obs/CObservationRGBD360.h

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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    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationRGBD360_H
#define CObservationRGBD360_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/math/CPolygon.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/utils/adapters.h>

namespace mrpt
{
namespace obs
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRGBD360, CObservation, OBS_IMPEXP )

//      namespace detail {
//              // Implemented in CObservationRGBD360_project3D_impl.h
//              template <class POINTMAP>
//              void project3DPointsFromDepthImageInto(CObservationRGBD360 &src_obs, POINTMAP &dest_pointcloud, const bool takeIntoAccountSensorPoseOnRobot, const mrpt::poses::CPose3D * robotPoseInTheWorld, const bool PROJ3D_USE_LUT);
//      }

        /** Declares a class derived from "CObservation" that
         *      encapsules an omnidirectional RGBD measurement from a set of RGBD sensors.
         *  This kind of observations can carry one or more of these data fields:
         *    - 3D point cloud (as float's).
         *    - 2D range image (as a matrix): Each entry in the matrix "rangeImage(ROW,COLUMN)" contains a distance or a depth (in meters), depending on \a range_is_depth.
         *    - 2D intensity (grayscale or RGB) image (as a mrpt::utils::CImage): For SwissRanger cameras, a logarithmic A-law compression is used to convert the original 16bit intensity to a more standard 8bit graylevel.
         *
         *  The coordinates of the 3D point cloud are in millimeters with respect to the RGB camera origin of coordinates
         *
         *  The 2D images and matrices are stored as common images, with an up->down rows order and left->right, as usual.
         *   Optionally, the intensity and confidence channels can be set to delayed-load images for off-rawlog storage so it saves
         *   memory by having loaded in memory just the needed images. See the methods load() and unload().
         *  Due to the intensive storage requirements of this kind of observations, this observation is the only one in MRPT
         *   for which it's recommended to always call "load()" and "unload()" before and after using the observation, *ONLY* when
         *   the observation was read from a rawlog dataset, in order to make sure that all the externally stored data fields are
         *   loaded and ready in memory.
         *
         *  Classes that grab observations of this type are:
         *              - mrpt::hwdrivers::CSwissRanger3DCamera
         *              - mrpt::hwdrivers::CKinect
         *
         *
         *  3D point clouds can be generated at any moment after grabbing with CObservationRGBD360::project3DPointsFromDepthImage() and CObservationRGBD360::project3DPointsFromDepthImageInto(), provided the correct
         *   calibration parameters.
         *
         *  \note Starting at serialization version 3 (MRPT 0.9.1+), the 3D point cloud and the rangeImage can both be stored externally to save rawlog space.
         *  \note Starting at serialization version 5 (MRPT 0.9.5+), the new field \a range_is_depth
         *  \note Starting at serialization version 6 (MRPT 0.9.5+), the new field \a intensityImageChannel
         *
         * \sa mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::COpenNI2_RGBD360, CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationRGBD360 : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationRGBD360 )

        protected:
                bool                    m_points3D_external_stored; //!< If set to true, m_points3D_external_file is valid.
                std::string             m_points3D_external_file;   //!< 3D points are in CImage::IMAGES_PATH_BASE+<this_file_name>

                bool                    m_rangeImage_external_stored; //!< If set to true, m_rangeImage_external_file is valid.
                std::string             m_rangeImage_external_file;   //!< rangeImage is in CImage::IMAGES_PATH_BASE+<this_file_name>

        public:
                CObservationRGBD360( );                         //!< Default constructor
                virtual ~CObservationRGBD360( );        //!< Destructor

                static const unsigned int NUM_SENSORS = 2;

                mrpt::system::TTimeStamp  timestamps[NUM_SENSORS];

                bool hasRangeImage;                             //!< true means the field rangeImage contains valid data
                mrpt::math::CMatrix rangeImages[NUM_SENSORS];   //!< If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters) \sa range_is_depth

                void rangeImage_setSize(const int HEIGHT, const int WIDTH, const unsigned sensor_id); //!< Similar to calling "rangeImage.setSize(H,W)" but this method provides memory pooling to speed-up the memory allocation.

                bool hasIntensityImage;                    //!< true means the field intensityImage contains valid data
                mrpt::utils::CImage intensityImages[NUM_SENSORS];        //!< If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage"
                mrpt::utils::TCamera sensorParamss[NUM_SENSORS];        //!< Projection parameters of the 8 RGBD sensor.

                float   maxRange;       //!< The maximum range allowed by the device, in meters (e.g. 8.0m, 5.0m,...)
                mrpt::poses::CPose3D    sensorPose;     //!< The 6D pose of the sensor on the robot.
                float   stdError;       //!< The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

                // See base class docs
                void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = sensorPose; }
                void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationRGBD360, CObservation, OBS_IMPEXP )


        } // End of namespace

} // End of namespace

#endif