CObservationStereoImagesFeatures.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/obs/CObservationStereoImagesFeatures.h>
#include <mrpt/serialization/CArchive.h>
#include <fstream>

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

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

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

    rightCameraPose = rCPose;
    cameraPoseOnRobot = cPORobot;
}

void CObservationStereoImagesFeatures::saveFeaturesToTextFile(
    const std::string& filename)
{
    std::ofstream file(filename);
    ASSERT_(file.is_open());

    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);
}

uint8_t CObservationStereoImagesFeatures::serializeGetVersion() const
{
    return 0;
}
void CObservationStereoImagesFeatures::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    // The data
    out << cameraLeft;
    out << cameraRight;
    out << rightCameraPose << cameraPoseOnRobot;
    out << (uint32_t)theFeatures.size();  // Write the number of items
    // within the feature list
    for (const auto& theFeature : theFeatures)
    {
        out << theFeature.pixels.first.x << theFeature.pixels.first.y;
        out << theFeature.pixels.second.x << theFeature.pixels.second.y;
        out << (uint32_t)theFeature.ID;
    }
    out << sensorLabel << timestamp;
}

void CObservationStereoImagesFeatures::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            uint32_t nL, nR;
            in >> cameraLeft;
            in >> cameraRight;
            in >> rightCameraPose >> cameraPoseOnRobot;
            in >> nL;
            theFeatures.resize(nL);
            for (auto& theFeature : theFeatures)
            {
                in >> theFeature.pixels.first.x >> theFeature.pixels.first.y;
                in >> theFeature.pixels.second.x >> theFeature.pixels.second.y;
                in >> nR;
                theFeature.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<CMatrixDouble44>()
      << cameraPoseOnRobot << endl;

    o << "Homogeneous matrix for the RIGHT camera's 3D pose, relative to LEFT "
         "camera reference system:\n";
    o << rightCameraPose.getHomogeneousMatrixVal<CMatrixDouble44>()
      << 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());
}