Filling MRPT velodyne scan observation
I'm new to MRPT and I would like to use it for building an occupancy grid map using velodyne point clouds.
The KITTI dataset provide velodyne point clouds in (x,y,z,r) format, where r is the reflectance. I'm trying to fill a mrpt::obs::CObservationVelodyneScan with such data, but using insertObservation method seems to do just nothing.
Can you point me in the right direction for using this observation type?
My code basically looks like this:
COccupancyGridMap2D map;
// allocate 4 MB buffer (only ~130*4*4 KB are needed)
int32_t num = 1000000;
float *data = (float*)malloc(num*sizeof(float));
// pointers
float *px = data+0;
float *py = data+1;
float *pz = data+2;
float *pr = data+3;
// load point cloud
FILE *stream;
stream = fopen (args.velodyne_filename.c_str(),"rb");
num = fread(data,sizeof(float),num,stream)/4;
obs::CObservationVelodyneScan v;
v.point_cloud.x.resize(num);
v.point_cloud.y.resize(num);
v.point_cloud.z.resize(num);
v.point_cloud.intensity.resize(num);
for (int32_t i=0; i<num; i++)
{
v.point_cloud.x[i] = *px;
v.point_cloud.y[i] = *py;
v.point_cloud.z[i] = *pz;
v.point_cloud.intensity[i] = *pr;
px+=4; py+=4; pz+=4; pr+=4;
}
fclose(stream);
map.likelihoodOptions.likelihoodMethod = OccupancyGridMap2D::lmRayTracing;
map.insertObservation(&v);
Thanks,
Francesco
maps point-clouds mrpt
asked Nov 23 '18 at 9:37
vpervper
31
add a comment |
I'm new to MRPT and I would like to use it for building an occupancy grid map using velodyne point clouds.
The KITTI dataset provide velodyne point clouds in (x,y,z,r) format, where r is the reflectance. I'm trying to fill a mrpt::obs::CObservationVelodyneScan with such data, but using insertObservation method seems to do just nothing.
Can you point me in the right direction for using this observation type?
My code basically looks like this:
COccupancyGridMap2D map;
// allocate 4 MB buffer (only ~130*4*4 KB are needed)
int32_t num = 1000000;
float *data = (float*)malloc(num*sizeof(float));
// pointers
float *px = data+0;
float *py = data+1;
float *pz = data+2;
float *pr = data+3;
// load point cloud
FILE *stream;
stream = fopen (args.velodyne_filename.c_str(),"rb");
num = fread(data,sizeof(float),num,stream)/4;
obs::CObservationVelodyneScan v;
v.point_cloud.x.resize(num);
v.point_cloud.y.resize(num);
v.point_cloud.z.resize(num);
v.point_cloud.intensity.resize(num);
for (int32_t i=0; i<num; i++)
{
v.point_cloud.x[i] = *px;
v.point_cloud.y[i] = *py;
v.point_cloud.z[i] = *pz;
v.point_cloud.intensity[i] = *pr;
px+=4; py+=4; pz+=4; pr+=4;
}
fclose(stream);
map.likelihoodOptions.likelihoodMethod = OccupancyGridMap2D::lmRayTracing;
map.insertObservation(&v);
Thanks,
Francesco
maps point-clouds mrpt
asked Nov 23 '18 at 9:37
vpervper
31
add a comment |
I'm new to MRPT and I would like to use it for building an occupancy grid map using velodyne point clouds.
The KITTI dataset provide velodyne point clouds in (x,y,z,r) format, where r is the reflectance. I'm trying to fill a mrpt::obs::CObservationVelodyneScan with such data, but using insertObservation method seems to do just nothing.
Can you point me in the right direction for using this observation type?
