the astm e57 file format for 3d imaging data exchange · the astm e57 file format for 3d imaging...
TRANSCRIPT
![Page 1: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/1.jpg)
The ASTM E57 File Format for 3D Imaging Data Exchange
Daniel Huber The Robotics Institute
Carnegie Mellon University Member of the ASTM E57 Committee on 3D Imaging Systems
Sub-committee on Data Interoperability
Image courtesy Intelisum, Inc.
![Page 2: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/2.jpg)
2
The E57 Format What have we done? Over the past 5 years, we have developed an open standard for 3D imaging system data exchange. n Store and exchange:
n 3D data (point clouds, range images)
n Associated images n Meta-data to support
downstream processing n General purpose – terrestrial,
aerial, mobile n Extendable Who is “we”? ASTM E57 Committee on 3D Imaging Systems, Sub-committee on Data Interoperability (E57.04)
![Page 3: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/3.jpg)
3
What is Three Dimensional Imaging?
Laser Scanners
Triangulation
![Page 4: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/4.jpg)
4
Uses of 3D Imaging: Modeling and Visualization
![Page 5: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/5.jpg)
5
Uses of 3D Imaging: Robotics
![Page 6: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/6.jpg)
6
Uses of 3D Imaging: Civil Engineering Quality assurance
Reverse engineering
Infrastructure inspection
![Page 7: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/7.jpg)
n LAS
How Do People Store 3D Data Today?
7
Proprietary Formats n PTS n PTX n DXF
Ad-Hoc Formats
Domain Specific Formats
n PLY n homebrew
![Page 8: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/8.jpg)
What’s the Problem with the Status Quo?
8
Proprietary Formats n Data exchange
combinatorial explosion
n Loss of information when converting
n Long-term stability
Ad-Hoc Formats
Domain Specific Formats
n Storage efficiency n Limited
documentation n Variations in
implementations n Limited use for data
exchange
n Limited applicability across domains
![Page 9: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/9.jpg)
n Standardized definition n Widespread use n Reference implementation
n Binary storage and data compression
n Thorough, extensive documentation
n General purpose, with domain-specific extendibility
n Reduced need to convert n Single, common format
How Does the E57 Format Address These Problems?
9
Proprietary Formats n Data exchange
combinatorial explosion
n Loss of information when converting
n Long-term stability
Ad-Hoc Formats
Domain Specific Formats
n Storage efficiency n Limited
documentation n Variations in
implementations n Limited use for data
exchange
n Limited applicability across domains
The E57 Format
![Page 10: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/10.jpg)
… Specify requirements
Begin version 2
Develop additional tools
Testing Develop supporting software
Develop qualification process
Encourage adoption
Vote on standard
Write standard
Design the format
10
The Road to the E57 Standard
Specify requirements
![Page 11: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/11.jpg)
11
Guiding Principles
n Reliable interoperability – Data transferable between vendors n Open – Freely available, well documented, unrestricted, and
vendor neutral n Low barrier for adoption – Development cost kept to a
minimum n Minimalist design – Keep design as simple as possible n Extensibility – Allow new capabilities in the future without
breaking core functionality
![Page 12: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/12.jpg)
12
Information to Store in an E57 File
n Unorganized point clouds or gridded data
n Multiple return data n Multiple data sets (but in
one coordinate system) n Associated images and
pose information
n Intended for data exchange and archiving
n Not intended as a “working” format.
n Limit meta-information and derived information
Image courtesy Intelisum, Inc.
