CObservationStereoImagesFeatures.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/CObservationStereoImagesFeatures.h>

#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/utils/CStream.h>

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

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

 CObservationStereoImagesFeatures::CObservationStereoImagesFeatures( ) :
        cameraLeft(),
        cameraRight(),
        rightCameraPose(),
        cameraPoseOnRobot()
        {}

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures(
        const CMatrixDouble33 &iPLeft, const CMatrixDouble33 &iPRight,
        const CArrayDouble<5> &dPLeft, const CArrayDouble<5> &dPRight,
        const CPose3DQuat &rCPose, const CPose3DQuat &cPORobot )
{
        cameraLeft.intrinsicParams      = iPLeft;
        cameraLeft.dist                         = dPLeft;

        cameraRight.intrinsicParams     = iPRight;
        cameraRight.dist                        = dPRight;

        rightCameraPose                         = rCPose;
        cameraPoseOnRobot                       = cPORobot;
}

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures(
        const TCamera &cLeft, const TCamera &cRight,
        const CPose3DQuat &rCPose, const CPose3DQuat &cPORobot )
{
        cameraLeft      = cLeft;
        cameraRight = cRight;

        rightCameraPose                 = rCPose;
        cameraPoseOnRobot               = cPORobot;
}


CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures( )
{}

void  CObservationStereoImagesFeatures::saveFeaturesToTextFile( const std::string &filename )
{
        CFileOutputStream       file( filename );

        vector<TStereoImageFeatures>::iterator it;
        for( it = theFeatures.begin(); it != theFeatures.end(); ++it )
                file << format("%u %.2f %.2f %.2f %.2f\n", it->ID, it->pixels.first.x, it->pixels.first.y, it->pixels.second.x, it->pixels.second.y );

        file.close();
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationStereoImagesFeatures::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 0 ;
        else
        {
                // The data
                out << cameraLeft;
                out << cameraRight;
                out << rightCameraPose << cameraPoseOnRobot;
                out << (uint32_t)theFeatures.size();    // Write the number of items within the feature list
                for( unsigned int i = 0; i < theFeatures.size(); ++i )
                {
                        out << theFeatures[i].pixels.first.x << theFeatures[i].pixels.first.y;
                        out << theFeatures[i].pixels.second.x << theFeatures[i].pixels.second.y;
                        out << (uint32_t)theFeatures[i].ID;
                }
                out << sensorLabel << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservationStereoImagesFeatures::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        uint32_t nL, nR;
                        in >> cameraLeft;
                        in >> cameraRight;
                        in >> rightCameraPose >> cameraPoseOnRobot;
                        in >> nL;
                        theFeatures.resize( nL );
                        for( unsigned int i = 0; i < theFeatures.size(); ++i )
                        {
                                in >> theFeatures[i].pixels.first.x >> theFeatures[i].pixels.first.y;
                                in >> theFeatures[i].pixels.second.x >> theFeatures[i].pixels.second.y;
                                in >> nR;
                                theFeatures[i].ID = (unsigned int)nR;
                        }
                        in >> sensorLabel >> timestamp;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

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

        o << "Homogeneous matrix for the sensor's 3D pose, relative to robot base:\n";
        o << cameraPoseOnRobot.getHomogeneousMatrixVal()
        << cameraPoseOnRobot << endl;

        o << "Homogeneous matrix for the RIGHT camera's 3D pose, relative to LEFT camera reference system:\n";
        o << rightCameraPose.getHomogeneousMatrixVal()
        << rightCameraPose << endl;

        o << "Intrinsic parameters matrix for the LEFT camera:"<< endl;
        CMatrixDouble33 aux = cameraLeft.intrinsicParams;
        o << aux.inMatlabFormat() << endl << aux << endl;

        o << "Distortion parameters vector for the LEFT camera:"<< endl << "[ ";
        for( unsigned int i = 0; i < 5; ++i )
                o << cameraLeft.dist[i] << " ";
        o << "]" << endl;

        o << "Intrinsic parameters matrix for the RIGHT camera:"<< endl;
        aux = cameraRight.intrinsicParams;
        o << aux.inMatlabFormat() << endl << aux << endl;

        o << "Distortion parameters vector for the RIGHT camera:"<< endl << "[ ";
        for( unsigned int i = 0; i < 5; ++i )
                o << cameraRight.dist[i] << " ";
        o << "]"<< endl;

        o << endl << format(" Image size: %ux%u pixels\n", (unsigned int)cameraLeft.ncols, (unsigned int)cameraLeft.nrows );
        o << endl << format(" Number of features in images: %u\n", (unsigned int)theFeatures.size() );


}