CObservationStereoImages.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/CObservationStereoImages.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/utils/CStream.h>
#if MRPT_HAS_MATLAB
#       include <mexplus/mxarray.h>
#endif
 
using namespace mrpt::obs;
using namespace mrpt::math;
using namespace mrpt::utils;
using namespace mrpt::poses;
 
// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationStereoImages, CObservation,mrpt::obs)
 
/*---------------------------------------------------------------
                                        Constructor
 ---------------------------------------------------------------*/
CObservationStereoImages::CObservationStereoImages( void *iplImageLeft,void *iplImageRight, void *iplImageDisparity,bool ownMemory ) :
        imageLeft( UNINITIALIZED_IMAGE ),
        imageRight( UNINITIALIZED_IMAGE ),
        imageDisparity( UNINITIALIZED_IMAGE ),
        hasImageDisparity( iplImageDisparity!=NULL ),
        hasImageRight( iplImageRight!=NULL )
{
        if (iplImageLeft)
                ownMemory ? imageLeft.setFromIplImage(iplImageLeft) : imageLeft.loadFromIplImage(iplImageLeft);
        if (iplImageRight)
                ownMemory ? imageRight.setFromIplImage(iplImageRight) : imageRight.loadFromIplImage(iplImageRight);
        if (iplImageDisparity)
                ownMemory ? imageDisparity.setFromIplImage(iplImageDisparity) : imageDisparity.loadFromIplImage(iplImageDisparity);
}
 
/*---------------------------------------------------------------
                                        Default Constructor
 ---------------------------------------------------------------*/
CObservationStereoImages::CObservationStereoImages( ) :
        hasImageDisparity(false),
        hasImageRight(true)
{
}
 
/*---------------------------------------------------------------
                                        Destructor
 ---------------------------------------------------------------*/
CObservationStereoImages::~CObservationStereoImages(  )
{
}
 
/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationStereoImages::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 6 ;
        else
        {
                // The data
                out << cameraPose << leftCamera << rightCamera
                        << imageLeft;
 
                out << hasImageDisparity << hasImageRight;
 
                if (hasImageRight)
                        out << imageRight;
 
                if (hasImageDisparity)
                        out << imageDisparity;
 
                out << timestamp;
                out << rightCameraPose;
                out << sensorLabel;
 
        }
}
 
/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationStereoImages::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 6:
                {
                        in >> cameraPose >> leftCamera >> rightCamera
                                >> imageLeft;
 
                        in >> hasImageDisparity >> hasImageRight;
 
                        if (hasImageRight)
                                in >> imageRight;
 
                        if (hasImageDisparity)
                                in >> imageDisparity;
 
                        in >> timestamp;
                        in >> rightCameraPose;
                        in >> sensorLabel;
                }
                break;
 
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
                {
                        // This, for backwards compatibility before version 6:
                        hasImageRight = true;
                        hasImageDisparity = false;
 
 
                        if( version < 5 )
                        {
                                CPose3D aux;
                                in >> aux;
                                cameraPose = CPose3DQuat( aux );
                        }
 
                        if( version >= 5 )
                        {
                                in >> cameraPose >> leftCamera >> rightCamera;
                        }
                        else
                        {
                                CMatrix intParams;
                                in >> intParams;                                                                                                                                // Get the intrinsic params
                                leftCamera.intrinsicParams = CMatrixDouble33(intParams);                                // Set them to both cameras
                                rightCamera.intrinsicParams = CMatrixDouble33(intParams);                               // ... distortion parameters are set to zero
                        }
 
                        in >> imageLeft >> imageRight;                                                                                                          // For all the versions
 
                        if(version >= 1) in >> timestamp; else timestamp = INVALID_TIMESTAMP;                           // For version 1 to 5
                        if(version >= 2)
                        {
                                if(version < 5)
                                {
                                        CPose3D aux;
                                        in >> aux;
                                        rightCameraPose = CPose3DQuat( aux );
                        }
                        else
                                        in >> rightCameraPose;
                        }
                        else
                                rightCameraPose = CPose3DQuat( 0.10f, 0, 0, mrpt::math::CQuaternionDouble(1,0,0,0)  );  // For version 1 to 5
 
                        if(version >= 3 && version < 5)                                                                                                         // For versions 3 & 4
                        {
                                double foc;
                                in >> foc;                                                                                                                                              // Get the focal length in meters
                                leftCamera.focalLengthMeters = rightCamera.focalLengthMeters = foc;                             // ... and set it to both cameras
                        }
                        else
                                if( version < 3 )
                                        leftCamera.focalLengthMeters = rightCamera.focalLengthMeters = 0.002;           // For version 0, 1 & 2 (from version 5, this parameter is included in the TCamera objects)
 
                        if(version >= 4) in >> sensorLabel; else sensorLabel = "";                                                      // For version 1 to 5
 