My code basically looks like this:
COccupancyGridMap2D map;
// allocate 4 MB buffer (only ~130*4*4 KB are needed)
int32_t num = 1000000;
float *data = (float*)malloc(num*sizeof(float));
// pointers
float *px = data+0;
float *py = data+1;
float *pz = data+2;
float *pr = data+3;
// load point cloud
FILE *stream;
stream = fopen (args.velodyne_filename.c_str(),"rb");
num = fread(data,sizeof(float),num,stream)/4;
obs::CObservationVelodyneScan v;
v.point_cloud.x.resize(num);
v.point_cloud.y.resize(num);
v.point_cloud.z.resize(num);
v.point_cloud.intensity.resize(num);
for (int32_t i=0; i<num; i++)
{
v.point_cloud.x[i] = *px;
v.point_cloud.y[i] = *py;
v.point_cloud.z[i] = *pz;
v.point_cloud.intensity[i] = *pr;
px+=4; py+=4; pz+=4; pr+=4;
}
fclose(stream);
map.likelihoodOptions.likelihoodMethod = OccupancyGridMap2D::lmRayTracing;
map.insertObservation(&v);
Thanks,
Francesco
maps point-clouds mrpt
asked Nov 23 '18 at 9:37
vpervper
31
I'm new to MRPT and I would like to use it for building an occupancy grid map using velodyne point clouds.
The KITTI dataset provide velodyne point clouds in (x,y,z,r) format, where r is the reflectance. I'm trying to fill a mrpt::obs::CObservationVelodyneScan with such data, but using insertObservation method seems to do just nothing.
Can you point me in the right direction for using this observation type?
My code basically looks like this:
COccupancyGridMap2D map;
// allocate 4 MB buffer (only ~130*4*4 KB are needed)
int32_t num = 1000000;
float *data = (float*)malloc(num*sizeof(float));
// pointers
float *px = data+0;
float *py = data+1;
float *pz = data+2;
float *pr = data+3;
// load point cloud
FILE *stream;
stream = fopen (args.velodyne_filename.c_str(),"rb");
num = fread(data,sizeof(float),num,stream)/4;
obs::CObservationVelodyneScan v;
v.point_cloud.x.resize(num);
v.point_cloud.y.resize(num);
v.point_cloud.z.resize(num);
v.point_cloud.intensity.resize(num);
for (int32_t i=0; i<num; i++)
{
v.point_cloud.x[i] = *px;
v.point_cloud.y[i] = *py;
v.point_cloud.z[i] = *pz;
v.point_cloud.intensity[i] = *pr;
px+=4; py+=4; pz+=4; pr+=4;
}
fclose(stream);
map.likelihoodOptions.likelihoodMethod = OccupancyGridMap2D::lmRayTracing;
map.insertObservation(&v);
Thanks,
Francesco
maps point-clouds mrpt
maps point-clouds mrpt
asked Nov 23 '18 at 9:37
vpervper
31
asked Nov 23 '18 at 9:37
vpervper
31
asked Nov 23 '18 at 9:37
vpervper
31
asked Nov 23 '18 at 9:37
vpervper
31
asked Nov 23 '18 at 9:37
vpervper
31
31
add a comment |
add a comment |
1 Answer
1
active
oldest
votes
I was these days also working on the Kitti dataset, so I just added a new function to load a kiti velodyne data file directly into MRPT (see this PR).
However, after some thinking, I noticed that Kitti raw data does not match exactly with CObservationVelodyneScan, which is aimed at storing the raw ranges for each LiDAR beam, and only optionally, a pointcloud. The Kitti velodyne data are pointclouds, actually, hence I added a new PointCloud type with XYZ+Intensity mrpt::maps::CPointsMapXYZI and added a method loadFromKittiVelodyneFile() to it. Notice this is for the mrpt master git branch, "version 1.9.9".
Now, how to insert that into a gridmap? Your idea of using a velodyne CObservation to insert it into a gridmap is one of the pending issues on our queue but, anyway, as said above, the Kitti datasets are better loaded as pointclouds.
I would recommend you converting the pointcloud into a CObservation2DRangeScan, then inserting it into the grid. That would allow you to control what part of the 3D data you really want to be reflected in the grid (i.e. what heights, etc.)
Hope it helped!