![Page 13: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/13.jpg)
13
Secondary Goals
n Support for internationalization n Support for extremely large file sizes n Self-describing – e.g., should not require external lookup
tables n Computer readable – i.e., allow automatic verification of syntax n Speed and storage efficient – smaller and faster than ASCII n Memory efficient – Allow microcontroller implementation n LAS compatibility – Superset of LAS functionality
![Page 14: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/14.jpg)
14
E57 Design Basics
Common file format types Fixed sized fields and records
n Rigid, but compact and efficient
Flexible, self-documenting
n Flexible, but inefficient and more verbose
E57 Format – A hybrid of the two n Flexible, self-documenting framework n Fixed sized, user-defined records for large, repeating structures
(e.g., point clouds)
![Page 15: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/15.jpg)
15
E57 Hierarchical File Structure
barbarimages2D(Image2D)
pose(RigidBodyTransform)
pointGroupingSchemes(PointGroupingSchemes)
points(PointRecord)
points(PointRecord)
points(PointRecord)
groupingByLine(GroupingByLine) groups
(LineGroupRecord)
groups(LineGroupRecord)
groups(LineGroupRecord)
pose(RigidBodyTransform)
visualReferenceRepresentation(VisualReferenceRepresentation)
sphericalRepresentation(SphericalRepresentation)
e57Root(E57Root)
barbardata3D(Data3D)
![Page 16: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/16.jpg)
16
Parts of an E57 File
Header
Binary section (points)
XML section
Binary section (image)
Binary section (points)
![Page 17: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/17.jpg)
17
Error Checking
Logical data stream
Physical data stream
1020 byte logical block
4 byte checksum
Header
Binary section (points)
XML section
Binary section (image)
Binary section (points)
![Page 18: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/18.jpg)
XML Hierarchy – The E57 Element Types
18
Terminal types
Integer
Float
ScaledInteger
String
Blob
Non-terminal types
Structure
Vector
CompressedVector
![Page 19: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/19.jpg)
19
Point Data Storage
<points type="CompressedVector" fileOffset="68" recordCount="10"> <prototype type="Structure"> <cartesianX type="ScaledInteger" minimum="0" maximum="32767" scale="1e-003"/> <cartesianY type="ScaledInteger" minimum="0" maximum="32767" scale="1e-003"/> <cartesianZ type="ScaledInteger" minimum="0" maximum="32767" scale="1e-003"/> <cartesianInvalidState type="Integer" minimum="0" maximum="2"/> <rowIndex type="Integer" minimum="0" maximum="1"/> <columnIndex type="Integer" minimum="0" maximum="4"/> <returnIndex type="Integer" minimum="0" maximum="0"/> <returnCount type="Integer" minimum="1" maximum="1">1</returnCount> <timeStamp type="Float"/> <intensity type="Integer" minimum="0" maximum="255"/> <colorRed type="Float" precision="single" minimum="0" maximum="1"/> <colorGreen type="Float" precision="single" minimum="0" maximum="1"/> <colorBlue type="Float" precision="single" minimum="0" maximum="1"/> <demo:extra2 type="String"/> </prototype>
Example point record prototype:
![Page 20: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/20.jpg)
20
Binary Encoding
Blobs n Opaque encoding n Images, user-defined data CompressedVectors n Point data storage, user-defined data n Data organized into chunks for semi-random access n Index packets, data packets n Data serialization using codecs (bit packing)
![Page 21: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/21.jpg)
21
Image Storage
n Images stored in blobs (jpg or png format) n Image distortion removed n Mask to handle non-rectangular images n Four camera models
n Visual reference n Pinhole n Spherical n Cylindrical scene
x
y
z
ximageyimage
focallength
center of projection
principalpoint
imaging plane
scene
x
y
z
ximageyimage
focallength
center of projection
principalpoint
imaging plane
![Page 22: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/22.jpg)
22
Extensions
n Extend format to add new capabilities Example: LAS extension
n Define new element types
Example las:edgeOfFlightLine n Support backward and limited forward compatibility
![Page 23: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/23.jpg)
23
Implementation – The libE57 software
n Reference implementation is critical to rapid adoption n Goals
n Cross-platform n Open source
http://www.libe57.org
n Foundation API – Comprehensive
n Simple API – Easy to use, designed for common use cases
![Page 24: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/24.jpg)
24
Ongoing Work
n Finishing development and testing of libE57 n Working with companies to help with adoption of standard n Beginning to work on Version 2 of the standard
n Advanced compression n Representing uncertainty n Mobile scanning n Improved representation of intensity
![Page 25: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/25.jpg)
Supporting Partners
n ASTM International n Bechtel Corporation n Carnahan-Proctor and Cross,
Inc. n Carnegie Mellon University
Robotics Institute n Course Six, Inc. n FARO Technologies Inc. n InteliSum, Inc. n Inovx, Inc. n Kubit, GmbH
n Leica Geosystems n LiDAR News n Optech, Inc. n Pointools, Inc. n Quantapoint, Inc. n Riegl Laser Measurement
Systems GmbH n Trimble Navigation Limited n University of California Davis n Zoller+Fröhlich GmbH
25
… and more every week
![Page 26: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/26.jpg)
26
Summary
E57 format – A standard format for storing data from 3D imaging systems libE57 – A free reference implementation of the E57 standard (http://www.libe57.org) Interested in helping out? Contact me: Daniel Huber ([email protected])
![Page 27: The ASTM E57 File Format for 3D Imaging Data Exchange · The ASTM E57 File Format for 3D Imaging Data Exchange Daniel Huber The Robotics Institute Carnegie Mellon University Member](https://reader030.vdocuments.site/reader030/viewer/2022040700/5d54b35988c993ce318bd4a3/html5/thumbnails/27.jpg)
27
Comparison with LAS
LAS E57
Domain Aerial sensing General purpose
Point record fields Fixed – several templates User-selectable
Data field bit-resolution Fixed User-selectable
Data geometry Lines Lines, Gridded, Unorganized
Extensions No Yes
Max data size 4.2E9 records 1.8E19 bytes