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}
 
/*---------------------------------------------------------------
  Implements the writing to a mxArray for Matlab
 ---------------------------------------------------------------*/
#if MRPT_HAS_MATLAB
// Add to implement mexplus::from template specialization
IMPLEMENTS_MEXPLUS_FROM( mrpt::obs::CObservationStereoImages )
 
mxArray* CObservationStereoImages::writeToMatlab() const
{
        const char* fields[] = {"class",
                                                        "ts","sensorLabel",
                                                        "imageL","imageR",
                                                        "poseL","poseLR","poseR",
                                                        "paramsL","paramsR"};
        mexplus::MxArray obs_struct( mexplus::MxArray::Struct(sizeof(fields)/sizeof(fields[0]),fields) );
 
        obs_struct.set("class", this->GetRuntimeClass()->className);
        obs_struct.set("ts", this->timestamp);
        obs_struct.set("sensorLabel", this->sensorLabel);
        obs_struct.set("imageL", this->imageLeft);
        obs_struct.set("imageR", this->imageRight);
        obs_struct.set("poseL", this->cameraPose);
        obs_struct.set("poseR", this->cameraPose + this->rightCameraPose);
        obs_struct.set("poseLR", this->rightCameraPose);
        obs_struct.set("paramsL", this->leftCamera);
        obs_struct.set("paramsR", this->rightCamera);
        return obs_struct.release();
}
#endif
 
/** Populates a TStereoCamera structure with the parameters in \a leftCamera, \a rightCamera and \a rightCameraPose */
void CObservationStereoImages::getStereoCameraParams(mrpt::utils::TStereoCamera &out_params) const
{
        out_params.leftCamera  = this->leftCamera;
        out_params.rightCamera = this->rightCamera;
        out_params.rightCameraPose = this->rightCameraPose;
}
 
/** Sets \a leftCamera, \a rightCamera and \a rightCameraPose from a TStereoCamera structure */
void CObservationStereoImages::setStereoCameraParams(const mrpt::utils::TStereoCamera &in_params)
{
        this->leftCamera      = in_params.leftCamera;
        this->rightCamera     = in_params.rightCamera;
        this->rightCameraPose = in_params.rightCameraPose;
}
 
/** This method only checks whether ALL the distortion parameters in \a leftCamera are set to zero, which is
  * the convention in MRPT to denote that this pair of stereo images has been rectified.
  */
bool CObservationStereoImages::areImagesRectified() const
{
        return (leftCamera.dist.array()==0).all();
}
 
// Do an efficient swap of all data members of this object with "o".
void CObservationStereoImages::swap( CObservationStereoImages &o)
{
        CObservation::swap(o);
 
        imageLeft.swap(o.imageLeft);
        imageRight.swap(o.imageRight);
        imageDisparity.swap(o.imageDisparity);
 
        std::swap(hasImageDisparity, o.hasImageDisparity);
        std::swap(hasImageRight, o.hasImageRight);
 
        std::swap(leftCamera,o.leftCamera);
        std::swap(rightCamera, o.rightCamera);
 
        std::swap(cameraPose, o.cameraPose);
        std::swap(rightCameraPose, o.rightCameraPose);
}
 
void CObservationStereoImages::getDescriptionAsText(std::ostream &o) const
{
        using namespace std;
        CObservation::getDescriptionAsText(o);
 
        o << "Homogeneous matrix for the sensor's 3D pose, relative to robot base:\n";
        o << cameraPose.getHomogeneousMatrixVal() << endl
                << "Camera pose: " << cameraPose << endl
                << "Camera pose (YPR): " << CPose3D(cameraPose) << endl
                << endl;
 
        mrpt::utils::TStereoCamera stParams;
        getStereoCameraParams(stParams);
        o << stParams.dumpAsText() << endl;
 
        o << "Right camera pose wrt left camera (YPR):" << endl << CPose3D(stParams.rightCameraPose) << endl;
 
        if (imageLeft.isExternallyStored())
                o << " Left image is stored externally in file: " << imageLeft.getExternalStorageFile() << endl;
 
        o << " Right image";
        if (hasImageRight )
        {
                if (imageRight.isExternallyStored())
                        o << " is stored externally in file: " << imageRight.getExternalStorageFile() << endl;
        }
        else o << " : No.\n";
 
        o << " Disparity image";
        if (hasImageDisparity )
        {
                if (imageDisparity.isExternallyStored())
                        o << " is stored externally in file: " << imageDisparity.getExternalStorageFile() << endl;
        }
        else o << " : No.\n";
 
        o << format(" Image size: %ux%u pixels\n", (unsigned int)imageLeft.getWidth(), (unsigned int)imageLeft.getHeight() );
 
        o << " Channels order: " << imageLeft.getChannelsOrder() << endl;
 
        o << format(" Rows are stored in top-bottom order: %s\n", imageLeft.isOriginTopLeft() ? "YES" : "NO");
}