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
add a comment |
Your Answer
StackExchange.ifUsing("editor", function () {
StackExchange.using("externalEditor", function () {
StackExchange.using("snippets", function () {
StackExchange.snippets.init();
});
});
}, "code-snippets");
StackExchange.ready(function() {
var channelOptions = {
tags: "".split(" "),
id: "1"
};
initTagRenderer("".split(" "), "".split(" "), channelOptions);
StackExchange.using("externalEditor", function() {
// Have to fire editor after snippets, if snippets enabled
if (StackExchange.settings.snippets.snippetsEnabled) {
StackExchange.using("snippets", function() {
createEditor();
});
}
else {
createEditor();
}
});
function createEditor() {
StackExchange.prepareEditor({
heartbeatType: 'answer',
autoActivateHeartbeat: false,
convertImagesToLinks: true,
noModals: true,
showLowRepImageUploadWarning: true,
reputationToPostImages: 10,
bindNavPrevention: true,
postfix: "",
imageUploader: {
brandingHtml: "Powered by u003ca class="icon-imgur-white" href="https://imgur.com/"u003eu003c/au003e",
contentPolicyHtml: "User contributions licensed under u003ca href="https://creativecommons.org/licenses/by-sa/3.0/"u003ecc by-sa 3.0 with attribution requiredu003c/au003e u003ca href="https://stackoverflow.com/legal/content-policy"u003e(content policy)u003c/au003e",
allowUrls: true
},
onDemand: true,
discardSelector: ".discard-answer"
,immediatelyShowMarkdownHelp:true
});
}
});
Sign up or log in
StackExchange.ready(function () {
StackExchange.helpers.onClickDraftSave('#login-link');
});
Sign up using Google
Sign up using Facebook
Sign up using Email and Password
Post as a guest
Required, but never shown
StackExchange.ready(
function () {
StackExchange.openid.initPostLogin('.new-post-login', 'https%3a%2f%2fstackoverflow.com%2fquestions%2f53444024%2ffilling-mrpt-velodyne-scan-observation%23new-answer', 'question_page');
}
);
Post as a guest
Required, but never shown
1 Answer
1
active
oldest
votes
1 Answer
1
active
oldest
votes
active
oldest
votes
active
oldest
votes
I was these days also working on the Kitti dataset, so I just added a new function to load a kiti velodyne data file directly into MRPT (see this PR).
However, after some thinking, I noticed that Kitti raw data does not match exactly with CObservationVelodyneScan, which is aimed at storing the raw ranges for each LiDAR beam, and only optionally, a pointcloud. The Kitti velodyne data are pointclouds, actually, hence I added a new PointCloud type with XYZ+Intensity mrpt::maps::CPointsMapXYZI and added a method loadFromKittiVelodyneFile() to it. Notice this is for the mrpt master git branch, "version 1.9.9".
Now, how to insert that into a gridmap? Your idea of using a velodyne CObservation to insert it into a gridmap is one of the pending issues on our queue but, anyway, as said above, the Kitti datasets are better loaded as pointclouds.
I would recommend you converting the pointcloud into a CObservation2DRangeScan, then inserting it into the grid. That would allow you to control what part of the 3D data you really want to be reflected in the grid (i.e. what heights, etc.)
Hope it helped!
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
add a comment |
I was these days also working on the Kitti dataset, so I just added a new function to load a kiti velodyne data file directly into MRPT (see this PR).
However, after some thinking, I noticed that Kitti raw data does not match exactly with CObservationVelodyneScan, which is aimed at storing the raw ranges for each LiDAR beam, and only optionally, a pointcloud. The Kitti velodyne data are pointclouds, actually, hence I added a new PointCloud type with XYZ+Intensity mrpt::maps::CPointsMapXYZI and added a method loadFromKittiVelodyneFile() to it. Notice this is for the mrpt master git branch, "version 1.9.9".
Now, how to insert that into a gridmap? Your idea of using a velodyne CObservation to insert it into a gridmap is one of the pending issues on our queue but, anyway, as said above, the Kitti datasets are better loaded as pointclouds.
I would recommend you converting the pointcloud into a CObservation2DRangeScan, then inserting it into the grid. That would allow you to control what part of the 3D data you really want to be reflected in the grid (i.e. what heights, etc.)
Hope it helped!
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
add a comment |
I was these days also working on the Kitti dataset, so I just added a new function to load a kiti velodyne data file directly into MRPT (see this PR).
