Package for parsing saved room observations¶
Description¶
The metaroom_xml_parser package is used to parse previously saved
room observations. The data will be read into an appropriate data
structure containing: merged point cloud, individual point clouds,
individual RGB and depth images and corresponding camera parameters.
Usage¶
- Parsing one file
The load_single_file application reads in one room observation.
rosrun metaroom_xml_parser load_single_file /path/to/xml
- Parsing multiple observations
The ‘load_multiple_files’ application reads in multiple room observations and returns a vector. It takes as input the root folder where the observations are stored.
rosrun metaroom_xml_parser load_multiple_files /path/to/folder
- Parsing labelled data
The load_labelled_data application reads labelled data for
observations taken at a particular waypoint. The waypoint id and the
folder where the observations are stored are taken in as parameters.
rosrun metaroom_xml_parser load_labelled_data` /path/to/sweeps WayPointXYZ
Utilities¶
A number of utilities are provided by this package, for easy data
manipulation. The definitions can be seen in the file
load_utilities.h
Merged cloud utilities¶
The complete cloud datatype is:
template <class PointType> boost::shared_ptr<pcl::PointCloud<PointType>>
The utilities for loading only the merged cloud are: *
loadMergedCloudFromSingleSweep # returns one cloud *
loadMergedCloudFromMultipleSweeps # returns a vector of merged
clouds, one for each sweep * loadMergedCloudForTopologicalWaypoint
# same as above
Intermediate cloud utilities¶
The intermediate cloud datatype is:
template <class PointType>
struct IntermediateCloudCompleteData
{
std::vector<boost::shared_ptr<pcl::PointCloud<PointType>>> vIntermediateRoomClouds;
std::vector<tf::StampedTransform> vIntermediateRoomCloudTransforms;
std::vector<image_geometry::PinholeCameraModel> vIntermediateRoomCloudCamParams;
std::vector<tf::StampedTransform> vIntermediateRoomCloudTransformsRegistered;
std::vector<image_geometry::PinholeCameraModel> vIntermediateRoomCloudCamParamsCorrected;
std::vector<cv::Mat> vIntermediateRGBImages; // type CV_8UC3
std::vector<cv::Mat> vIntermediateDepthImages; // type CV_16UC1
};
The utilities for loading the intermediate clouds are: *
loadIntermediateCloudsFromSingleSweep # just the point clouds *
loadIntermediateCloudsCompleteDataFromSingleSweep # complete data,
with transforms and images *
loadIntermediateCloudsFromMultipleSweeps *
loadIntermediateCloudsCompleteDataFromMultipleSweeps *
loadIntermediateCloudsForTopologicalWaypoint *
loadIntermediateCloudsCompleteDataForTopologicalWaypoint
Sweep XML utilities¶
The sweep XML is an std::string
The utilities for finding sweep XMLS are: * getSweepXmls # takes a
folder where to search as argument. Returns a vector<string> *
getSweepXmlsForTopologicalWaypoint
Dynamic cluster utilities¶
The dynamic clusters type is:
template <class PointType> std::vector<boost::shared_ptr<pcl::PointCloud<PointType>>>
The dynamic cluster utilities are: *
loadDynamicClustersFromSingleSweep *
loadDynamicClustersFromMultipleSweeps *
loadDynamicClustersForTopologicalWaypoint
Labelled data utilities¶
The labelled data type is:
template <class PointType>
struct LabelledData
{
boost::shared_ptr<pcl::PointCloud<PointType>> completeCloud;
tf::StampedTransform transformToGlobal;
tf::Vector3 sweepCenter;
std::vector<boost::shared_ptr<pcl::PointCloud<PointType>>> objectClouds;
std::vector<std::string> objectLabels;
boost::posix_time::ptime sweepTime;
std::string waypoint;
};
The labelled data utilities are: * loadLabelledDataFromSingleSweep
Original page: https://github.com/strands-project/strands_3d_mapping/blob/hydro-devel/metaroom_xml_parser/README.md