::_GetBaseClass ( )
staticprotected

◆ Create()

static CObservationRGBD360Ptr mrpt::obs::CObservationRGBD360::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::obs::CObservationRGBD360::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::obs::CObservationRGBD360::duplicate ( ) const
virtual

◆ getDescriptionAsText()

void mrpt::obs::CObservationRGBD360::getDescriptionAsText ( std::ostream &  o) const
virtual

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.

◆ 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 65 of file obs/CObservation.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationRGBD360::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::obs::CObservation.

◆ getSensorPose() [1/2]

void mrpt::obs::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

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationRGBD360::getSensorPose ( mrpt::poses::CPose3D out_sensorPose) const
inlinevirtual

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 100 of file obs/CObservationRGBD360.h.

◆ getTimeStamp()

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

Returns CObservation::timestamp for all kind of observations.

See also
getOriginalReceivedTimeStamp()

Definition at line 63 of file obs/CObservation.h.

◆ insertObservationInto()

template<class METRICMAP >
bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap,
const mrpt::poses::CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (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 also
CMetricMap, CMetricMap::insertObservation

Definition at line 83 of file obs/CObservation.h.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const
inlinevirtualinherited

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 in mrpt::obs::CObservation3DRangeScan.

Definition at line 125 of file obs/CObservation.h.

◆ rangeImage_setSize()

void mrpt::obs::CObservationRGBD360::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.

◆ readFromStream()

void mrpt::obs::CObservationRGBD360::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ setSensorPose() [1/2]

void mrpt::obs::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

◆ setSensorPose() [2/2]

void mrpt::obs::CObservationRGBD360::setSensorPose ( const mrpt::poses::CPose3D newSensorPose)
inlinevirtual

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 101 of file obs/CObservationRGBD360.h.

◆ swap()

void mrpt::obs::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.

◆ unload()

virtual void mrpt::obs::CObservation::unload ( )
inlinevirtualinherited

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

See also
load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 129 of file obs/CObservation.h.

◆ writeToStream()

void mrpt::obs::CObservationRGBD360::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CObservationRGBD360

mrpt::utils::CLASSINIT mrpt::obs::CObservationRGBD360::_init_CObservationRGBD360
staticprotected

Definition at line 69 of file obs/CObservationRGBD360.h.

◆ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation
staticinherited

Definition at line 50 of file obs/CObservation.h.

◆ classCObservationRGBD360

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationRGBD360::classCObservationRGBD360
static

Definition at line 69 of file obs/CObservationRGBD360.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationRGBD360::classinfo
static

Definition at line 69 of file obs/CObservationRGBD360.h.

◆ hasIntensityImage

bool mrpt::obs::CObservationRGBD360::hasIntensityImage

true means the field intensityImage contains valid data

Definition at line 91 of file obs/CObservationRGBD360.h.

◆ hasRangeImage

bool mrpt::obs::CObservationRGBD360::hasRangeImage

true means the field rangeImage contains valid data

Definition at line 86 of file obs/CObservationRGBD360.h.

◆ intensityImages

mrpt::utils::CImage mrpt::obs::CObservationRGBD360::intensityImages[NUM_SENSORS]

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

Definition at line 92 of file obs/CObservationRGBD360.h.

◆ m_points3D_external_file

std::string mrpt::obs::CObservationRGBD360::m_points3D_external_file
protected

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

Definition at line 73 of file obs/CObservationRGBD360.h.

◆ m_points3D_external_stored

bool mrpt::obs::CObservationRGBD360::m_points3D_external_stored
protected

If set to true, m_points3D_external_file is valid.

Definition at line 72 of file obs/CObservationRGBD360.h.

◆ m_rangeImage_external_file

std::string mrpt::obs::CObservationRGBD360::m_rangeImage_external_file
protected

rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>

Definition at line 76 of file obs/CObservationRGBD360.h.

◆ m_rangeImage_external_stored

bool mrpt::obs::CObservationRGBD360::m_rangeImage_external_stored
protected

If set to true, m_rangeImage_external_file is valid.

Definition at line 75 of file obs/CObservationRGBD360.h.

◆ maxRange

float mrpt::obs::CObservationRGBD360::maxRange

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

Definition at line 95 of file obs/CObservationRGBD360.h.

◆ NUM_SENSORS

const unsigned int mrpt::obs::CObservationRGBD360::NUM_SENSORS = 2
static

Definition at line 82 of file obs/CObservationRGBD360.h.

◆ rangeImages

mrpt::math::CMatrix mrpt::obs::CObservationRGBD360::rangeImages[NUM_SENSORS]

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 87 of file obs/CObservationRGBD360.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 obs/CObservation.h.

◆ sensorParamss

mrpt::utils::TCamera mrpt::obs::CObservationRGBD360::sensorParamss[NUM_SENSORS]

Projection parameters of the 8 RGBD sensor.

Definition at line 93 of file obs/CObservationRGBD360.h.

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationRGBD360::sensorPose

The 6D pose of the sensor on the robot.

Definition at line 96 of file obs/CObservationRGBD360.h.

◆ stdError

float mrpt::obs::CObservationRGBD360::stdError

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

Definition at line 97 of file obs/CObservationRGBD360.h.

◆ 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 59 of file obs/CObservation.h.

◆ timestamps

mrpt::system::TTimeStamp mrpt::obs::CObservationRGBD360::timestamps[NUM_SENSORS]

Definition at line 84 of file obs/CObservationRGBD360.h.




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