beam_containers

beam_containers

This module contains containers to store data for efficient use with other Beam code. Each application of Beam's robots will required a pair of containers: a custom PCL Point Type for storing cloud information and an image container for containing images and corresponding masks for labeling that custom point cloud.

Currently Supported Containers

Bridge Inspection Containers

Bridge inspection containers contain information to facilitate visual inspection of reinforced concrete defects. These defects include: cracks, spalls, delaminations, and corrosion stains.

PointBridge.h

Fields: {x,y,z,intensity,rgb,r,g,b,alpha,thermal,crack,spall,corrosion,delam}

Type: {f,f,f,f,f,uint8,uint8,uint8,uint8,uint8,f,f,f,f}

This container is similar to a typical PointXYZRGB point type. The key additions are the fields for crack, spall, delamination, and corrosion for each point. Each of these fields stores a float that should be between 0.0 and 1.0. This value represents the likelihood that this point represents a defect of its corresponding type.

ImageBridge.h

Example Use of Point Type Container

Example code to load a PointBridge container from a .pcd file. Note that

#include <beam_containers/PointBridge.h>

#include <pcl/io/pcd_io.h>

#include <boost/smart_ptr.hpp>

int main() {
  // Read data from a PCD into a PointBridge container
  pcl::PCDReader reader;
  auto cloud = boost::make_shared<pcl::PointCloud<beam_containers::PointBridge>>();
  reader.read("test_data/20180622-flir_delam_ptCloud.pcd", *cloud);

  return 0;
}