CObservationRGBD360.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "obs-precomp.h"   // Precompiled headers

#include <mrpt/obs/CObservationRGBD360.h>
#include <mrpt/poses/CPosePDF.h>

#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/utils/CFileGZOutputStream.h>
#include <mrpt/utils/CTimeLogger.h>

using namespace std;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationRGBD360, CObservation, mrpt::obs)

/*---------------------------------------------------------------
                                                        Constructor
 ---------------------------------------------------------------*/
CObservationRGBD360::CObservationRGBD360( ) :
        m_points3D_external_stored(false),
        m_rangeImage_external_stored(false),
//      hasPoints3D(false),
        hasRangeImage(false),
//      range_is_depth(true),
        hasIntensityImage(false),
//      hasConfidenceImage(false),
//      cameraParams(),
        maxRange( 10.0f ),
        sensorPose(),
        stdError( 0.01f )
{
}

/*---------------------------------------------------------------
                                                        Destructor
 ---------------------------------------------------------------*/

CObservationRGBD360::~CObservationRGBD360()
{
#ifdef COBS3DRANGE_USE_MEMPOOL
        mempool_donate_xyz_buffers(*this);
        mempool_donate_range_matrix(*this);
#endif
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationRGBD360::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 0;
        else
        {
                // The data
                out << maxRange << sensorPose;

//              out << hasPoints3D;
//              if (hasPoints3D)
//              {
//                      uint32_t N = points3D_x.size();
//                      out << N;
//                      if (N)
//                      {
//                              out.WriteBufferFixEndianness( &points3D_x[0], N );
//                              out.WriteBufferFixEndianness( &points3D_y[0], N );
//                              out.WriteBufferFixEndianness( &points3D_z[0], N );
//                      }
//              }
//
                out << hasRangeImage; if (hasRangeImage) for (unsigned i=0; i < NUM_SENSORS; i++) out << rangeImages[i];
                out << hasIntensityImage; if (hasIntensityImage) for (unsigned i=0; i < NUM_SENSORS; i++) out << intensityImages[i];
//              out << hasConfidenceImage; if (hasConfidenceImage) out << confidenceImage;
                for (unsigned i=0; i < NUM_SENSORS; i++) out << timestamps[i];
//
                out << stdError;
                out << timestamp;
                out << sensorLabel;

                out << m_points3D_external_stored << m_points3D_external_file;
                out << m_rangeImage_external_stored << m_rangeImage_external_file;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationRGBD360::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        in >> maxRange >> sensorPose;

      in >> hasRangeImage;
      if (hasRangeImage) for (unsigned i=0; i < NUM_SENSORS; i++)
      {
#ifdef COBS3DRANGE_USE_MEMPOOL
        // We should call "rangeImage_setSize()" to exploit the mempool:
        this->rangeImage_setSize(240,320,i);
#endif
        in >> rangeImages[i];
      }

      in >> hasIntensityImage;
      if (hasIntensityImage) for (unsigned i=0; i < NUM_SENSORS; i++)
        in >>intensityImages[i];

//      in >> hasConfidenceImage;
//      if (hasConfidenceImage)
//        in >> confidenceImage;

//      in >> cameraParams;

      for (unsigned i=0; i < NUM_SENSORS; i++) in >> timestamps[i];
      in >> stdError;
      in >> timestamp;
      in >> sensorLabel;

      in >> m_points3D_external_stored >> m_points3D_external_file;
      in >> m_rangeImage_external_stored >> m_rangeImage_external_file;

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

// Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation.
void CObservationRGBD360::rangeImage_setSize(const int H, const int W, const unsigned sensor_id)
{
#ifdef COBS3DRANGE_USE_MEMPOOL
        // Request memory from the memory pool:
        TMyRangesMemPool *pool = TMyRangesMemPool::getInstance();
        if (pool)
        {
                CObservationRGBD360_Ranges_MemPoolParams mem_params;
                mem_params.H = H;
                mem_params.W = W;

                CObservationRGBD360_Ranges_MemPoolData *mem_block = pool->request_memory(mem_params);

                if (mem_block)
                {       // Take the memory via swaps:
                        rangeImage.swap(mem_block->rangeImage);
                        delete mem_block;
                        return;
                }
        }
        // otherwise, continue with the normal method:
#endif
        // Fall-back to normal method:
        rangeImages[sensor_id].setSize(H,W);
}

void CObservationRGBD360::getDescriptionAsText(std::ostream &o) const
{
        CObservation::getDescriptionAsText(o);

}