CObservationRGBD360.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/obs/CObservationRGBD360.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/CTimeLogger.h>

using namespace std;
using namespace mrpt::obs;
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() : sensorPose() {}
/*---------------------------------------------------------------
                            Destructor
 ---------------------------------------------------------------*/
CObservationRGBD360::~CObservationRGBD360() {}

uint8_t CObservationRGBD360::serializeGetVersion() const { return 1; }
void CObservationRGBD360::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The data
    out << maxRange << sensorPose;

    out << hasRangeImage;
    if (hasRangeImage)
        for (const auto& ri : rangeImages)
        {
            out.WriteAs<uint32_t>(ri.rows());
            out.WriteAs<uint32_t>(ri.cols());
            if (ri.size() == 0) continue;
            out.WriteBufferFixEndianness<uint16_t>(ri.data(), ri.size());
        }
    out << hasIntensityImage;
    if (hasIntensityImage)
        for (const auto& intensityImage : intensityImages)
            out << intensityImage;
    //      out << hasConfidenceImage; if (hasConfidenceImage) out <<
    // confidenceImage;
    for (auto t : timestamps) out << t;
    //
    out << stdError;
    out << timestamp;
    out << sensorLabel;

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

void CObservationRGBD360::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
            THROW_EXCEPTION(
                "Import from serialization version 0 not implemented!");
            break;
        case 1:
        {
            in >> maxRange >> sensorPose;
            in >> hasRangeImage;
            if (hasRangeImage)
                for (auto& ri : rangeImages)
                {
                    const auto rows = in.ReadAs<uint32_t>();
                    const auto cols = in.ReadAs<uint32_t>();
                    ri.setSize(rows, cols);
                    in.ReadBufferFixEndianness<uint16_t>(ri.data(), ri.size());
                }

            in >> hasIntensityImage;
            if (hasIntensityImage)
                for (auto& intensityImage : intensityImages)
                    in >> intensityImage;

            for (auto& t : timestamps) in >> t;
            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)
{
    // Fall-back to normal method:
    rangeImages[sensor_id].setSize(H, W);
}

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