However, after some thinking, I noticed that Kitti raw data does not match exactly with CObservationVelodyneScan, which is aimed at storing the raw ranges for each LiDAR beam, and only optionally, a pointcloud. The Kitti velodyne data are pointclouds, actually, hence I added a new PointCloud type with XYZ+Intensity mrpt::maps::CPointsMapXYZI and added a method loadFromKittiVelodyneFile() to it. Notice this is for the mrpt master git branch, "version 1.9.9".
Now, how to insert that into a gridmap? Your idea of using a velodyne CObservation to insert it into a gridmap is one of the pending issues on our queue but, anyway, as said above, the Kitti datasets are better loaded as pointclouds.
I would recommend you converting the pointcloud into a CObservation2DRangeScan, then inserting it into the grid. That would allow you to control what part of the 3D data you really want to be reflected in the grid (i.e. what heights, etc.)
Hope it helped!
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
I was these days also working on the Kitti dataset, so I just added a new function to load a kiti velodyne data file directly into MRPT (see this PR).
However, after some thinking, I noticed that Kitti raw data does not match exactly with CObservationVelodyneScan, which is aimed at storing the raw ranges for each LiDAR beam, and only optionally, a pointcloud. The Kitti velodyne data are pointclouds, actually, hence I added a new PointCloud type with XYZ+Intensity mrpt::maps::CPointsMapXYZI and added a method loadFromKittiVelodyneFile() to it. Notice this is for the mrpt master git branch, "version 1.9.9".
Now, how to insert that into a gridmap? Your idea of using a velodyne CObservation to insert it into a gridmap is one of the pending issues on our queue but, anyway, as said above, the Kitti datasets are better loaded as pointclouds.
I would recommend you converting the pointcloud into a CObservation2DRangeScan, then inserting it into the grid. That would allow you to control what part of the 3D data you really want to be reflected in the grid (i.e. what heights, etc.)
Hope it helped!
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
answered Nov 25 '18 at 4:22
Jose Luis BlancoJose Luis Blanco
51637
51637
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
add a comment |
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
Thank you for your answer. Actually, I already did as you are suggesting and it works perfectly. I just had to set an insert option of the map to take into account for measurements farther than 15m. I will definitely take a look into your unit test for using KITTI velodyne point clouds.
– vper
Nov 26 '18 at 10:25
add a comment |
Thanks for contributing an answer to Stack Overflow!
- Please be sure to answer the question. Provide details and share your research!
But avoid …
- Asking for help, clarification, or responding to other answers.
- Making statements based on opinion; back them up with references or personal experience.
To learn more, see our tips on writing great answers.
Sign up or log in
StackExchange.ready(function () {
StackExchange.helpers.onClickDraftSave('#login-link');
});
Sign up using Google
Sign up using Facebook
Sign up using Email and Password
Post as a guest
Required, but never shown
StackExchange.ready(
function () {
StackExchange.openid.initPostLogin('.new-post-login', 'https%3a%2f%2fstackoverflow.com%2fquestions%2f53444024%2ffilling-mrpt-velodyne-scan-observation%23new-answer', 'question_page');
}
);
Post as a guest
Required, but never shown
Sign up or log in
StackExchange.ready(function () {
StackExchange.helpers.onClickDraftSave('#login-link');
});
Sign up using Google
Sign up using Facebook
Sign up using Email and Password
Post as a guest
Required, but never shown
Sign up or log in
StackExchange.ready(function () {
StackExchange.helpers.onClickDraftSave('#login-link');
});
Sign up using Google
Sign up using Facebook
Sign up using Email and Password
Post as a guest
Required, but never shown
Sign up or log in
StackExchange.ready(function () {
StackExchange.helpers.onClickDraftSave('#login-link');
});
Sign up using Google
Sign up using Facebook
Sign up using Email and Password
Sign up using Google
Sign up using Facebook
Sign up using Email and Password
Post as a guest
Required, but never shown
Required, but never shown
Required, but never shown
Required, but never shown
Required, but never shown
Required, but never shown
Required, but never shown
Required, but never shown
Required, but never shown
